71 lines
2.0 KiB
Python
71 lines
2.0 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import traceback
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import pytest
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from lerobot.common.utils.utils import init_hydra_config
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from tests.test_cameras import make_camera
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from tests.test_motors import make_motors_bus
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from tests.utils import DEVICE, ROBOT_CONFIG_PATH_TEMPLATE
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def pytest_collection_finish():
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print(f"\nTesting with {DEVICE=}")
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@pytest.fixture
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def is_robot_available(robot_type):
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try:
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from lerobot.common.robot_devices.robots.factory import make_robot
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config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type)
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robot_cfg = init_hydra_config(config_path)
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robot = make_robot(robot_cfg)
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robot.connect()
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del robot
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return True
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except Exception:
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traceback.print_exc()
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print(f"\nA {robot_type} robot is not available.")
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return False
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@pytest.fixture
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def is_camera_available(camera_type):
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try:
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camera = make_camera(camera_type)
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camera.connect()
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del camera
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return True
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except Exception:
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traceback.print_exc()
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print(f"\nA {camera_type} camera is not available.")
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return False
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@pytest.fixture
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def is_motor_available(motor_type):
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try:
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motors_bus = make_motors_bus(motor_type)
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motors_bus.connect()
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del motors_bus
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return True
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except Exception:
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traceback.print_exc()
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print(f"\nA {motor_type} motor is not available.")
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return False
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