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Add handshake, fix feetech _read_firmware_version

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This commit is contained in:
Simon Alibert
2025-04-14 17:14:06 +02:00
parent 3539251b18
commit 889de7c415
6 changed files with 71 additions and 47 deletions
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30
tests/motors/test_dynamixel.py
View File

@@ -91,7 +91,7 @@ def test_ping(id_, mock_motors, dummy_motors):
expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model]
stub = mock_motors.build_ping_stub(id_, expected_model_nb)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
ping_model_nb = bus.ping(id_)
@@ -104,7 +104,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
expected_model_nbs = {id_: MODEL_NUMBER_TABLE[model] for id_, model in models.items()}
stub = mock_motors.build_broadcast_ping_stub(expected_model_nbs)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
ping_model_nbs = bus.broadcast_ping()
@@ -123,7 +123,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
def test__read(addr, length, id_, value, mock_motors, dummy_motors):
stub = mock_motors.build_read_stub(addr, length, id_, value)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
read_value, _, _ = bus._read(addr, length, id_)
@@ -136,7 +136,7 @@ def test__read_error(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
stub = mock_motors.build_read_stub(addr, length, id_, value, error=error)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(
@@ -155,7 +155,7 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value = (10, 4, 1, 1337)
stub = mock_motors.build_read_stub(addr, length, id_, value, reply=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -178,7 +178,7 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
def test__write(addr, length, id_, value, mock_motors, dummy_motors):
stub = mock_motors.build_write_stub(addr, length, id_, value)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
comm, error = bus._write(addr, length, id_, value)
@@ -192,7 +192,7 @@ def test__write_error(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value, error = (10, 4, 1, 1337, dxl.ERRNUM_DATA_LIMIT)
stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(
@@ -211,7 +211,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value = (10, 4, 1, 1337)
stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -235,7 +235,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
read_values, _ = bus._sync_read(addr, length, list(ids_values))
@@ -248,7 +248,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, ids_values = (10, 4, {1: 1337})
stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -272,7 +272,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
comm = bus._sync_write(addr, length, ids_values)
@@ -294,7 +294,7 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
motors=dummy_motors,
calibration=dummy_calibration,
)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
is_calibrated = bus.is_calibrated
@@ -321,7 +321,7 @@ def test_reset_calibration(mock_motors, dummy_motors):
)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
bus.reset_calibration()
@@ -355,7 +355,7 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
write_homing_stubs.append(stub)
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
bus.reset_calibration = MagicMock()
bus.set_half_turn_homings()
@@ -386,7 +386,7 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
)
with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
bus = DynamixelMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
mins, maxes = bus.record_ranges_of_motion(display_values=False)

30
tests/motors/test_feetech.py
View File

@@ -101,7 +101,7 @@ def test_ping(id_, mock_motors, dummy_motors):
port=mock_motors.port,
motors=dummy_motors,
)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
ping_model_nb = bus.ping(id_)
@@ -125,7 +125,7 @@ def test_broadcast_ping(mock_motors, dummy_motors):
port=mock_motors.port,
motors=dummy_motors,
)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
ping_model_nbs = bus.broadcast_ping()
@@ -148,7 +148,7 @@ def test__read(addr, length, id_, value, mock_motors, dummy_motors):
port=mock_motors.port,
motors=dummy_motors,
)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
read_value, _, _ = bus._read(addr, length, id_)
@@ -164,7 +164,7 @@ def test__read_error(raise_on_error, mock_motors, dummy_motors):
port=mock_motors.port,
motors=dummy_motors,
)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")):
@@ -184,7 +184,7 @@ def test__read_comm(raise_on_error, mock_motors, dummy_motors):
port=mock_motors.port,
motors=dummy_motors,
)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -210,7 +210,7 @@ def test__write(addr, length, id_, value, mock_motors, dummy_motors):
port=mock_motors.port,
motors=dummy_motors,
)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
comm, error = bus._write(addr, length, id_, value)
@@ -224,7 +224,7 @@ def test__write_error(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value, error = (10, 4, 1, 1337, scs.ERRBIT_VOLTAGE)
stub = mock_motors.build_write_stub(addr, length, id_, value, error=error)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(RuntimeError, match=re.escape("[RxPacketError] Input voltage error!")):
@@ -241,7 +241,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, id_, value = (10, 4, 1, 1337)
stub = mock_motors.build_write_stub(addr, length, id_, value, reply=False)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -265,7 +265,7 @@ def test__write_comm(raise_on_error, mock_motors, dummy_motors):
def test__sync_read(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_read_stub(addr, length, ids_values)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
read_values, _ = bus._sync_read(addr, length, list(ids_values))
@@ -278,7 +278,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
addr, length, ids_values = (10, 4, {1: 1337})
stub = mock_motors.build_sync_read_stub(addr, length, ids_values, reply=False)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
if raise_on_error:
with pytest.raises(ConnectionError, match=re.escape("[TxRxResult] There is no status packet!")):
@@ -302,7 +302,7 @@ def test__sync_read_comm(raise_on_error, mock_motors, dummy_motors):
def test__sync_write(addr, length, ids_values, mock_motors, dummy_motors):
stub = mock_motors.build_sync_write_stub(addr, length, ids_values)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
comm = bus._sync_write(addr, length, ids_values)
@@ -324,7 +324,7 @@ def test_is_calibrated(mock_motors, dummy_motors, dummy_calibration):
motors=dummy_motors,
calibration=dummy_calibration,
)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
is_calibrated = bus.is_calibrated
@@ -350,7 +350,7 @@ def test_reset_calibration(mock_motors, dummy_motors):
)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
bus.reset_calibration()
@@ -386,7 +386,7 @@ def test_set_half_turn_homings(mock_motors, dummy_motors):
write_homing_stubs.append(stub)
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
bus.reset_calibration = MagicMock()
bus.set_half_turn_homings()
@@ -417,7 +417,7 @@ def test_record_ranges_of_motion(mock_motors, dummy_motors):
)
with patch("lerobot.common.motors.motors_bus.enter_pressed", side_effect=[False, True]):
bus = FeetechMotorsBus(port=mock_motors.port, motors=dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
mins, maxes = bus.record_ranges_of_motion(display_values=False)

14
tests/motors/test_motors_bus.py
View File

@@ -227,7 +227,7 @@ def test__serialize_data_large_number():
)
def test_read(data_name, id_, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
with (
@@ -261,7 +261,7 @@ def test_read(data_name, id_, value, dummy_motors):
)
def test_write(data_name, id_, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
with (
@@ -296,7 +296,7 @@ def test_write(data_name, id_, value, dummy_motors):
)
def test_sync_read_by_str(data_name, id_, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids = [id_]
expected_value = {f"dummy_{id_}": value}
@@ -333,7 +333,7 @@ def test_sync_read_by_str(data_name, id_, value, dummy_motors):
)
def test_sync_read_by_list(data_name, ids_values, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids = list(ids_values)
expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()}
@@ -370,7 +370,7 @@ def test_sync_read_by_list(data_name, ids_values, dummy_motors):
)
def test_sync_read_by_none(data_name, ids_values, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids = list(ids_values)
expected_values = {f"dummy_{id_}": val for id_, val in ids_values.items()}
@@ -406,7 +406,7 @@ def test_sync_read_by_none(data_name, ids_values, dummy_motors):
)
def test_sync_write_by_single_value(data_name, value, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
ids_values = {m.id: value for m in dummy_motors.values()}
@@ -441,7 +441,7 @@ def test_sync_write_by_single_value(data_name, value, dummy_motors):
)
def test_sync_write_by_value_dict(data_name, ids_values, dummy_motors):
bus = MockMotorsBus("/dev/dummy-port", dummy_motors)
bus.connect(assert_motors_exist=False)
bus.connect(handshake=False)
addr, length = DUMMY_CTRL_TABLE_2[data_name]
values = {f"dummy_{id_}": val for id_, val in ids_values.items()}