Enable CI for robot devices with mocked versions (#398)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

tests/conftest.py

@@ -13,13 +13,15 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
 import traceback
 
 import pytest
+from serial import SerialException
 
+from lerobot import available_cameras, available_motors, available_robots
 from lerobot.common.utils.utils import init_hydra_config
-
-from .utils import DEVICE, ROBOT_CONFIG_PATH_TEMPLATE
+from tests.utils import DEVICE, ROBOT_CONFIG_PATH_TEMPLATE, make_camera, make_motors_bus
 
 
 def pytest_collection_finish():
@@ -28,6 +30,11 @@ def pytest_collection_finish():
 
 @pytest.fixture
 def is_robot_available(robot_type):
+    if robot_type not in available_robots:
+        raise ValueError(
+            f"The robot type '{robot_type}' is not valid. Expected one of these '{available_robots}"
+        )
+
     try:
         from lerobot.common.robot_devices.robots.factory import make_robot
 
@@ -37,7 +44,73 @@ def is_robot_available(robot_type):
         robot.connect()
         del robot
         return True
-    except Exception:
-        traceback.print_exc()
+
+    except Exception as e:
         print(f"\nA {robot_type} robot is not available.")
+
+        if isinstance(e, ModuleNotFoundError):
+            print(f"\nInstall module '{e.name}'")
+        elif isinstance(e, SerialException):
+            print("\nNo physical motors bus detected.")
+
+        traceback.print_exc()
         return False
+
+
+@pytest.fixture
+def is_camera_available(camera_type):
+    if camera_type not in available_cameras:
+        raise ValueError(
+            f"The camera type '{camera_type}' is not valid. Expected one of these '{available_cameras}"
+        )
+
+    try:
+        camera = make_camera(camera_type)
+        camera.connect()
+        del camera
+        return True
+
+    except Exception as e:
+        print(f"\nA {camera_type} camera is not available.")
+
+        if isinstance(e, ModuleNotFoundError):
+            print(f"\nInstall module '{e.name}'")
+        elif isinstance(e, ValueError) and "camera_index" in e.args[0]:
+            print("\nNo physical camera detected.")
+
+        traceback.print_exc()
+        return False
+
+
+@pytest.fixture
+def is_motor_available(motor_type):
+    if motor_type not in available_motors:
+        raise ValueError(
+            f"The motor type '{motor_type}' is not valid. Expected one of these '{available_motors}"
+        )
+
+    try:
+        motors_bus = make_motors_bus(motor_type)
+        motors_bus.connect()
+        del motors_bus
+        return True
+
+    except Exception as e:
+        print(f"\nA {motor_type} motor is not available.")
+
+        if isinstance(e, ModuleNotFoundError):
+            print(f"\nInstall module '{e.name}'")
+        elif isinstance(e, SerialException):
+            print("\nNo physical motors bus detected.")
+
+        traceback.print_exc()
+        return False
+
+
+@pytest.fixture
+def patch_builtins_input(monkeypatch):
+    def print_text(text=None):
+        if text is not None:
+            print(text)
+
+    monkeypatch.setattr("builtins.input", print_text)