Hardware API redesign (#777)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>

tests/utils/test_encoding_utils.py

@@ -0,0 +1,155 @@
+import pytest
+
+from lerobot.common.utils.encoding_utils import (
+    decode_sign_magnitude,
+    decode_twos_complement,
+    encode_sign_magnitude,
+    encode_twos_complement,
+)
+
+
+@pytest.mark.parametrize(
+    "value, sign_bit_index, expected",
+    [
+        (5, 4, 5),
+        (0, 4, 0),
+        (7, 3, 7),
+        (-1, 4, 17),
+        (-8, 4, 24),
+        (-3, 3, 11),
+    ],
+)
+def test_encode_sign_magnitude(value, sign_bit_index, expected):
+    assert encode_sign_magnitude(value, sign_bit_index) == expected
+
+
+@pytest.mark.parametrize(
+    "encoded, sign_bit_index, expected",
+    [
+        (5, 4, 5),
+        (0, 4, 0),
+        (7, 3, 7),
+        (17, 4, -1),
+        (24, 4, -8),
+        (11, 3, -3),
+    ],
+)
+def test_decode_sign_magnitude(encoded, sign_bit_index, expected):
+    assert decode_sign_magnitude(encoded, sign_bit_index) == expected
+
+
+@pytest.mark.parametrize(
+    "encoded, sign_bit_index",
+    [
+        (16, 4),
+        (-9, 3),
+    ],
+)
+def test_encode_raises_on_overflow(encoded, sign_bit_index):
+    with pytest.raises(ValueError):
+        encode_sign_magnitude(encoded, sign_bit_index)
+
+
+def test_encode_decode_sign_magnitude():
+    for sign_bit_index in range(2, 6):
+        max_val = (1 << sign_bit_index) - 1
+        for value in range(-max_val, max_val + 1):
+            encoded = encode_sign_magnitude(value, sign_bit_index)
+            decoded = decode_sign_magnitude(encoded, sign_bit_index)
+            assert decoded == value, f"Failed at value={value}, index={sign_bit_index}"
+
+
+@pytest.mark.parametrize(
+    "value, n_bytes, expected",
+    [
+        (0, 1, 0),
+        (5, 1, 5),
+        (-1, 1, 255),
+        (-128, 1, 128),
+        (-2, 1, 254),
+        (127, 1, 127),
+        (0, 2, 0),
+        (5, 2, 5),
+        (-1, 2, 65_535),
+        (-32_768, 2, 32_768),
+        (-2, 2, 65_534),
+        (32_767, 2, 32_767),
+        (0, 4, 0),
+        (5, 4, 5),
+        (-1, 4, 4_294_967_295),
+        (-2_147_483_648, 4, 2_147_483_648),
+        (-2, 4, 4_294_967_294),
+        (2_147_483_647, 4, 2_147_483_647),
+    ],
+)
+def test_encode_twos_complement(value, n_bytes, expected):
+    assert encode_twos_complement(value, n_bytes) == expected
+
+
+@pytest.mark.parametrize(
+    "value, n_bytes, expected",
+    [
+        (0, 1, 0),
+        (5, 1, 5),
+        (255, 1, -1),
+        (128, 1, -128),
+        (254, 1, -2),
+        (127, 1, 127),
+        (0, 2, 0),
+        (5, 2, 5),
+        (65_535, 2, -1),
+        (32_768, 2, -32_768),
+        (65_534, 2, -2),
+        (32_767, 2, 32_767),
+        (0, 4, 0),
+        (5, 4, 5),
+        (4_294_967_295, 4, -1),
+        (2_147_483_648, 4, -2_147_483_648),
+        (4_294_967_294, 4, -2),
+        (2_147_483_647, 4, 2_147_483_647),
+    ],
+)
+def test_decode_twos_complement(value, n_bytes, expected):
+    assert decode_twos_complement(value, n_bytes) == expected
+
+
+@pytest.mark.parametrize(
+    "value, n_bytes",
+    [
+        (-129, 1),
+        (128, 1),
+        (-32_769, 2),
+        (32_768, 2),
+        (-2_147_483_649, 4),
+        (2_147_483_648, 4),
+    ],
+)
+def test_encode_twos_complement_out_of_range(value, n_bytes):
+    with pytest.raises(ValueError):
+        encode_twos_complement(value, n_bytes)
+
+
+@pytest.mark.parametrize(
+    "value, n_bytes",
+    [
+        (-128, 1),
+        (-1, 1),
+        (0, 1),
+        (1, 1),
+        (127, 1),
+        (-32_768, 2),
+        (-1, 2),
+        (0, 2),
+        (1, 2),
+        (32_767, 2),
+        (-2_147_483_648, 4),
+        (-1, 4),
+        (0, 4),
+        (1, 4),
+        (2_147_483_647, 4),
+    ],
+)
+def test_encode_decode_twos_complement(value, n_bytes):
+    encoded = encode_twos_complement(value, n_bytes)
+    decoded = decode_twos_complement(encoded, n_bytes)
+    assert decoded == value, f"Failed at value={value}, n_bytes={n_bytes}"