Add autoclosing fixture

tests/mocks/mock_dynamixel.py

@@ -424,7 +424,6 @@ class MockMotors(MockSerial):
 
     def __init__(self):
         super().__init__()
-        self.open()
 
     @property
     def stubs(self) -> dict[str, WaitableStub]:

tests/mocks/mock_feetech.py

@@ -283,7 +283,6 @@ class MockMotors(MockSerial):
 
     def __init__(self):
         super().__init__()
-        self.open()
 
     @property
     def stubs(self) -> dict[str, WaitableStub]:

tests/motors/test_dynamixel.py

@@ -1,4 +1,5 @@
 import sys
+from typing import Generator
 from unittest.mock import patch
 
 import dynamixel_sdk as dxl
@@ -18,6 +19,14 @@ def patch_port_handler():
         yield
 
 
+@pytest.fixture
+def mock_motors() -> Generator[MockMotors, None, None]:
+    motors = MockMotors()
+    motors.open()
+    yield motors
+    motors.close()
+
+
 @pytest.fixture
 def dummy_motors() -> dict[str, Motor]:
     return {
@@ -91,8 +100,7 @@ def test_abc_implementation(dummy_motors):
         [3, 1120],
     ],
 )
-def test_ping(idx, model_nb, dummy_motors):
+def test_ping(idx, model_nb, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     mock_motors.build_ping_stub(idx, model_nb)
     motors_bus = DynamixelMotorsBus(
         port=mock_motors.port,
@@ -105,13 +113,12 @@ def test_ping(idx, model_nb, dummy_motors):
     assert ping_model_nb == model_nb
 
 
-def test_broadcast_ping(dummy_motors):
+def test_broadcast_ping(mock_motors, dummy_motors):
     expected_pings = {
         1: [1060, 50],
         2: [1120, 30],
         3: [1190, 10],
     }
-    mock_motors = MockMotors()
     mock_motors.build_broadcast_ping_stub(expected_pings)
     motors_bus = DynamixelMotorsBus(
         port=mock_motors.port,
@@ -134,8 +141,7 @@ def test_broadcast_ping(dummy_motors):
     ],
     ids=["None", "by ids", "by names", "mixed"],
 )
-def test_read_all_motors(motors, dummy_motors):
+def test_read_all_motors(motors, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     expected_positions = {
         1: 1337,
         2: 42,
@@ -163,8 +169,7 @@ def test_read_all_motors(motors, dummy_motors):
         [3, 4016],
     ],
 )
-def test_read_single_motor_by_name(idx, pos, dummy_motors):
+def test_read_single_motor_by_name(idx, pos, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     expected_position = {idx: pos}
     stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
     motors_bus = DynamixelMotorsBus(
@@ -187,8 +192,7 @@ def test_read_single_motor_by_name(idx, pos, dummy_motors):
         [3, 4016],
     ],
 )
-def test_read_single_motor_by_id(idx, pos, dummy_motors):
+def test_read_single_motor_by_id(idx, pos, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     expected_position = {idx: pos}
     stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
     motors_bus = DynamixelMotorsBus(
@@ -212,8 +216,7 @@ def test_read_single_motor_by_id(idx, pos, dummy_motors):
         [2, 1, 999],
     ],
 )
-def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors):
+def test_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     expected_position = {1: pos}
     stub_name = mock_motors.build_sync_read_stub(
         "Present_Position", expected_position, num_invalid_try=num_invalid_try
@@ -244,8 +247,7 @@ def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors):
     ],
     ids=["by ids", "by names", "mixed"],
 )
-def test_write_all_motors(motors, dummy_motors):
+def test_write_all_motors(motors, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     goal_positions = {
         1: 1337,
         2: 42,
@@ -271,8 +273,7 @@ def test_write_all_motors(motors, dummy_motors):
         ["Torque_Enable", 1],
     ],
 )
-def test_write_all_motors_single_value(data_name, value, dummy_motors):
+def test_write_all_motors_single_value(data_name, value, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     values = {m.id: value for m in dummy_motors.values()}
     stub_name = mock_motors.build_sync_write_stub(data_name, values)
     motors_bus = DynamixelMotorsBus(

tests/motors/test_feetech.py

@@ -1,4 +1,5 @@
 import sys
+from typing import Generator
 from unittest.mock import patch
 
 import pytest
@@ -18,6 +19,14 @@ def patch_port_handler():
         yield
 
 
+@pytest.fixture
+def mock_motors() -> Generator[MockMotors, None, None]:
+    motors = MockMotors()
+    motors.open()
+    yield motors
+    motors.close()
+
+
 @pytest.fixture
 def dummy_motors() -> dict[str, Motor]:
     return {
@@ -92,8 +101,7 @@ def test_abc_implementation(dummy_motors):
         [3, 1120],
     ],
 )
-def test_ping(idx, model_nb, dummy_motors):
+def test_ping(idx, model_nb, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     mock_motors.build_ping_stub(idx, model_nb)
     motors_bus = FeetechMotorsBus(
         port=mock_motors.port,
@@ -107,13 +115,12 @@ def test_ping(idx, model_nb, dummy_motors):
 
 
 @pytest.mark.skip("TODO")
-def test_broadcast_ping(dummy_motors):
+def test_broadcast_ping(mock_motors, dummy_motors):
     expected_pings = {
         1: [1060, 50],
         2: [1120, 30],
         3: [1190, 10],
     }
-    mock_motors = MockMotors()
     mock_motors.build_broadcast_ping_stub(expected_pings)
     motors_bus = FeetechMotorsBus(
         port=mock_motors.port,
@@ -136,8 +143,7 @@ def test_broadcast_ping(dummy_motors):
     ],
     ids=["None", "by ids", "by names", "mixed"],
 )
-def test_read_all_motors(motors, dummy_motors):
+def test_read_all_motors(motors, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     expected_positions = {
         1: 1337,
         2: 42,
@@ -165,8 +171,7 @@ def test_read_all_motors(motors, dummy_motors):
         [3, 4016],
     ],
 )
-def test_read_single_motor_by_name(idx, pos, dummy_motors):
+def test_read_single_motor_by_name(idx, pos, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     expected_position = {idx: pos}
     stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
     motors_bus = FeetechMotorsBus(
@@ -189,8 +194,7 @@ def test_read_single_motor_by_name(idx, pos, dummy_motors):
         [3, 4016],
     ],
 )
-def test_read_single_motor_by_id(idx, pos, dummy_motors):
+def test_read_single_motor_by_id(idx, pos, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     expected_position = {idx: pos}
     stub_name = mock_motors.build_sync_read_stub("Present_Position", expected_position)
     motors_bus = FeetechMotorsBus(
@@ -214,8 +218,7 @@ def test_read_single_motor_by_id(idx, pos, dummy_motors):
         [2, 1, 999],
     ],
 )
-def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors):
+def test_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     expected_position = {1: pos}
     stub_name = mock_motors.build_sync_read_stub(
         "Present_Position", expected_position, num_invalid_try=num_invalid_try
@@ -246,8 +249,7 @@ def test_read_num_retry(num_retry, num_invalid_try, pos, dummy_motors):
     ],
     ids=["by ids", "by names", "mixed"],
 )
-def test_write_all_motors(motors, dummy_motors):
+def test_write_all_motors(motors, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     goal_positions = {
         1: 1337,
         2: 42,
@@ -273,8 +275,7 @@ def test_write_all_motors(motors, dummy_motors):
         ["Torque_Enable", 1],
     ],
 )
-def test_write_all_motors_single_value(data_name, value, dummy_motors):
+def test_write_all_motors_single_value(data_name, value, mock_motors, dummy_motors):
-    mock_motors = MockMotors()
     values = {m.id: value for m in dummy_motors.values()}
     stub_name = mock_motors.build_sync_write_stub(data_name, values)
     motors_bus = FeetechMotorsBus(