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Refactor & add _serialize_data

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Simon Alibert
2025-04-11 11:01:12 +02:00
parent 27cb0c40bd
commit d32daebf75
7 changed files with 78 additions and 104 deletions
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6
tests/mocks/mock_dynamixel.py
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@@ -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)