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Update tests

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This commit is contained in:
Simon Alibert
2025-04-02 22:31:53 +02:00
parent e55d2ffe50
commit 854b78975a
2 changed files with 28 additions and 28 deletions
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28
tests/motors/test_dynamixel.py
View File

@@ -138,7 +138,7 @@ def test_sync_read_none(mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_positions = motors_bus.sync_read("Present_Position")
read_positions = motors_bus.sync_read("Present_Position", normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_positions == expected_positions
@@ -161,7 +161,7 @@ def test_sync_read_by_id(id_, position, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_position = motors_bus.sync_read("Present_Position", id_)
read_position = motors_bus.sync_read("Present_Position", id_, normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_position == expected_position
@@ -186,7 +186,7 @@ def test_sync_read_by_ids(ids, positions, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_positions = motors_bus.sync_read("Present_Position", ids)
read_positions = motors_bus.sync_read("Present_Position", ids, normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_positions == expected_positions
@@ -209,7 +209,7 @@ def test_sync_read_by_name(id_, position, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_position = motors_bus.sync_read("Present_Position", f"dummy_{id_}")
read_position = motors_bus.sync_read("Present_Position", f"dummy_{id_}", normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_position == expected_position
@@ -236,7 +236,7 @@ def test_sync_read_by_names(ids, positions, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_positions = motors_bus.sync_read("Present_Position", names)
read_positions = motors_bus.sync_read("Present_Position", names, normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_positions == expected_positions
@@ -263,11 +263,11 @@ def test_sync_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy
motors_bus.connect(assert_motors_exist=False)
if num_retry >= num_invalid_try:
pos_dict = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
pos_dict = motors_bus.sync_read("Present_Position", 1, normalize=False, num_retry=num_retry)
assert pos_dict == {1: pos}
else:
with pytest.raises(ConnectionError):
_ = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
_ = motors_bus.sync_read("Present_Position", 1, normalize=False, num_retry=num_retry)
expected_calls = min(1 + num_retry, 1 + num_invalid_try)
assert mock_motors.stubs[stub_name].calls == expected_calls
@@ -291,7 +291,7 @@ def test_sync_write_single_value(data_name, value, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.sync_write(data_name, value)
motors_bus.sync_write(data_name, value, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -313,7 +313,7 @@ def test_sync_write_by_id(id_, position, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.sync_write("Goal_Position", value)
motors_bus.sync_write("Goal_Position", value, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -337,7 +337,7 @@ def test_sync_write_by_ids(ids, positions, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.sync_write("Goal_Position", values)
motors_bus.sync_write("Goal_Position", values, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -360,7 +360,7 @@ def test_sync_write_by_name(id_, position, mock_motors, dummy_motors):
motors_bus.connect(assert_motors_exist=False)
write_value = {f"dummy_{id_}": position}
motors_bus.sync_write("Goal_Position", write_value)
motors_bus.sync_write("Goal_Position", write_value, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -385,7 +385,7 @@ def test_sync_write_by_names(ids, positions, mock_motors, dummy_motors):
motors_bus.connect(assert_motors_exist=False)
write_values = {f"dummy_{id_}": pos for id_, pos in ids_values.items()}
motors_bus.sync_write("Goal_Position", write_values)
motors_bus.sync_write("Goal_Position", write_values, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -407,7 +407,7 @@ def test_write_by_id(data_name, dxl_id, value, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.write(data_name, dxl_id, value)
motors_bus.write(data_name, dxl_id, value, normalize=False)
assert mock_motors.stubs[stub_name].called
@@ -429,6 +429,6 @@ def test_write_by_name(data_name, dxl_id, value, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.write(data_name, f"dummy_{dxl_id}", value)
motors_bus.write(data_name, f"dummy_{dxl_id}", value, normalize=False)
assert mock_motors.stubs[stub_name].called

28
tests/motors/test_feetech.py
View File

@@ -159,7 +159,7 @@ def test_sync_read_none(mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_positions = motors_bus.sync_read("Present_Position")
read_positions = motors_bus.sync_read("Present_Position", normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_positions == expected_positions
@@ -182,7 +182,7 @@ def test_sync_read_by_id(id_, position, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_position = motors_bus.sync_read("Present_Position", id_)
read_position = motors_bus.sync_read("Present_Position", id_, normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_position == expected_position
@@ -207,7 +207,7 @@ def test_sync_read_by_ids(ids, positions, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_positions = motors_bus.sync_read("Present_Position", ids)
read_positions = motors_bus.sync_read("Present_Position", ids, normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_positions == expected_positions
@@ -230,7 +230,7 @@ def test_sync_read_by_name(id_, position, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_position = motors_bus.sync_read("Present_Position", f"dummy_{id_}")
read_position = motors_bus.sync_read("Present_Position", f"dummy_{id_}", normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_position == expected_position
@@ -257,7 +257,7 @@ def test_sync_read_by_names(ids, positions, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
read_positions = motors_bus.sync_read("Present_Position", names)
read_positions = motors_bus.sync_read("Present_Position", names, normalize=False)
assert mock_motors.stubs[stub_name].called
assert read_positions == expected_positions
@@ -284,11 +284,11 @@ def test_sync_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy
motors_bus.connect(assert_motors_exist=False)
if num_retry >= num_invalid_try:
pos_dict = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
pos_dict = motors_bus.sync_read("Present_Position", 1, normalize=False, num_retry=num_retry)
assert pos_dict == {1: pos}
else:
with pytest.raises(ConnectionError):
_ = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
_ = motors_bus.sync_read("Present_Position", 1, normalize=False, num_retry=num_retry)
expected_calls = min(1 + num_retry, 1 + num_invalid_try)
assert mock_motors.stubs[stub_name].calls == expected_calls
@@ -312,7 +312,7 @@ def test_sync_write_single_value(data_name, value, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.sync_write(data_name, value)
motors_bus.sync_write(data_name, value, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -334,7 +334,7 @@ def test_sync_write_by_id(id_, position, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.sync_write("Goal_Position", value)
motors_bus.sync_write("Goal_Position", value, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -358,7 +358,7 @@ def test_sync_write_by_ids(ids, positions, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.sync_write("Goal_Position", values)
motors_bus.sync_write("Goal_Position", values, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -381,7 +381,7 @@ def test_sync_write_by_name(id_, position, mock_motors, dummy_motors):
motors_bus.connect(assert_motors_exist=False)
write_value = {f"dummy_{id_}": position}
motors_bus.sync_write("Goal_Position", write_value)
motors_bus.sync_write("Goal_Position", write_value, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -406,7 +406,7 @@ def test_sync_write_by_names(ids, positions, mock_motors, dummy_motors):
motors_bus.connect(assert_motors_exist=False)
write_values = {f"dummy_{id_}": pos for id_, pos in ids_values.items()}
motors_bus.sync_write("Goal_Position", write_values)
motors_bus.sync_write("Goal_Position", write_values, normalize=False)
assert mock_motors.stubs[stub_name].wait_called()
@@ -428,7 +428,7 @@ def test_write_by_id(data_name, dxl_id, value, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.write(data_name, dxl_id, value)
motors_bus.write(data_name, dxl_id, value, normalize=False)
assert mock_motors.stubs[stub_name].called
@@ -450,6 +450,6 @@ def test_write_by_name(data_name, dxl_id, value, mock_motors, dummy_motors):
)
motors_bus.connect(assert_motors_exist=False)
motors_bus.write(data_name, f"dummy_{dxl_id}", value)
motors_bus.write(data_name, f"dummy_{dxl_id}", value, normalize=False)
assert mock_motors.stubs[stub_name].called