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Mock dynamixel_sdk

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This commit is contained in:
Remi Cadene
2024-09-12 01:08:44 +02:00
parent 3bd5ea4d7a
commit 4151630c24
3 changed files with 52 additions and 17 deletions
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14
tests/test_motors.py
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@@ -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