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add mock=False

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This commit is contained in:
Remi Cadene
2024-09-27 12:02:14 +02:00
parent 8da08935d4
commit a7350d9b65
12 changed files with 344 additions and 420 deletions
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11
tests/conftest.py
View File

@@ -62,8 +62,8 @@ def is_camera_available(camera_type):
del camera
return True
except Exception:
traceback.print_exc()
print(f"\nA {camera_type} camera is not available.")
traceback.print_exc()
return False
@@ -83,3 +83,12 @@ def is_motor_available(motor_type):
traceback.print_exc()
print(f"\nA {motor_type} motor is not available.")
return False
@pytest.fixture
def patch_builtins_input(monkeypatch):
def print_text(text=None):
if text is not None:
print(text)
monkeypatch.setattr("builtins.input", print_text)

13
tests/mock_dynamixel.py
View File

@@ -5,19 +5,20 @@ Warning: These mocked versions are minimalist. They do not exactly mock every be
from the original classes and functions (e.g. return types might be None instead of boolean).
"""
from dynamixel_sdk import COMM_SUCCESS
# from dynamixel_sdk import COMM_SUCCESS
DEFAULT_BAUDRATE = 9_600
COMM_SUCCESS = 0 # tx or rx packet communication success
def mock_convert_to_bytes(value, bytes):
def convert_to_bytes(value, bytes):
# TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
# `convert_bytes_to_value`
del bytes # unused
return value
class MockPortHandler:
class PortHandler:
def __init__(self, port):
self.port = port
# factory default baudrate
@@ -39,14 +40,14 @@ class MockPortHandler:
self.baudrate = baudrate
class MockPacketHandler:
class PacketHandler:
def __init__(self, protocol_version):
del protocol_version # unused
# Use packet_handler.data to communicate across Read and Write
self.data = {}
class MockGroupSyncRead:
class GroupSyncRead:
def __init__(self, port_handler, packet_handler, address, bytes):
self.packet_handler = packet_handler
@@ -71,7 +72,7 @@ class MockGroupSyncRead:
return self.packet_handler.data[index][address]
class MockGroupSyncWrite:
class GroupSyncWrite:
def __init__(self, port_handler, packet_handler, address, bytes):
self.packet_handler = packet_handler
self.address = address

64
tests/mock_intelrealsense.py
View File

@@ -3,33 +3,33 @@ import enum
import numpy as np
class MockStream(enum.Enum):
class RSStream(enum.Enum):
color = 0
depth = 1
class MockFormat(enum.Enum):
class RSFormat(enum.Enum):
rgb8 = 0
z16 = 1
class MockConfig:
class RSConfig:
def enable_device(self, device_id: str):
self.device_enabled = device_id
def enable_stream(
self, stream_type: MockStream, width=None, height=None, color_format: MockFormat = None, fps=None
self, stream_type: RSStream, width=None, height=None, color_format: RSFormat = None, fps=None
):
self.stream_type = stream_type
# Overwrite default values when possible
self.width = 848 if width is None else width
self.height = 480 if height is None else height
self.color_format = MockFormat.rgb8 if color_format is None else color_format
self.color_format = RSFormat.rgb8 if color_format is None else color_format
self.fps = 30 if fps is None else fps
class MockColorProfile:
def __init__(self, config: MockConfig):
class RSColorProfile:
def __init__(self, config: RSConfig):
self.config = config
def fps(self):
@@ -42,32 +42,32 @@ class MockColorProfile:
return self.config.height
class MockColorStream:
def __init__(self, config: MockConfig):
class RSColorStream:
def __init__(self, config: RSConfig):
self.config = config
def as_video_stream_profile(self):
return MockColorProfile(self.config)
return RSColorProfile(self.config)
class MockProfile:
def __init__(self, config: MockConfig):
class RSProfile:
def __init__(self, config: RSConfig):
self.config = config
def get_stream(self, color_format: MockFormat):
def get_stream(self, color_format: RSFormat):
del color_format # unused
return MockColorStream(self.config)
return RSColorStream(self.config)
class MockPipeline:
class RSPipeline:
def __init__(self):
self.started = False
self.config = None
def start(self, config: MockConfig):
def start(self, config: RSConfig):
self.started = True
self.config = config
return MockProfile(self.config)
return RSProfile(self.config)
def stop(self):
if not self.started:
@@ -77,22 +77,22 @@ class MockPipeline:
def wait_for_frames(self, timeout_ms=50000):
del timeout_ms # unused
return MockFrames(self.config)
return RSFrames(self.config)
class MockFrames:
def __init__(self, config: MockConfig):
class RSFrames:
def __init__(self, config: RSConfig):
self.config = config
def get_color_frame(self):
return MockColorFrame(self.config)
return RSColorFrame(self.config)
def get_depth_frame(self):
return MockDepthFrame(self.config)
return RSDepthFrame(self.config)
class MockColorFrame:
def __init__(self, config: MockConfig):
class RSColorFrame:
def __init__(self, config: RSConfig):
self.config = config
def get_data(self):
@@ -102,15 +102,15 @@ class MockColorFrame:
return data
class MockDepthFrame:
def __init__(self, config: MockConfig):
class RSDepthFrame:
def __init__(self, config: RSConfig):
self.config = config
def get_data(self):
return np.ones((self.config.height, self.config.width), dtype=np.uint16)
class MockDevice:
class RSDevice:
def __init__(self):
pass
@@ -120,9 +120,15 @@ class MockDevice:
return "123456789"
class MockContext:
class RSContext:
def __init__(self):
pass
def query_devices(self):
return [MockDevice()]
return [RSDevice()]
class RSCameraInfo:
def __init__(self, serial_number):
del serial_number
pass

29
tests/mock_opencv.py
View File

@@ -1,20 +1,31 @@
from functools import cache
import cv2
import numpy as np
CAP_PROP_FPS = 5
CAP_PROP_FRAME_WIDTH = 3
CAP_PROP_FRAME_HEIGHT = 4
COLOR_BGR2RGB = 4
@cache
def _generate_image(width: int, height: int):
return np.random.randint(0, 256, size=(height, width, 3), dtype=np.uint8)
class MockVideoCapture:
def cvtColor(color_image, color_convertion): # noqa: N802
if color_convertion == COLOR_BGR2RGB:
return color_image[:, :, [2, 1, 0]]
else:
raise NotImplementedError(color_convertion)
class VideoCapture:
def __init__(self, *args, **kwargs):
self._mock_dict = {
cv2.CAP_PROP_FPS: 30,
cv2.CAP_PROP_FRAME_WIDTH: 640,
cv2.CAP_PROP_FRAME_HEIGHT: 480,
CAP_PROP_FPS: 30,
CAP_PROP_FRAME_WIDTH: 640,
CAP_PROP_FRAME_HEIGHT: 480,
}
self._is_opened = True
@@ -32,17 +43,17 @@ class MockVideoCapture:
raise RuntimeError("Camera is not opened")
value = self._mock_dict[propId]
if value == 0:
if propId == cv2.CAP_PROP_FRAME_HEIGHT:
if propId == CAP_PROP_FRAME_HEIGHT:
value = 480
elif propId == cv2.CAP_PROP_FRAME_WIDTH:
elif propId == CAP_PROP_FRAME_WIDTH:
value = 640
return value
def read(self):
if not self._is_opened:
raise RuntimeError("Camera is not opened")
h = self.get(cv2.CAP_PROP_FRAME_HEIGHT)
w = self.get(cv2.CAP_PROP_FRAME_WIDTH)
h = self.get(CAP_PROP_FRAME_HEIGHT)
w = self.get(CAP_PROP_FRAME_WIDTH)
ret = True
return ret, _generate_image(width=w, height=h)

52
tests/test_cameras.py
View File

@@ -24,9 +24,8 @@ pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
import numpy as np
import pytest
from lerobot import available_cameras
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import make_camera, require_camera, require_mock_camera
from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera
# Maximum absolute difference between two consecutive images recored by a camera.
# This value differs with respect to the camera.
@@ -37,7 +36,9 @@ def compute_max_pixel_difference(first_image, second_image):
return np.abs(first_image.astype(float) - second_image.astype(float)).max()
def _test_camera(camera_type):
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
@require_camera
def test_camera(request, camera_type, mock):
"""Test assumes that `camera.read()` returns the same image when called multiple times in a row.
So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving.
@@ -47,8 +48,11 @@ def _test_camera(camera_type):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
if camera_type == "opencv" and not mock:
pytest.skip("TODO(rcadene): fix test for opencv physical camera")
# Test instantiating
camera = make_camera(camera_type)
camera = make_camera(camera_type, mock=mock)
# Test reading, async reading, disconnecting before connecting raises an error
with pytest.raises(RobotDeviceNotConnectedError):
@@ -62,7 +66,7 @@ def _test_camera(camera_type):
del camera
# Test connecting
camera = make_camera(camera_type)
camera = make_camera(camera_type, mock=mock)
camera.connect()
assert camera.is_connected
assert camera.fps is not None
@@ -102,12 +106,12 @@ def _test_camera(camera_type):
assert camera.thread is None
# Test disconnecting with `__del__`
camera = make_camera(camera_type)
camera = make_camera(camera_type, mock=mock)
camera.connect()
del camera
# Test acquiring a bgr image
camera = make_camera(camera_type, color_mode="bgr")
camera = make_camera(camera_type, color_mode="bgr", mock=mock)
camera.connect()
assert camera.color_mode == "bgr"
bgr_color_image = camera.read()
@@ -120,7 +124,7 @@ def _test_camera(camera_type):
# TODO(rcadene): Add a test for a camera that supports fps=60
# Test width and height can be set
camera = make_camera(camera_type, fps=30, width=1280, height=720)
camera = make_camera(camera_type, fps=30, width=1280, height=720, mock=mock)
camera.connect()
assert camera.fps == 30
assert camera.width == 1280
@@ -133,41 +137,19 @@ def _test_camera(camera_type):
del camera
# Test not supported width and height raise an error
camera = make_camera(camera_type, fps=30, width=0, height=0)
camera = make_camera(camera_type, fps=30, width=0, height=0, mock=mock)
with pytest.raises(OSError):
camera.connect()
del camera
def _test_save_images_from_cameras(tmpdir, camera_type):
@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
@require_camera
def test_save_images_from_cameras(tmpdir, request, camera_type, mock):
# TODO(rcadene): refactor
if camera_type == "opencv":
from lerobot.common.robot_devices.cameras.opencv import save_images_from_cameras
elif camera_type == "intelrealsense":
from lerobot.common.robot_devices.cameras.intelrealsense import save_images_from_cameras
save_images_from_cameras(tmpdir, record_time_s=1)
@pytest.mark.parametrize("camera_type", available_cameras)
@require_mock_camera
def test_camera_mock(monkeypatch, camera_type):
_test_camera(camera_type)
@pytest.mark.parametrize("camera_type", available_cameras)
@require_camera
def test_camera(request, camera_type):
_test_camera(camera_type)
@pytest.mark.parametrize("camera_type", available_cameras)
@require_mock_camera
def test_save_images_from_cameras_mock(tmpdir, monkeypatch, camera_type):
_test_save_images_from_cameras(tmpdir, camera_type)
@pytest.mark.parametrize("camera_type", available_cameras)
@require_camera
def test_save_images_from_cameras(tmpdir, request, camera_type):
_test_save_images_from_cameras(tmpdir, camera_type)
save_images_from_cameras(tmpdir, record_time_s=1, mock=mock)

84
tests/test_control_robot.py
View File

@@ -27,33 +27,44 @@ from pathlib import Path
import pytest
from lerobot import available_robots
from lerobot.common.policies.factory import make_policy
from lerobot.common.utils.utils import init_hydra_config
from lerobot.scripts.control_robot import calibrate, get_available_arms, record, replay, teleoperate
from tests.test_robots import make_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_mock_robot, require_robot
from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot
def _test_teleoperate(robot_type):
robot = make_robot(robot_type)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_teleoperate(request, robot_type, mock):
robot = make_robot(robot_type, mock=mock)
teleoperate(robot, teleop_time_s=1)
teleoperate(robot, fps=30, teleop_time_s=1)
teleoperate(robot, fps=60, teleop_time_s=1)
del robot
def _test_calibrate(robot_type):
robot = make_robot(robot_type)
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_calibrate(request, robot_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
robot = make_robot(robot_type, mock=mock)
calibrate(robot, arms=get_available_arms(robot))
del robot
def _test_record_without_cameras(tmpdir, robot_type):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_record_without_cameras(tmpdir, request, robot_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
root = Path(tmpdir)
repo_id = "lerobot/debug"
robot = make_robot(robot_type, overrides=["~cameras"])
robot = make_robot(robot_type, overrides=["~cameras"], mock=mock)
record(
robot,
fps=30,
@@ -68,14 +79,19 @@ def _test_record_without_cameras(tmpdir, robot_type):
)
def _test_record_and_replay_and_policy(tmpdir, robot_type):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
env_name = "koch_real"
policy_name = "act_koch_real"
root = Path(tmpdir)
repo_id = "lerobot/debug"
robot = make_robot(robot_type)
robot = make_robot(robot_type, mock=mock)
dataset = record(
robot,
fps=30,
@@ -115,51 +131,3 @@ def _test_record_and_replay_and_policy(tmpdir, robot_type):
)
del robot
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_teleoperate_mock(monkeypatch, robot_type):
_test_teleoperate(robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_teleoperate(request, robot_type):
_test_teleoperate(robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_calibrate_mock(monkeypatch, robot_type):
_test_calibrate(robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_calibrate(request, robot_type):
_test_calibrate(robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_record_without_cameras_mock(tmpdir, monkeypatch, robot_type):
_test_record_without_cameras(tmpdir, robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_record_without_cameras(tmpdir, request, robot_type):
_test_record_without_cameras(tmpdir, robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_record_and_replay_and_policy_mock(tmpdir, monkeypatch, robot_type):
_test_record_and_replay_and_policy(tmpdir, robot_type)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_record_and_replay_and_policy(tmpdir, request, robot_type):
_test_record_and_replay_and_policy(tmpdir, robot_type)

117
tests/test_motors.py
View File

@@ -26,20 +26,35 @@ 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.motors.dynamixel import find_port
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import make_motors_bus, mock_builtins_input, require_motor
from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, require_motor
def _test_configure_motors_all_ids_1(motor_type):
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
@require_motor
def test_find_port_mock(request, motor_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
with pytest.raises(OSError):
find_port()
else:
find_port()
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
@require_motor
def test_configure_motors_all_ids_1_mock(request, motor_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
input("Are you sure you want to re-configure the motors? Press enter to continue...")
# This test expect the configuration was already correct.
motors_bus = make_motors_bus(motor_type)
motors_bus = make_motors_bus(motor_type, mock=mock)
motors_bus.connect()
motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
motors_bus.set_bus_baudrate(9_600)
@@ -47,14 +62,19 @@ def _test_configure_motors_all_ids_1(motor_type):
del motors_bus
# Test configure
motors_bus = make_motors_bus(motor_type)
motors_bus = make_motors_bus(motor_type, mock=mock)
motors_bus.connect()
assert motors_bus.are_motors_configured()
del motors_bus
def _test_motors_bus(motor_type):
motors_bus = make_motors_bus(motor_type)
@pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
@require_motor
def test_motors_bus(request, motor_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
motors_bus = make_motors_bus(motor_type, mock=mock)
# Test reading and writting before connecting raises an error
with pytest.raises(RobotDeviceNotConnectedError):
@@ -68,7 +88,7 @@ def _test_motors_bus(motor_type):
del motors_bus
# Test connecting
motors_bus = make_motors_bus(motor_type)
motors_bus = make_motors_bus(motor_type, mock=mock)
motors_bus.connect()
# Test connecting twice raises an error
@@ -110,82 +130,3 @@ def _test_motors_bus(motor_type):
time.sleep(1)
new_values = motors_bus.read("Present_Position")
assert (new_values == values).all()
@pytest.mark.parametrize("motor_type", available_motors)
def test_find_port_mock(monkeypatch, motor_type):
mock_motor(monkeypatch, motor_type)
from lerobot.common.robot_devices.motors.dynamixel import find_port
# To run find_port without user input
mock_builtins_input(monkeypatch)
with pytest.raises(OSError):
find_port()
@pytest.mark.parametrize("motor_type", available_motors)
@require_motor
def test_find_port(request, motor_type):
from lerobot.common.robot_devices.motors.dynamixel import find_port
find_port()
@pytest.mark.parametrize("motor_type", available_motors)
def test_configure_motors_all_ids_1_mock(monkeypatch, motor_type):
mock_motor(monkeypatch, motor_type)
_test_configure_motors_all_ids_1(motor_type)
@pytest.mark.parametrize("motor_type", available_motors)
@require_motor
def test_configure_motors_all_ids_1(request, motor_type):
_test_configure_motors_all_ids_1(motor_type)
@pytest.mark.parametrize("motor_type", available_motors)
def test_motors_bus_mock(monkeypatch, motor_type):
mock_motor(monkeypatch, motor_type)
_test_motors_bus(motor_type)
@pytest.mark.parametrize("motor_type", available_motors)
@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.")

28
tests/test_robots.py
View File

@@ -28,22 +28,26 @@ from pathlib import Path
import pytest
import torch
from lerobot import available_robots
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
from tests.utils import make_robot, require_mock_robot, require_robot
from tests.utils import TEST_ROBOT_TYPES, make_robot, require_robot
def _test_robot(tmpdir, robot_type, mock):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_robot(tmpdir, request, robot_type, mock):
# TODO(rcadene): measure fps in nightly?
# TODO(rcadene): test logs
# TODO(rcadene): add compatibility with other robots
from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
if robot_type == "aloha" and mock:
# To simplify unit test, we do not rerun manual calibration for Aloha mock=True.
# Instead, we use the files from '.cache/calibration/aloha_default'
overrides_calibration_dir = None
else:
if mock:
request.getfixturevalue("patch_builtins_input")
# Create an empty calibration directory to trigger manual calibration
tmpdir = Path(tmpdir)
calibration_dir = tmpdir / robot_type
@@ -72,7 +76,7 @@ def _test_robot(tmpdir, robot_type, mock):
del robot
# Test connecting (triggers manual calibration)
robot = make_robot(robot_type, overrides=overrides_calibration_dir)
robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock)
robot.connect()
assert robot.is_connected
@@ -84,7 +88,7 @@ def _test_robot(tmpdir, robot_type, mock):
del robot
# Test teleop can run
robot = make_robot(robot_type, overrides=overrides_calibration_dir)
robot = make_robot(robot_type, overrides=overrides_calibration_dir, mock=mock)
if overrides_calibration_dir is not None:
robot.calibration_dir = calibration_dir
robot.connect()
@@ -133,15 +137,3 @@ def _test_robot(tmpdir, robot_type, mock):
for name in robot.cameras:
assert not robot.cameras[name].is_connected
del robot
@pytest.mark.parametrize("robot_type", available_robots)
@require_mock_robot
def test_robot_mock(tmpdir, monkeypatch, robot_type):
_test_robot(tmpdir, robot_type, mock=True)
@pytest.mark.parametrize("robot_type", available_robots)
@require_robot
def test_robot(tmpdir, request, robot_type):
_test_robot(tmpdir, robot_type, mock=False)

166
tests/utils.py
View File

@@ -15,7 +15,7 @@
# limitations under the License.
import os
import platform
import traceback
from copy import copy
from functools import wraps
import pytest
@@ -207,14 +207,17 @@ def require_robot(func):
# Access the pytest request context to get the mockeypatch fixture
request = kwargs.get("request")
robot_type = kwargs.get("robot_type")
mock = kwargs.get("mock")
if robot_type is None:
raise ValueError("The 'robot_type' must be an argument of the test function.")
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
# Run test with a real robot. Skip test if robot connection fails.
if not request.getfixturevalue("is_robot_available"):
if not mock and not request.getfixturevalue("is_robot_available"):
pytest.skip(f"A {robot_type} robot is not available.")
return func(*args, **kwargs)
@@ -227,13 +230,16 @@ def require_camera(func):
def wrapper(*args, **kwargs):
request = kwargs.get("request")
camera_type = kwargs.get("camera_type")
mock = kwargs.get("mock")
if request is None:
raise ValueError("The 'request' fixture must be an argument of the test function.")
if camera_type is None:
raise ValueError("The 'camera_type' must be an argument of the test function.")
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
if not request.getfixturevalue("is_camera_available"):
if not mock and not request.getfixturevalue("is_camera_available"):
pytest.skip(f"A {camera_type} camera is not available.")
return func(*args, **kwargs)
@@ -247,13 +253,16 @@ def require_motor(func):
# Access the pytest request context to get the mockeypatch fixture
request = kwargs.get("request")
motor_type = kwargs.get("motor_type")
mock = kwargs.get("mock")
if request is None:
raise ValueError("The 'request' 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.")
if mock is None:
raise ValueError("The 'mock' variable must be an argument of the test function.")
if not request.getfixturevalue("is_motor_available"):
if not mock and not request.getfixturevalue("is_motor_available"):
pytest.skip(f"A {motor_type} motor is not available.")
return func(*args, **kwargs)
@@ -261,134 +270,37 @@ def require_motor(func):
return wrapper
def require_mock_robot(func):
"""
Decorator over test function to mock the robot
def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False) -> Robot:
if mock:
overrides = [] if overrides is None else copy(overrides)
The decorated function must have two arguments `monkeypatch` and `robot_type`.
if robot_type == "koch":
overrides.append("+leader_arms.main.mock=true")
overrides.append("+follower_arms.main.mock=true")
overrides.append("+cameras.laptop.mock=true")
overrides.append("+cameras.phone.mock=true")
Example of usage:
```python
@pytest.mark.parametrize(
"robot_type", ["koch", "aloha"]
)
@require_robot
def test_require_robot(request, robot_type):
pass
```
"""
elif robot_type == "koch_bimanual":
overrides.append("+leader_arms.left.mock=true")
overrides.append("+leader_arms.right.mock=true")
overrides.append("+follower_arms.left.mock=true")
overrides.append("+follower_arms.right.mock=true")
overrides.append("+cameras.laptop.mock=true")
overrides.append("+cameras.phone.mock=true")
@wraps(func)
def wrapper(*args, **kwargs):
# Access the pytest request context to get the mockeypatch fixture
monkeypatch = kwargs.get("monkeypatch")
robot_type = kwargs.get("robot_type")
elif robot_type == "aloha":
overrides.append("+leader_arms.left.mock=true")
overrides.append("+leader_arms.right.mock=true")
overrides.append("+follower_arms.left.mock=true")
overrides.append("+follower_arms.right.mock=true")
overrides.append("+cameras.cam_high.mock=true")
overrides.append("+cameras.cam_low.mock=true")
overrides.append("+cameras.cam_left_wrist.mock=true")
overrides.append("+cameras.cam_right_wrist.mock=true")
if monkeypatch is None:
raise ValueError("The 'monkeypatch' fixture must be an argument of the test function.")
else:
raise NotImplementedError(robot_type)
if robot_type is None:
raise ValueError("The 'robot_type' must be an argument of the test function.")
mock_robot(monkeypatch, robot_type)
return func(*args, **kwargs)
return wrapper
def require_mock_camera(func):
@wraps(func)
def wrapper(*args, **kwargs):
# Access the pytest request context to get the mockeypatch fixture
monkeypatch = kwargs.get("monkeypatch")
camera_type = kwargs.get("camera_type")
if monkeypatch is None:
raise ValueError("The 'monkeypatch' fixture must be an argument of the test function.")
if camera_type is None:
raise ValueError("The 'camera_type' must be an argument of the test function.")
mock_camera(monkeypatch, camera_type)
return func(*args, **kwargs)
return wrapper
def mock_motor(**kwargs):
pass
def mock_robot(monkeypatch, robot_type):
if robot_type not in available_robots:
raise ValueError(
f"The camera type '{robot_type}' is not valid. Expected one of these '{available_robots}"
)
if robot_type in ["koch", "koch_bimanual"]:
mock_camera(monkeypatch, "opencv")
mock_motor(monkeypatch, "dynamixel")
elif robot_type == "aloha":
mock_camera(monkeypatch, "intelrealsense")
mock_motor(monkeypatch, "dynamixel")
else:
raise NotImplementedError("Implement mocking logic for new robot.")
# To run calibration without user input
mock_builtins_input(monkeypatch)
def mock_camera(monkeypatch, camera_type):
if camera_type not in available_cameras:
raise ValueError(
f"The motor type '{camera_type}' is not valid. Expected one of these '{available_cameras}"
)
if camera_type == "opencv":
try:
import cv2
from tests.mock_opencv import MockVideoCapture
monkeypatch.setattr(cv2, "VideoCapture", MockVideoCapture)
except ImportError:
traceback.print_exc()
pytest.skip("To avoid skipping tests mocking opencv cameras, run `pip install opencv-python`.")
elif camera_type == "intelrealsense":
try:
import pyrealsense2 as rs
from tests.mock_intelrealsense import (
MockConfig,
MockContext,
MockFormat,
MockPipeline,
MockStream,
)
monkeypatch.setattr(rs, "config", MockConfig)
monkeypatch.setattr(rs, "pipeline", MockPipeline)
monkeypatch.setattr(rs, "stream", MockStream)
monkeypatch.setattr(rs, "format", MockFormat)
monkeypatch.setattr(rs, "context", MockContext)
except ImportError:
traceback.print_exc()
pytest.skip(
"To avoid skipping tests mocking intelrealsense cameras, run `pip install pyrealsense2`."
)
else:
raise NotImplementedError("Implement mocking logic for new camera.")
def mock_builtins_input(monkeypatch):
def print_text(text=None):
if text is not None:
print(text)
monkeypatch.setattr("builtins.input", print_text)
def make_robot(robot_type: str, overrides: list[str] | None = None) -> Robot:
config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type)
robot_cfg = init_hydra_config(config_path, overrides)
robot = make_robot_from_cfg(robot_cfg)