Refactor & add _serialize_data

tests/mocks/mock_dynamixel.py

@@ -237,7 +237,7 @@ class MockInstructionPacket(MockDynamixelPacketv2):
             +2 is for the length bytes,
             +2 is for the CRC at the end.
         """
-        data = DynamixelMotorsBus._split_int_to_bytes(value, data_length)
+        data = DynamixelMotorsBus._split_into_byte_chunks(value, data_length)
         params = [
             dxl.DXL_LOBYTE(start_address),
             dxl.DXL_HIBYTE(start_address),
@@ -315,7 +315,7 @@ class MockInstructionPacket(MockDynamixelPacketv2):
         """
         data = []
         for id_, value in ids_values.items():
-            split_value = DynamixelMotorsBus._split_int_to_bytes(value, data_length)
+            split_value = DynamixelMotorsBus._split_into_byte_chunks(value, data_length)
             data += [id_, *split_value]
         params = [
             dxl.DXL_LOBYTE(start_address),
@@ -389,7 +389,7 @@ class MockStatusPacket(MockDynamixelPacketv2):
         Returns:
             bytes: The raw 'Present_Position' status packet ready to be sent through serial.
         """
-        params = DynamixelMotorsBus._split_int_to_bytes(value, param_length)
+        params = DynamixelMotorsBus._split_into_byte_chunks(value, param_length)
         length = param_length + 4
         return cls.build(dxl_id, params=params, length=length)
 

tests/mocks/mock_feetech.py

@@ -49,7 +49,7 @@ class MockFeetechPacket(abc.ABC):
         for id_ in range(2, len(packet) - 1):  # except header & checksum
             checksum += packet[id_]
 
-        packet[-1] = scs.SCS_LOBYTE(~checksum)
+        packet[-1] = ~checksum & 0xFF
 
         return packet
 
@@ -139,7 +139,7 @@ class MockInstructionPacket(MockFeetechPacket):
             +1 is for the length bytes,
             +1 is for the checksum at the end.
         """
-        data = FeetechMotorsBus._split_int_to_bytes(value, data_length)
+        data = FeetechMotorsBus._split_into_byte_chunks(value, data_length)
         params = [start_address, *data]
         length = data_length + 3
         return cls.build(scs_id=scs_id, params=params, length=length, instruct_type="Write")
@@ -201,7 +201,7 @@ class MockInstructionPacket(MockFeetechPacket):
         """
         data = []
         for id_, value in ids_values.items():
-            split_value = FeetechMotorsBus._split_int_to_bytes(value, data_length)
+            split_value = FeetechMotorsBus._split_into_byte_chunks(value, data_length)
             data += [id_, *split_value]
         params = [start_address, data_length, *data]
         length = len(ids_values) * (1 + data_length) + 4
@@ -258,7 +258,7 @@ class MockStatusPacket(MockFeetechPacket):
         Returns:
             bytes: The raw 'Sync Read' status packet ready to be sent through serial.
         """
-        params = FeetechMotorsBus._split_int_to_bytes(value, param_length)
+        params = FeetechMotorsBus._split_into_byte_chunks(value, param_length)
         length = param_length + 2
         return cls.build(scs_id, params=params, length=length)
 

tests/motors/test_dynamixel.py

@@ -62,7 +62,7 @@ def test_autouse_patch():
 
 
 @pytest.mark.parametrize(
-    "value, n_bytes, expected",
+    "value, length, expected",
     [
         (0x12,       1, [0x12]),
         (0x1234,     2, [0x34, 0x12]),
@@ -86,24 +86,24 @@ def test_autouse_patch():
         "max four bytes",
     ],
 )  # fmt: skip
-def test_split_int_to_bytes(value, n_bytes, expected):
-    assert DynamixelMotorsBus._split_int_to_bytes(value, n_bytes) == expected
+def test_serialize_data(value, length, expected):
+    assert DynamixelMotorsBus._serialize_data(value, length) == expected
 
 
-def test_split_int_to_bytes_invalid_n_bytes():
+def test_serialize_data_invalid_length():
     with pytest.raises(NotImplementedError):
-        DynamixelMotorsBus._split_int_to_bytes(100, 3)
+        DynamixelMotorsBus._serialize_data(100, 3)
 
 
-def test_split_int_to_bytes_negative_numbers():
+def test_serialize_data_negative_numbers():
     with pytest.raises(ValueError):
-        neg = DynamixelMotorsBus._split_int_to_bytes(-1, 1)
+        neg = DynamixelMotorsBus._serialize_data(-1, 1)
         print(neg)
 
 
-def test_split_int_to_bytes_large_number():
+def test_serialize_data_large_number():
     with pytest.raises(ValueError):
-        DynamixelMotorsBus._split_int_to_bytes(2**32, 4)  # 4-byte max is 0xFFFFFFFF
+        DynamixelMotorsBus._serialize_data(2**32, 4)  # 4-byte max is 0xFFFFFFFF
 
 
 def test_abc_implementation(dummy_motors):

tests/motors/test_feetech.py

@@ -61,7 +61,7 @@ def test_autouse_patch():
 
 
 @pytest.mark.parametrize(
-    "value, n_bytes, expected",
+    "value, length, expected",
     [
         (0x12,       1, [0x12]),
         (0x1234,     2, [0x34, 0x12]),
@@ -85,24 +85,24 @@ def test_autouse_patch():
         "max four bytes",
     ],
 )  # fmt: skip
-def test_split_int_to_bytes(value, n_bytes, expected):
-    assert FeetechMotorsBus._split_int_to_bytes(value, n_bytes) == expected
+def test_serialize_data(value, length, expected):
+    assert FeetechMotorsBus._serialize_data(value, length) == expected
 
 
-def test_split_int_to_bytes_invalid_n_bytes():
+def test_serialize_data_invalid_length():
     with pytest.raises(NotImplementedError):
-        FeetechMotorsBus._split_int_to_bytes(100, 3)
+        FeetechMotorsBus._serialize_data(100, 3)
 
 
-def test_split_int_to_bytes_negative_numbers():
+def test_serialize_data_negative_numbers():
     with pytest.raises(ValueError):
-        neg = FeetechMotorsBus._split_int_to_bytes(-1, 1)
+        neg = FeetechMotorsBus._serialize_data(-1, 1)
         print(neg)
 
 
-def test_split_int_to_bytes_large_number():
+def test_serialize_data_large_number():
     with pytest.raises(ValueError):
-        FeetechMotorsBus._split_int_to_bytes(2**32, 4)  # 4-byte max is 0xFFFFFFFF
+        FeetechMotorsBus._serialize_data(2**32, 4)  # 4-byte max is 0xFFFFFFFF
 
 
 def test_abc_implementation(dummy_motors):