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

Improve feetech mocking

Browse Source
This commit is contained in:
Simon Alibert
2025-03-22 01:19:51 +01:00
parent fc4a95f187
commit 857f335be9
2 changed files with 179 additions and 99 deletions
Download Patch File Download Diff File Expand all files Collapse all files

141
tests/motors/test_feetech.py
View File

@@ -4,6 +4,7 @@ from unittest.mock import patch
import pytest
import scservo_sdk as scs
from lerobot.common.motors import Motor
from lerobot.common.motors.feetech import FeetechMotorsBus
from tests.mocks.mock_feetech import MockMotors, MockPortHandler
@@ -17,6 +18,15 @@ def patch_port_handler():
yield
@pytest.fixture
def dummy_motors() -> dict[str, Motor]:
return {
"dummy_1": Motor(id=1, model="sts3215"),
"dummy_2": Motor(id=2, model="sts3215"),
"dummy_3": Motor(id=3, model="sts3215"),
}
@pytest.mark.skipif(sys.platform != "darwin", reason=f"No patching needed on {sys.platform=}")
def test_autouse_patch():
"""Ensures that the autouse fixture correctly patches scs.PortHandler with MockPortHandler."""
@@ -68,9 +78,52 @@ def test_split_int_bytes_large_number():
FeetechMotorsBus.split_int_bytes(2**32, 4) # 4-byte max is 0xFFFFFFFF
def test_abc_implementation():
def test_abc_implementation(dummy_motors):
"""Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
FeetechMotorsBus(port="/dev/dummy-port", motors={"dummy": (1, "sts3215")})
FeetechMotorsBus(port="/dev/dummy-port", motors=dummy_motors)
@pytest.mark.skip("TODO")
@pytest.mark.parametrize(
"idx, model_nb",
[
[1, 1190],
[2, 1200],
[3, 1120],
],
)
def test_ping(idx, model_nb, dummy_motors):
mock_motors = MockMotors()
mock_motors.build_ping_stub(idx, model_nb)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect()
ping_model_nb = motors_bus.ping(idx)
assert ping_model_nb == model_nb
@pytest.mark.skip("TODO")
def test_broadcast_ping(dummy_motors):
expected_pings = {
1: [1060, 50],
2: [1120, 30],
3: [1190, 10],
}
mock_motors = MockMotors()
mock_motors.build_broadcast_ping_stub(expected_pings)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
motors=dummy_motors,
)
motors_bus.connect()
ping_list = motors_bus.broadcast_ping()
assert ping_list == expected_pings
@pytest.mark.parametrize(
@@ -83,26 +136,25 @@ def test_abc_implementation():
],
ids=["None", "by ids", "by names", "mixed"],
)
def test_read_all_motors(motors):
mock_motors = MockMotors([1, 2, 3])
positions = [1337, 42, 4016]
mock_motors.build_all_motors_stub("Present_Position", return_values=positions)
def test_read_all_motors(motors, dummy_motors):
mock_motors = MockMotors()
expected_positions = {
1: 1337,
2: 42,
3: 4016,
}
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_positions)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
motors={
"dummy_1": (1, "sts3215"),
"dummy_2": (2, "sts3215"),
"dummy_3": (3, "sts3215"),
},
motors=dummy_motors,
)
motors_bus.connect()
pos_dict = motors_bus.read("Present_Position", motors=motors)
positions_read = motors_bus.read("Present_Position", motors=motors)
assert mock_motors.stubs["SyncRead_Present_Position_all"].called
assert all(returned_pos == pos for returned_pos, pos in zip(pos_dict.values(), positions, strict=True))
assert set(pos_dict) == {"dummy_1", "dummy_2", "dummy_3"}
assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
motors = ["dummy_1", "dummy_2", "dummy_3"] if motors is None else motors
assert mock_motors.stubs[stub_name].called
assert positions_read == dict(zip(motors, expected_positions.values(), strict=True))
@pytest.mark.parametrize(
@@ -113,24 +165,20 @@ def test_read_all_motors(motors):
[3, 4016],
],
)
def test_read_single_motor_by_name(idx, pos):
mock_motors = MockMotors([1, 2, 3])
mock_motors.build_single_motor_stubs("Present_Position", return_value=pos)
def test_read_single_motor_by_name(idx, pos, dummy_motors):
mock_motors = MockMotors()
expected_position = {idx: pos}
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
motors={
"dummy_1": (1, "sts3215"),
"dummy_2": (2, "sts3215"),
"dummy_3": (3, "sts3215"),
},
motors=dummy_motors,
)
motors_bus.connect()
pos_dict = motors_bus.read("Present_Position", f"dummy_{idx}")
assert mock_motors.stubs[f"SyncRead_Present_Position_{idx}"].called
assert mock_motors.stubs[stub_name].called
assert pos_dict == {f"dummy_{idx}": pos}
assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
@pytest.mark.parametrize(
@@ -141,56 +189,49 @@ def test_read_single_motor_by_name(idx, pos):
[3, 4016],
],
)
def test_read_single_motor_by_id(idx, pos):
mock_motors = MockMotors([1, 2, 3])
mock_motors.build_single_motor_stubs("Present_Position", return_value=pos)
def test_read_single_motor_by_id(idx, pos, dummy_motors):
mock_motors = MockMotors()
expected_position = {idx: pos}
stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
motors={
"dummy_1": (1, "sts3215"),
"dummy_2": (2, "sts3215"),
"dummy_3": (3, "sts3215"),
},
motors=dummy_motors,
)
motors_bus.connect()
pos_dict = motors_bus.read("Present_Position", idx)
assert mock_motors.stubs[f"SyncRead_Present_Position_{idx}"].called
assert pos_dict == {f"dummy_{idx}": pos}
assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
assert mock_motors.stubs[stub_name].called
assert pos_dict == {idx: pos}
@pytest.mark.parametrize(
"num_retry, num_invalid_try, pos",
[
[1, 2, 1337],
[0, 2, 1337],
[2, 3, 42],
[3, 2, 4016],
[2, 1, 999],
],
)
def test_read_num_retry(num_retry, num_invalid_try, pos):
mock_motors = MockMotors([1, 2, 3])
mock_motors.build_single_motor_stubs(
"Present_Position", return_value=pos, num_invalid_try=num_invalid_try
def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors):
mock_motors = MockMotors()
expected_position = {1: pos}
stub_name = mock_motors.build_sync_read_stub(
"Present_Position", expected_position, num_invalid_try=num_invalid_try
)
motors_bus = FeetechMotorsBus(
port=mock_motors.port,
motors={
"dummy_1": (1, "sts3215"),
"dummy_2": (2, "sts3215"),
"dummy_3": (3, "sts3215"),
},
motors=dummy_motors,
)
motors_bus.connect()
if num_retry >= num_invalid_try:
pos_dict = motors_bus.read("Present_Position", 1, num_retry=num_retry)
assert pos_dict == {"dummy_1": pos}
assert all(pos >= 0 and pos <= 4095 for pos in pos_dict.values())
assert pos_dict == {1: pos}
else:
with pytest.raises(ConnectionError):
_ = motors_bus.read("Present_Position", 1, num_retry=num_retry)
assert mock_motors.stubs["SyncRead_Present_Position_1"].calls == num_retry
expected_calls = min(1 + num_retry, 1 + num_invalid_try)
assert mock_motors.stubs[stub_name].calls == expected_calls