Mock dynamixel_sdk

tests/mock_dynamixel.py

@@ -1,9 +1,18 @@
 from dynamixel_sdk import COMM_SUCCESS
 
+DEFAULT_BAUDRATE = 9_600
 
-class PortHandler:
+
+def mock_convert_to_bytes(value, bytes):
+    del bytes  # unused
+    return value
+
+
+class MockPortHandler:
     def __init__(self, port):
         self.port = port
+        # default fresh from factory baudrate
+        self.baudrate = DEFAULT_BAUDRATE
 
     def openPort(self):  # noqa: N802
         return True
@@ -14,35 +23,53 @@ class PortHandler:
     def setPacketTimeoutMillis(self, timeout_ms):  # noqa: N802
         del timeout_ms  # unused
 
+    def getBaudRate(self):  # noqa: N802
+        return self.baudrate
 
-class PacketHandler:
+    def setBaudRate(self, baudrate):  # noqa: N802
+        self.baudrate = baudrate
+
+
+class MockPacketHandler:
     def __init__(self, protocol_version):
         del protocol_version  # unused
+        # Use packet_handler.data to communicate across Read and Write
+        self.data = {}
 
 
-class GroupSyncRead:
+class MockGroupSyncRead:
     def __init__(self, port_handler, packet_handler, address, bytes):
-        pass
+        self.packet_handler = packet_handler
 
     def addParam(self, motor_index):  # noqa: N802
-        pass
+        if motor_index not in self.packet_handler.data:
+            # Initialize motor default values
+            self.packet_handler.data[motor_index] = {
+                # Key (int) are from X_SERIES_CONTROL_TABLE
+                7: motor_index,  # ID
+                8: DEFAULT_BAUDRATE,  # Baud_rate
+                10: 0,  # Drive_Mode
+                64: 0,  # Torque_Enable
+                132: 0,  # Present_Position
+            }
 
     def txRxPacket(self):  # noqa: N802
         return COMM_SUCCESS
 
     def getData(self, index, address, bytes):  # noqa: N802
-        return value  # noqa: F821
+        return self.packet_handler.data[index][address]
 
 
-class GroupSyncWrite:
+class MockGroupSyncWrite:
     def __init__(self, port_handler, packet_handler, address, bytes):
-        pass
+        self.packet_handler = packet_handler
+        self.address = address
 
     def addParam(self, index, data):  # noqa: N802
-        pass
+        self.changeParam(index, data)
 
     def txPacket(self):  # noqa: N802
         return COMM_SUCCESS
 
     def changeParam(self, index, data):  # noqa: N802
-        pass
+        self.packet_handler.data[index][self.address] = data

tests/test_motors.py

@@ -62,7 +62,7 @@ def make_motors_bus(motor_type: str, **kwargs) -> MotorsBus:
 # TODO(rcadene): implement mocked version of this test
 @pytest.mark.parametrize("motor_type", available_motors)
 @require_motor
-def test_find_port(request, robot_type):
+def test_find_port(request, motor_type):
     from lerobot.common.robot_devices.motors.dynamixel import find_port
 
     find_port()
@@ -71,10 +71,10 @@ def test_find_port(request, robot_type):
 # TODO(rcadene): implement mocked version of this test
 @pytest.mark.parametrize("motor_type", available_motors)
 @require_motor
-def test_configure_motors_all_ids_1(request, robot_type):
+def test_configure_motors_all_ids_1(request, motor_type):
     input("Are you sure you want to re-configure the motors? Press enter to continue...")
     # This test expect the configuration was already correct.
-    motors_bus = make_motors_bus(robot_type)
+    motors_bus = make_motors_bus(motor_type)
     motors_bus.connect()
     motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
     motors_bus.set_bus_baudrate(9_600)
@@ -82,7 +82,7 @@ def test_configure_motors_all_ids_1(request, robot_type):
     del motors_bus
 
     # Test configure
-    motors_bus = make_motors_bus(robot_type)
+    motors_bus = make_motors_bus(motor_type)
     motors_bus.connect()
     assert motors_bus.are_motors_configured()
     del motors_bus
@@ -90,8 +90,8 @@ def test_configure_motors_all_ids_1(request, robot_type):
 
 @pytest.mark.parametrize("motor_type", TEST_MOTOR_TYPES)
 @require_motor
-def test_motors_bus(request, robot_type):
-    motors_bus = make_motors_bus(robot_type)
+def test_motors_bus(request, motor_type):
+    motors_bus = make_motors_bus(motor_type)
 
     # Test reading and writting before connecting raises an error
     with pytest.raises(RobotDeviceNotConnectedError):
@@ -105,7 +105,7 @@ def test_motors_bus(request, robot_type):
     del motors_bus
 
     # Test connecting
-    motors_bus = make_motors_bus(robot_type)
+    motors_bus = make_motors_bus(motor_type)
     motors_bus.connect()
 
     # Test connecting twice raises an error

tests/utils.py

@@ -312,11 +312,19 @@ def mock_motors(request):
             MockGroupSyncWrite,
             MockPacketHandler,
             MockPortHandler,
+            mock_convert_to_bytes,
         )
 
         monkeypatch.setattr(dynamixel_sdk, "GroupSyncRead", MockGroupSyncRead)
         monkeypatch.setattr(dynamixel_sdk, "GroupSyncWrite", MockGroupSyncWrite)
         monkeypatch.setattr(dynamixel_sdk, "PacketHandler", MockPacketHandler)
         monkeypatch.setattr(dynamixel_sdk, "PortHandler", MockPortHandler)
+
+        # Import dynamixel AFTER mocking dynamixel_sdk to use mocked classes
+        from lerobot.common.robot_devices.motors import dynamixel
+
+        # TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
+        # `convert_bytes_to_value`
+        monkeypatch.setattr(dynamixel, "convert_to_bytes", mock_convert_to_bytes)
     except ImportError:
         traceback.print_exc()