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Add support for feetech protocol 1 to _split_into_byte_chunks

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This commit is contained in:
Simon Alibert
2025-04-11 11:58:09 +02:00
parent 0a7f51f0da
commit 9e57ec7837
8 changed files with 129 additions and 115 deletions
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33
tests/motors/test_dynamixel.py
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@@ -67,43 +67,16 @@ def test_autouse_patch():
(0x12, 1, [0x12]),
(0x1234, 2, [0x34, 0x12]),
(0x12345678, 4, [0x78, 0x56, 0x34, 0x12]),
(0, 1, [0x00]),
(0, 2, [0x00, 0x00]),
(0, 4, [0x00, 0x00, 0x00, 0x00]),
(255, 1, [0xFF]),
(65535, 2, [0xFF, 0xFF]),
(4294967295, 4, [0xFF, 0xFF, 0xFF, 0xFF]),
],
ids=[
"1 byte",
"2 bytes",
"4 bytes",
"0 with 1 byte",
"0 with 2 bytes",
"0 with 4 bytes",
"max single byte",
"max two bytes",
"max four bytes",
],
) # fmt: skip
def test_serialize_data(value, length, expected):
assert DynamixelMotorsBus._serialize_data(value, length) == expected
def test_serialize_data_invalid_length():
with pytest.raises(NotImplementedError):
DynamixelMotorsBus._serialize_data(100, 3)
def test_serialize_data_negative_numbers():
with pytest.raises(ValueError):
neg = DynamixelMotorsBus._serialize_data(-1, 1)
print(neg)
def test_serialize_data_large_number():
with pytest.raises(ValueError):
DynamixelMotorsBus._serialize_data(2**32, 4) # 4-byte max is 0xFFFFFFFF
def test__split_into_byte_chunks(value, length, expected):
bus = DynamixelMotorsBus("", {})
assert bus._split_into_byte_chunks(value, length) == expected
def test_abc_implementation(dummy_motors):