From 8da08935d457048782b84b0f1a254db57e95c84b Mon Sep 17 00:00:00 2001
From: Remi Cadene <remi.cadene@huggingface.co>
Date: Thu, 26 Sep 2024 16:45:04 +0200
Subject: [PATCH] move mock_motor in test_motors.py

---
 tests/test_motors.py | 39 +++++++++++++++++++++++++++++++-
 tests/utils.py       | 54 ++------------------------------------------
 2 files changed, 40 insertions(+), 53 deletions(-)

diff --git a/tests/test_motors.py b/tests/test_motors.py
index 262a7b64..fcf33a3e 100644
--- a/tests/test_motors.py
+++ b/tests/test_motors.py
@@ -26,13 +26,14 @@ pytest -sx 'tests/test_motors.py::test_motors_bus[dynamixel-True]'
 # TODO(rcadene): add compatibility with other motors bus
 
 import time
+import traceback
 
 import numpy as np
 import pytest
 
 from lerobot import available_motors
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
-from tests.utils import make_motors_bus, mock_builtins_input, mock_motor, require_motor
+from tests.utils import make_motors_bus, mock_builtins_input, require_motor
 
 
 def _test_configure_motors_all_ids_1(motor_type):
@@ -152,3 +153,39 @@ def test_motors_bus_mock(monkeypatch, motor_type):
 @require_motor
 def test_motors_bus(request, motor_type):
     _test_motors_bus(motor_type)
+
+
+def mock_motor(monkeypatch, motor_type):
+    if motor_type not in available_motors:
+        raise ValueError(
+            f"The motor type '{motor_type}' is not valid. Expected one of these '{available_motors}"
+        )
+
+    if motor_type == "dynamixel":
+        try:
+            import dynamixel_sdk
+
+            from tests.mock_dynamixel import (
+                MockGroupSyncRead,
+                MockGroupSyncWrite,
+                MockPacketHandler,
+                MockPortHandler,
+                mock_convert_to_bytes,
+            )
+
+            monkeypatch.setattr(dynamixel_sdk, "GroupSyncRead", MockGroupSyncRead)
+            monkeypatch.setattr(dynamixel_sdk, "GroupSyncWrite", MockGroupSyncWrite)
+            monkeypatch.setattr(dynamixel_sdk, "PacketHandler", MockPacketHandler)
+            monkeypatch.setattr(dynamixel_sdk, "PortHandler", MockPortHandler)
+
+            # Import dynamixel AFTER mocking dynamixel_sdk to use mocked classes
+            from lerobot.common.robot_devices.motors import dynamixel
+
+            # TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
+            # `convert_bytes_to_value`
+            monkeypatch.setattr(dynamixel, "convert_to_bytes", mock_convert_to_bytes)
+        except ImportError:
+            traceback.print_exc()
+            pytest.skip("To avoid skipping tests mocking dynamixel motors, run `pip install dynamixel-sdk`.")
+    else:
+        raise NotImplementedError("Implement mocking logic for new motor.")
diff --git a/tests/utils.py b/tests/utils.py
index a21891bf..4bd47413 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -314,22 +314,8 @@ def require_mock_camera(func):
     return wrapper
 
 
-def require_mock_motor(func):
-    @wraps(func)
-    def wrapper(*args, **kwargs):
-        # Access the pytest request context to get the mockeypatch fixture
-        monkeypatch = kwargs.get("monkeypatch")
-        motor_type = kwargs.get("motor_type")
-
-        if monkeypatch is None:
-            raise ValueError("The 'monkeypatch' fixture must be an argument of the test function.")
-        if motor_type is None:
-            raise ValueError("The 'motor_type' must be an argument of the test function.")
-
-        mock_motor(monkeypatch, motor_type)
-        return func(*args, **kwargs)
-
-    return wrapper
+def mock_motor(**kwargs):
+    pass
 
 
 def mock_robot(monkeypatch, robot_type):
@@ -394,42 +380,6 @@ def mock_camera(monkeypatch, camera_type):
         raise NotImplementedError("Implement mocking logic for new camera.")
 
 
-def mock_motor(monkeypatch, motor_type):
-    if motor_type not in available_motors:
-        raise ValueError(
-            f"The motor type '{motor_type}' is not valid. Expected one of these '{available_motors}"
-        )
-
-    if motor_type == "dynamixel":
-        try:
-            import dynamixel_sdk
-
-            from tests.mock_dynamixel import (
-                MockGroupSyncRead,
-                MockGroupSyncWrite,
-                MockPacketHandler,
-                MockPortHandler,
-                mock_convert_to_bytes,
-            )
-
-            monkeypatch.setattr(dynamixel_sdk, "GroupSyncRead", MockGroupSyncRead)
-            monkeypatch.setattr(dynamixel_sdk, "GroupSyncWrite", MockGroupSyncWrite)
-            monkeypatch.setattr(dynamixel_sdk, "PacketHandler", MockPacketHandler)
-            monkeypatch.setattr(dynamixel_sdk, "PortHandler", MockPortHandler)
-
-            # Import dynamixel AFTER mocking dynamixel_sdk to use mocked classes
-            from lerobot.common.robot_devices.motors import dynamixel
-
-            # TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
-            # `convert_bytes_to_value`
-            monkeypatch.setattr(dynamixel, "convert_to_bytes", mock_convert_to_bytes)
-        except ImportError:
-            traceback.print_exc()
-            pytest.skip("To avoid skipping tests mocking dynamixel motors, run `pip install dynamixel-sdk`.")
-    else:
-        raise NotImplementedError("Implement mocking logic for new motor.")
-
-
 def mock_builtins_input(monkeypatch):
     def print_text(text=None):
         if text is not None: