Improve feetech mocking

tests/mocks/mock_feetech.py

@@ -77,6 +77,19 @@ class MockInstructionPacket(MockFeetechPacket):
             0x00,            # placeholder for checksum
         ]  # fmt: skip
 
+    @classmethod
+    def ping(
+        cls,
+        scs_id: int,
+    ) -> bytes:
+        """
+        Builds a "Ping" broadcast instruction.
+
+        No parameters required.
+        """
+        params, length = [], 2
+        return cls.build(scs_id=scs_id, params=params, length=length, instruct_type="Ping")
+
     @classmethod
     def sync_read(
         cls,
@@ -128,6 +141,25 @@ class MockStatusPacket(MockFeetechPacket):
             0x00,        # placeholder for checksum
         ]  # fmt: skip
 
+    @classmethod
+    def ping(cls, scs_id: int, model_nb: int = 1190, firm_ver: int = 50) -> bytes:
+        """Builds a 'Ping' status packet.
+
+        Args:
+            scs_id (int): ID of the servo responding.
+            model_nb (int, optional): Desired 'model number' to be returned in the packet. Defaults to 1190
+                which corresponds to a XL330-M077-T.
+            firm_ver (int, optional): Desired 'firmware version' to be returned in the packet.
+                Defaults to 50.
+
+        Returns:
+            bytes: The raw 'Ping' status packet ready to be sent through serial.
+        """
+        # raise NotImplementedError
+        params = [scs.SCS_LOBYTE(model_nb), scs.SCS_HIBYTE(model_nb), firm_ver]
+        length = 2
+        return cls.build(scs_id, params=params, length=length)
+
     @classmethod
     def present_position(cls, scs_id: int, pos: int | None = None, min_max_range: tuple = (0, 4095)) -> bytes:
         """Builds a 'Present_Position' status packet.
@@ -184,62 +216,69 @@ class MockMotors(MockSerial):
 
     ctrl_table = SCS_SERIES_CONTROL_TABLE
 
-    def __init__(self, scs_ids: list[int]):
+    def __init__(self):
         super().__init__()
-        self._ids = scs_ids
         self.open()
 
-    def build_single_motor_stubs(
-        self, data_name: str, return_value: int | None = None, num_invalid_try: int | None = None
-    ) -> None:
-        address, length = self.ctrl_table[data_name]
-        for idx in self._ids:
-            if data_name == "Present_Position":
-                sync_read_request_single = MockInstructionPacket.sync_read([idx], address, length)
-                sync_read_response_single = self._build_present_pos_send_fn(
-                    [idx], [return_value], num_invalid_try
-                )
-            else:
-                raise NotImplementedError  # TODO(aliberts): add ping?
-
-            self.stub(
-                name=f"SyncRead_{data_name}_{idx}",
-                receive_bytes=sync_read_request_single,
-                send_fn=sync_read_response_single,
-            )
-
-    def build_all_motors_stub(
-        self, data_name: str, return_values: list[int] | None = None, num_invalid_try: int | None = None
-    ) -> None:
-        address, length = self.ctrl_table[data_name]
-        if data_name == "Present_Position":
-            sync_read_request_all = MockInstructionPacket.sync_read(self._ids, address, length)
-            sync_read_response_all = self._build_present_pos_send_fn(
-                self._ids, return_values, num_invalid_try
-            )
-        else:
-            raise NotImplementedError  # TODO(aliberts): add ping?
-
-        self.stub(
-            name=f"SyncRead_{data_name}_all",
-            receive_bytes=sync_read_request_all,
-            send_fn=sync_read_response_all,
+    def build_broadcast_ping_stub(
+        self, ids_models_firmwares: dict[int, list[int]] | None = None, num_invalid_try: int = 0
+    ) -> str:
+        ping_request = MockInstructionPacket.ping(scs.BROADCAST_ID)
+        return_packets = b"".join(
+            MockStatusPacket.ping(idx, model, firm_ver)
+            for idx, (model, firm_ver) in ids_models_firmwares.items()
         )
+        ping_response = self._build_send_fn(return_packets, num_invalid_try)
 
-    def _build_present_pos_send_fn(
-        self, scs_ids: list[int], return_pos: list[int] | None = None, num_invalid_try: int | None = None
-    ) -> Callable[[int], bytes]:
-        return_pos = [None for _ in scs_ids] if return_pos is None else return_pos
-        assert len(return_pos) == len(scs_ids)
+        stub_name = "Ping_" + "_".join([str(idx) for idx in ids_models_firmwares])
+        self.stub(
+            name=stub_name,
+            receive_bytes=ping_request,
+            send_fn=ping_response,
+        )
+        return stub_name
 
+    def build_ping_stub(
+        self, scs_id: int, model_nb: int, firm_ver: int = 50, num_invalid_try: int = 0
+    ) -> str:
+        ping_request = MockInstructionPacket.ping(scs_id)
+        return_packet = MockStatusPacket.ping(scs_id, model_nb, firm_ver)
+        ping_response = self._build_send_fn(return_packet, num_invalid_try)
+
+        stub_name = f"Ping_{scs_id}"
+        self.stub(
+            name=stub_name,
+            receive_bytes=ping_request,
+            send_fn=ping_response,
+        )
+        return stub_name
+
+    def build_sync_read_stub(
+        self, data_name: str, ids_values: dict[int, int] | None = None, num_invalid_try: int = 0
+    ) -> str:
+        address, length = self.ctrl_table[data_name]
+        sync_read_request = MockInstructionPacket.sync_read(list(ids_values), address, length)
+        if data_name != "Present_Position":
+            raise NotImplementedError
+
+        return_packets = b"".join(
+            MockStatusPacket.present_position(idx, pos) for idx, pos in ids_values.items()
+        )
+        sync_read_response = self._build_send_fn(return_packets, num_invalid_try)
+
+        stub_name = f"Sync_Read_{data_name}_" + "_".join([str(idx) for idx in ids_values])
+        self.stub(
+            name=stub_name,
+            receive_bytes=sync_read_request,
+            send_fn=sync_read_response,
+        )
+        return stub_name
+
+    @staticmethod
+    def _build_send_fn(packet: bytes, num_invalid_try: int = 0) -> Callable[[int], bytes]:
         def send_fn(_call_count: int) -> bytes:
-            if num_invalid_try is not None and num_invalid_try >= _call_count:
+            if num_invalid_try >= _call_count:
                 return b""
-
-            packets = b"".join(
-                MockStatusPacket.present_position(idx, pos)
-                for idx, pos in zip(scs_ids, return_pos, strict=True)
-            )
-            return packets
+            return packet
 
         return send_fn