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Rename read/write -> sync_read/write, refactor, add write

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This commit is contained in:
Simon Alibert
2025-03-23 13:25:45 +01:00
parent a2f5c34625
commit 5a57e6f4a7
5 changed files with 126 additions and 68 deletions
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14
tests/motors/test_dynamixel.py
View File

@@ -156,7 +156,7 @@ def test_read_all_motors(motors, mock_motors, dummy_motors):
)
motors_bus.connect()
positions_read = motors_bus.read("Present_Position", motors=motors)
positions_read = motors_bus.sync_read("Present_Position", motors=motors)
motors = ["dummy_1", "dummy_2", "dummy_3"] if motors is None else motors
assert mock_motors.stubs[stub_name].called
@@ -180,7 +180,7 @@ def test_read_single_motor_by_name(idx, pos, mock_motors, dummy_motors):
)
motors_bus.connect()
pos_dict = motors_bus.read("Present_Position", f"dummy_{idx}")
pos_dict = motors_bus.sync_read("Present_Position", f"dummy_{idx}")
assert mock_motors.stubs[stub_name].called
assert pos_dict == {f"dummy_{idx}": pos}
@@ -203,7 +203,7 @@ def test_read_single_motor_by_id(idx, pos, mock_motors, dummy_motors):
)
motors_bus.connect()
pos_dict = motors_bus.read("Present_Position", idx)
pos_dict = motors_bus.sync_read("Present_Position", idx)
assert mock_motors.stubs[stub_name].called
assert pos_dict == {idx: pos}
@@ -230,11 +230,11 @@ def test_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy_moto
motors_bus.connect()
if num_retry >= num_invalid_try:
pos_dict = motors_bus.read("Present_Position", 1, num_retry=num_retry)
pos_dict = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
assert pos_dict == {1: pos}
else:
with pytest.raises(ConnectionError):
_ = motors_bus.read("Present_Position", 1, num_retry=num_retry)
_ = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
expected_calls = min(1 + num_retry, 1 + num_invalid_try)
assert mock_motors.stubs[stub_name].calls == expected_calls
@@ -263,7 +263,7 @@ def test_write_all_motors(motors, mock_motors, dummy_motors):
motors_bus.connect()
values = dict(zip(motors, goal_positions.values(), strict=True))
motors_bus.write("Goal_Position", values)
motors_bus.sync_write("Goal_Position", values)
assert mock_motors.stubs[stub_name].wait_called()
@@ -284,6 +284,6 @@ def test_write_all_motors_single_value(data_name, value, mock_motors, dummy_moto
)
motors_bus.connect()
motors_bus.write(data_name, value)
motors_bus.sync_write(data_name, value)
assert mock_motors.stubs[stub_name].wait_called()

14
tests/motors/test_feetech.py
View File

@@ -158,7 +158,7 @@ def test_read_all_motors(motors, mock_motors, dummy_motors):
)
motors_bus.connect()
positions_read = motors_bus.read("Present_Position", motors=motors)
positions_read = motors_bus.sync_read("Present_Position", motors=motors)
motors = ["dummy_1", "dummy_2", "dummy_3"] if motors is None else motors
assert mock_motors.stubs[stub_name].called
@@ -182,7 +182,7 @@ def test_read_single_motor_by_name(idx, pos, mock_motors, dummy_motors):
)
motors_bus.connect()
pos_dict = motors_bus.read("Present_Position", f"dummy_{idx}")
pos_dict = motors_bus.sync_read("Present_Position", f"dummy_{idx}")
assert mock_motors.stubs[stub_name].called
assert pos_dict == {f"dummy_{idx}": pos}
@@ -205,7 +205,7 @@ def test_read_single_motor_by_id(idx, pos, mock_motors, dummy_motors):
)
motors_bus.connect()
pos_dict = motors_bus.read("Present_Position", idx)
pos_dict = motors_bus.sync_read("Present_Position", idx)
assert mock_motors.stubs[stub_name].called
assert pos_dict == {idx: pos}
@@ -232,11 +232,11 @@ def test_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy_moto
motors_bus.connect()
if num_retry >= num_invalid_try:
pos_dict = motors_bus.read("Present_Position", 1, num_retry=num_retry)
pos_dict = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
assert pos_dict == {1: pos}
else:
with pytest.raises(ConnectionError):
_ = motors_bus.read("Present_Position", 1, num_retry=num_retry)
_ = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
expected_calls = min(1 + num_retry, 1 + num_invalid_try)
assert mock_motors.stubs[stub_name].calls == expected_calls
@@ -265,7 +265,7 @@ def test_write_all_motors(motors, mock_motors, dummy_motors):
motors_bus.connect()
values = dict(zip(motors, goal_positions.values(), strict=True))
motors_bus.write("Goal_Position", values)
motors_bus.sync_write("Goal_Position", values)
assert mock_motors.stubs[stub_name].wait_called()
@@ -286,6 +286,6 @@ def test_write_all_motors_single_value(data_name, value, mock_motors, dummy_moto
)
motors_bus.connect()
motors_bus.write(data_name, value)
motors_bus.sync_write(data_name, value)
assert mock_motors.stubs[stub_name].wait_called()