File size: 4,053 Bytes
0d80452 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 | #!/usr/bin/env python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import functools
import traceback
import draccus.wrappers.docstring as _draccus_docstring
import pytest
from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
from lerobot.utils.import_utils import is_package_available
from tests.utils import DEVICE
# On every `draccus.parse()`, draccus rebuilds each dataclass field's help text by
# re-reading and re-parsing the class source (draccus.wrappers.docstring). For a config
# as large as TrainPipelineConfig this costs ~2.5s per parse — negligible for the single
# parse a CLI does, but tests parse configs hundreds of times. The source can't change
# within a run, so memoize it for the whole test session.
_draccus_docstring.get_attribute_docstring = functools.cache(_draccus_docstring.get_attribute_docstring)
# Import fixture modules as plugins.
# Fixtures that depend on optional packages are only registered when those packages are available,
# so that tests can be collected and run even with a minimal install.
pytest_plugins = [
"tests.fixtures.optimizers",
]
if is_package_available("datasets"):
pytest_plugins += [
"tests.fixtures.dataset_factories",
"tests.fixtures.files",
"tests.fixtures.hub",
]
def pytest_collection_finish():
print(f"\nTesting with {DEVICE=}")
def _is_serial_exception(exc: Exception) -> bool:
"""Check if an exception is a SerialException without requiring pyserial."""
if not is_package_available("pyserial", import_name="serial"):
return False
from serial import SerialException
return isinstance(exc, SerialException)
def _check_component_availability(component_type, available_components, make_component):
"""Generic helper to check if a hardware component is available"""
if component_type not in available_components:
raise ValueError(
f"The {component_type} type is not valid. Expected one of these '{available_components}'"
)
try:
component = make_component(component_type)
component.connect()
del component
return True
except Exception as e:
print(f"\nA {component_type} is not available.")
if isinstance(e, ModuleNotFoundError):
print(f"\nInstall module '{e.name}'")
elif _is_serial_exception(e):
print("\nNo physical device detected.")
elif isinstance(e, ValueError) and "camera_index" in str(e):
print("\nNo physical camera detected.")
else:
traceback.print_exc()
return False
@pytest.fixture
def patch_builtins_input(monkeypatch):
def print_text(text=None):
if text is not None:
print(text)
monkeypatch.setattr("builtins.input", print_text)
@pytest.fixture
def policy_feature_factory():
"""PolicyFeature factory"""
def _pf(ft: FeatureType, shape: tuple[int, ...]) -> PolicyFeature:
return PolicyFeature(type=ft, shape=shape)
return _pf
def assert_contract_is_typed(features: dict[PipelineFeatureType, dict[str, PolicyFeature]]) -> None:
assert isinstance(features, dict)
assert all(isinstance(k, PipelineFeatureType) for k in features)
assert all(isinstance(v, dict) for v in features.values())
assert all(all(isinstance(nk, str) for nk in v) for v in features.values())
assert all(all(isinstance(nv, PolicyFeature) for nv in v.values()) for v in features.values())
|