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test(dynamixel): cover Protocol 1 guards and sign encoding

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Add tests for protocol/model mismatch rejection, NotImplementedError on
sync_read/broadcast_ping under Protocol 1, and sign-magnitude (AX) vs
two's complement (X-series) encode/decode round-trips.
This commit is contained in:
CarolinePascal
2026-07-05 17:19:03 +02:00
parent 642c368210
commit b23f952506
1 changed files with 33 additions and 0 deletions
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tests/motors/test_dynamixel.py
+33
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@@ -107,6 +107,39 @@ def test_abc_implementation(dummy_motors):
DynamixelMotorsBus(port="/dev/dummy-port", motors=dummy_motors)
def test_assert_same_protocol_rejects_mismatch():
"""AX-series motors (Protocol 1.0) cannot be used with the default Protocol 2.0."""
motors = {"ax": Motor(5, "ax-12a", MotorNormMode.RANGE_M100_100)}
with pytest.raises(ValueError, match="incompatible with protocol_version"):
DynamixelMotorsBus(port="/dev/dummy-port", motors=motors)
@pytest.mark.parametrize("instruction", ["sync_read", "broadcast_ping"])
def test_protocol1_unsupported_instructions(instruction):
motors = {"ax": Motor(5, "ax-12a", MotorNormMode.RANGE_M100_100)}
bus = DynamixelMotorsBus(port="/dev/dummy-port", motors=motors, protocol_version=1)
with pytest.raises(NotImplementedError):
bus._assert_protocol_is_compatible(instruction)
@pytest.mark.parametrize(
"protocol_version, model, data_name, value",
[
(1, "ax-12a", "Present_Speed", -300),
(1, "ax-12a", "Moving_Speed", 300),
(2, "xl430-w250", "Present_Velocity", -300),
],
ids=["ax-sign-magnitude-neg", "ax-sign-magnitude-pos", "x-twos-complement-neg"],
)
def test_sign_encoding_roundtrip(protocol_version, model, data_name, value):
motors = {"m": Motor(5, model, MotorNormMode.RANGE_M100_100)}
bus = DynamixelMotorsBus(port="/dev/dummy-port", motors=motors, protocol_version=protocol_version)
encoded = bus._encode_sign(data_name, {5: value})
assert encoded[5] >= 0
decoded = bus._decode_sign(data_name, encoded)
assert decoded[5] == value
@pytest.mark.parametrize("id_", [1, 2, 3])
def test_ping(id_, mock_motors, dummy_motors):
expected_model_nb = MODEL_NUMBER_TABLE[dummy_motors[f"dummy_{id_}"].model]