tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Add test_scan_port (TODO)

Browse Source
This commit is contained in:
Simon Alibert
2025-03-31 18:40:23 +02:00
parent 79293800f1
commit 65569ba90e
1 changed files with 17 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
tests/motors/test_feetech.py
View File

@@ -92,6 +92,23 @@ def test_abc_implementation(dummy_motors):
FeetechMotorsBus(port="/dev/dummy-port", motors=dummy_motors) FeetechMotorsBus(port="/dev/dummy-port", motors=dummy_motors)
@pytest.mark.skip("TODO")
def test_scan_port(mock_motors):
expected = {
9_600: {1: 777},
57_600: {2: 777},
500_000: {237: 777},
}
expected_model_nbs = {id_: model for d in expected.values() for id_, model in d.items()}
ping_stub = mock_motors.build_broadcast_ping_stub(list(expected_model_nbs))
mobel_nb_stub = mock_motors.build_sync_read_stub("Model_Number", expected_model_nbs)
found = FeetechMotorsBus.scan_port(mock_motors.port)
assert found == expected
assert mock_motors.stubs[ping_stub].called
assert mock_motors.stubs[mobel_nb_stub].called
@pytest.mark.parametrize("id_", [1, 2, 3]) @pytest.mark.parametrize("id_", [1, 2, 3])
def test_ping(id_, mock_motors, dummy_motors): def test_ping(id_, mock_motors, dummy_motors):
expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{id_}"].model] expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{id_}"].model]