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Fix feetech ping tests

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This commit is contained in:
Simon Alibert
2025-03-25 07:26:34 +01:00
parent 7a75bb9f61
commit 4293b6a4fb
2 changed files with 93 additions and 33 deletions
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15
tests/motors/test_feetech.py
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@@ -92,12 +92,13 @@ def test_abc_implementation(dummy_motors):
FeetechMotorsBus(port="/dev/dummy-port", motors=dummy_motors)
@pytest.mark.skip("TODO")
# @pytest.mark.skip("TODO")
@pytest.mark.parametrize("idx", [1, 2, 3])
def test_ping(idx, mock_motors, dummy_motors):
expected_model = dummy_motors[f"dummy_{idx}"].model
model_nb = MODEL_NUMBER[expected_model]
stub_name = mock_motors.build_ping_stub(idx, model_nb)
ping_stub = mock_motors.build_ping_stub(idx)
mobel_nb_stub = mock_motors.build_read_stub("Model_Number", idx, model_nb)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
@@ -107,14 +108,15 @@ def test_ping(idx, mock_motors, dummy_motors):
ping_model_nb = motors_bus.ping(idx)
assert ping_model_nb == expected_model
assert mock_motors.stubs[stub_name].called
assert mock_motors.stubs[ping_stub].called
assert mock_motors.stubs[mobel_nb_stub].called
@pytest.mark.skip("TODO")
def test_broadcast_ping(mock_motors, dummy_motors):
expected_models = {m.id: m.model for m in dummy_motors.values()}
model_nbs = {id_: MODEL_NUMBER[model] for id_, model in expected_models.items()}
stub_name = mock_motors.build_broadcast_ping_stub(model_nbs)
ping_stub = mock_motors.build_broadcast_ping_stub(list(model_nbs))
mobel_nb_stub = mock_motors.build_sync_read_stub("Model_Number", model_nbs)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
@@ -124,7 +126,8 @@ def test_broadcast_ping(mock_motors, dummy_motors):
ping_model_nbs = motors_bus.broadcast_ping()
assert ping_model_nbs == expected_models
assert mock_motors.stubs[stub_name].called
assert mock_motors.stubs[ping_stub].called
assert mock_motors.stubs[mobel_nb_stub].called
def test_sync_read_none(mock_motors, dummy_motors):