350 lines
12 KiB
Python
350 lines
12 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 platform
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import traceback
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from functools import wraps
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import pytest
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import torch
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from lerobot import available_cameras, available_motors, available_robots
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from lerobot.common.utils.import_utils import is_package_available
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DEVICE = "cuda" if torch.cuda.is_available() else "cpu"
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# Pass this as the first argument to init_hydra_config.
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DEFAULT_CONFIG_PATH = "lerobot/configs/default.yaml"
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ROBOT_CONFIG_PATH_TEMPLATE = "lerobot/configs/robot/{robot}.yaml"
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TEST_ROBOT_TYPES = []
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for robot_type in available_robots:
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TEST_ROBOT_TYPES += [(robot_type, True), (robot_type, False)]
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TEST_CAMERA_TYPES = []
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for camera_type in available_cameras:
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TEST_CAMERA_TYPES += [(camera_type, True), (camera_type, False)]
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TEST_MOTOR_TYPES = []
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for motor_type in available_motors:
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TEST_MOTOR_TYPES += [(motor_type, True), (motor_type, False)]
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def require_x86_64_kernel(func):
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"""
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Decorator that skips the test if plateform device is not an x86_64 cpu.
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"""
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from functools import wraps
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@wraps(func)
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def wrapper(*args, **kwargs):
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if platform.machine() != "x86_64":
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pytest.skip("requires x86_64 plateform")
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return func(*args, **kwargs)
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return wrapper
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def require_cpu(func):
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"""
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Decorator that skips the test if device is not cpu.
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"""
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from functools import wraps
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@wraps(func)
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def wrapper(*args, **kwargs):
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if DEVICE != "cpu":
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pytest.skip("requires cpu")
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return func(*args, **kwargs)
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return wrapper
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def require_cuda(func):
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"""
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Decorator that skips the test if cuda is not available.
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"""
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from functools import wraps
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@wraps(func)
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def wrapper(*args, **kwargs):
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if not torch.cuda.is_available():
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pytest.skip("requires cuda")
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return func(*args, **kwargs)
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return wrapper
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def require_env(func):
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"""
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Decorator that skips the test if the required environment package is not installed.
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As it need 'env_name' in args, it also checks whether it is provided as an argument.
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If 'env_name' is None, this check is skipped.
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"""
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@wraps(func)
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def wrapper(*args, **kwargs):
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# Determine if 'env_name' is provided and extract its value
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arg_names = func.__code__.co_varnames[: func.__code__.co_argcount]
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if "env_name" in arg_names:
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# Get the index of 'env_name' and retrieve the value from args
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index = arg_names.index("env_name")
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env_name = args[index] if len(args) > index else kwargs.get("env_name")
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else:
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raise ValueError("Function does not have 'env_name' as an argument.")
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# Perform the package check
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package_name = f"gym_{env_name}"
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if env_name is not None and not is_package_available(package_name):
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pytest.skip(f"gym-{env_name} not installed")
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return func(*args, **kwargs)
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return wrapper
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def require_package_arg(func):
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"""
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Decorator that skips the test if the required package is not installed.
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This is similar to `require_env` but more general in that it can check any package (not just environments).
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As it need 'required_packages' in args, it also checks whether it is provided as an argument.
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If 'required_packages' is None, this check is skipped.
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"""
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@wraps(func)
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def wrapper(*args, **kwargs):
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# Determine if 'required_packages' is provided and extract its value
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arg_names = func.__code__.co_varnames[: func.__code__.co_argcount]
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if "required_packages" in arg_names:
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# Get the index of 'required_packages' and retrieve the value from args
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index = arg_names.index("required_packages")
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required_packages = args[index] if len(args) > index else kwargs.get("required_packages")
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else:
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raise ValueError("Function does not have 'required_packages' as an argument.")
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if required_packages is None:
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return func(*args, **kwargs)
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# Perform the package check
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for package in required_packages:
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if not is_package_available(package):
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pytest.skip(f"{package} not installed")
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return func(*args, **kwargs)
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return wrapper
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def require_package(package_name):
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"""
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Decorator that skips the test if the specified package is not installed.
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"""
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def decorator(func):
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@wraps(func)
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def wrapper(*args, **kwargs):
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if not is_package_available(package_name):
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pytest.skip(f"{package_name} not installed")
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return func(*args, **kwargs)
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return wrapper
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return decorator
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def require_robot(func):
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"""
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Decorator that skips the test if a robot is not available
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The decorated function must have two arguments `request` and `robot_type`.
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Example of usage:
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```python
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@pytest.mark.parametrize(
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"robot_type", ["koch", "aloha"]
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)
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@require_robot
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def test_require_robot(request, robot_type):
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pass
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```
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"""
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@wraps(func)
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def wrapper(*args, **kwargs):
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# Access the pytest request context to get the is_robot_available fixture
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request = kwargs.get("request")
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robot_type = kwargs.get("robot_type")
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mock = kwargs.get("mock")
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if robot_type is None:
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raise ValueError("The 'robot_type' must be an argument of the test function.")
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if request is None:
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raise ValueError("The 'request' fixture must be an argument of the test function.")
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if mock is None:
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raise ValueError("The 'mock' variable must be an argument of the test function.")
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if robot_type not in available_robots:
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raise ValueError(
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f"The camera type '{robot_type}' is not valid. Expected one of these '{available_robots}"
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)
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# Run test with a monkeypatched version of the robot devices.
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if mock:
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mock_cameras(request)
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mock_motors(request)
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def mock_input(text):
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print(text)
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monkeypatch = request.getfixturevalue("monkeypatch")
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# To run calibration without user input
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monkeypatch.setattr("builtins.input", mock_input)
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# Run test with a real robot. Skip test if robot connection fails.
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else:
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# `is_robot_available` is defined in `tests/conftest.py`
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if not request.getfixturevalue("is_robot_available"):
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pytest.skip(f"A {robot_type} robot is not available.")
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return func(*args, **kwargs)
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return wrapper
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def require_camera(func):
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@wraps(func)
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def wrapper(*args, **kwargs):
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# Access the pytest request context to get the is_camera_available fixture
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request = kwargs.get("request")
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camera_type = kwargs.get("camera_type")
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mock = kwargs.get("mock")
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if request is None:
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raise ValueError("The 'request' fixture must be an argument of the test function.")
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if camera_type is None:
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raise ValueError("The 'camera_type' must be an argument of the test function.")
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if mock is None:
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raise ValueError("The 'mock' variable must be an argument of the test function.")
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if camera_type not in available_cameras:
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raise ValueError(
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f"The camera type '{camera_type}' is not valid. Expected one of these '{available_cameras}"
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)
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# Run test with a monkeypatched version of the robot devices.
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if mock:
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mock_cameras(request)
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# Run test with a real robot. Skip test if robot connection fails.
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else:
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# `is_camera_available` is defined in `tests/conftest.py`
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if not request.getfixturevalue("is_camera_available"):
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pytest.skip(f"A {camera_type} camera is not available.")
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return func(*args, **kwargs)
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return wrapper
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def require_motor(func):
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@wraps(func)
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def wrapper(*args, **kwargs):
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# Access the pytest request context to get the is_motor_available fixture
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request = kwargs.get("request")
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motor_type = kwargs.get("motor_type")
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mock = kwargs.get("mock")
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if request is None:
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raise ValueError("The 'request' fixture must be an argument of the test function.")
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if motor_type is None:
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raise ValueError("The 'motor_type' must be an argument of the test function.")
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if mock is None:
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raise ValueError("The 'mock' variable must be an argument of the test function.")
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if motor_type not in available_motors:
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raise ValueError(
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f"The motor type '{motor_type}' is not valid. Expected one of these '{available_motors}"
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)
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# Run test with a monkeypatched version of the robot devices.
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if mock:
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mock_motors(request)
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# Run test with a real robot. Skip test if robot connection fails.
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else:
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# `is_motor_available` is defined in `tests/conftest.py`
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if not request.getfixturevalue("is_motor_available"):
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pytest.skip(f"A {motor_type} motor is not available.")
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return func(*args, **kwargs)
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return wrapper
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def mock_cameras(request):
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monkeypatch = request.getfixturevalue("monkeypatch")
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try:
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import cv2
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from tests.mock_opencv import MockVideoCapture
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monkeypatch.setattr(cv2, "VideoCapture", MockVideoCapture)
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except ImportError:
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traceback.print_exc()
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try:
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import pyrealsense2 as rs
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from tests.mock_intelrealsense import MockConfig, MockContext, MockFormat, MockPipeline, MockStream
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monkeypatch.setattr(rs, "config", MockConfig)
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monkeypatch.setattr(rs, "pipeline", MockPipeline)
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monkeypatch.setattr(rs, "stream", MockStream)
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monkeypatch.setattr(rs, "format", MockFormat)
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monkeypatch.setattr(rs, "context", MockContext)
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except ImportError:
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traceback.print_exc()
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def mock_motors(request):
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monkeypatch = request.getfixturevalue("monkeypatch")
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try:
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import dynamixel_sdk
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from tests.mock_dynamixel import (
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MockGroupSyncRead,
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MockGroupSyncWrite,
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MockPacketHandler,
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MockPortHandler,
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mock_convert_to_bytes,
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)
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monkeypatch.setattr(dynamixel_sdk, "GroupSyncRead", MockGroupSyncRead)
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monkeypatch.setattr(dynamixel_sdk, "GroupSyncWrite", MockGroupSyncWrite)
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monkeypatch.setattr(dynamixel_sdk, "PacketHandler", MockPacketHandler)
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monkeypatch.setattr(dynamixel_sdk, "PortHandler", MockPortHandler)
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# Import dynamixel AFTER mocking dynamixel_sdk to use mocked classes
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from lerobot.common.robot_devices.motors import dynamixel
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# TODO(rcadene): remove need to mock `convert_to_bytes` by implemented the inverse transform
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# `convert_bytes_to_value`
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monkeypatch.setattr(dynamixel, "convert_to_bytes", mock_convert_to_bytes)
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except ImportError:
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traceback.print_exc()
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