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Refactor & add _serialize_data

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This commit is contained in:
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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8
tests/mocks/mock_feetech.py
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@@ -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)