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# Copyright 2025 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.
# ruff: noqa: N802
from lerobot.motors.motors_bus import (
Motor,
MotorsBus,
)
DUMMY_CTRL_TABLE_1 = {
"Firmware_Version": (0, 1),
"Model_Number": (1, 2),
"Present_Position": (3, 4),
"Goal_Position": (11, 2),
}
DUMMY_CTRL_TABLE_2 = {
"Model_Number": (0, 2),
"Firmware_Version": (2, 1),
"Present_Position": (3, 4),
"Present_Velocity": (7, 4),
"Goal_Position": (11, 4),
"Goal_Velocity": (15, 4),
"Lock": (19, 1),
}
DUMMY_MODEL_CTRL_TABLE = {
"model_1": DUMMY_CTRL_TABLE_1,
"model_2": DUMMY_CTRL_TABLE_2,
"model_3": DUMMY_CTRL_TABLE_2,
}
DUMMY_BAUDRATE_TABLE = {
0: 1_000_000,
1: 500_000,
2: 250_000,
}
DUMMY_MODEL_BAUDRATE_TABLE = {
"model_1": DUMMY_BAUDRATE_TABLE,
"model_2": DUMMY_BAUDRATE_TABLE,
"model_3": DUMMY_BAUDRATE_TABLE,
}
DUMMY_ENCODING_TABLE = {
"Present_Position": 8,
"Goal_Position": 10,
}
DUMMY_MODEL_ENCODING_TABLE = {
"model_1": DUMMY_ENCODING_TABLE,
"model_2": DUMMY_ENCODING_TABLE,
"model_3": DUMMY_ENCODING_TABLE,
}
DUMMY_MODEL_NUMBER_TABLE = {
"model_1": 1234,
"model_2": 5678,
"model_3": 5799,
}
DUMMY_MODEL_RESOLUTION_TABLE = {
"model_1": 4096,
"model_2": 1024,
"model_3": 4096,
}
class MockPortHandler:
def __init__(self, port_name):
self.is_open: bool = False
self.baudrate: int
self.packet_start_time: float
self.packet_timeout: float
self.tx_time_per_byte: float
self.is_using: bool = False
self.port_name: str = port_name
self.ser = None
def openPort(self):
self.is_open = True
return self.is_open
def closePort(self):
self.is_open = False
def clearPort(self): ...
def setPortName(self, port_name):
self.port_name = port_name
def getPortName(self):
return self.port_name
def setBaudRate(self, baudrate):
self.baudrate: baudrate
def getBaudRate(self):
return self.baudrate
def getBytesAvailable(self): ...
def readPort(self, length): ...
def writePort(self, packet): ...
def setPacketTimeout(self, packet_length): ...
def setPacketTimeoutMillis(self, msec): ...
def isPacketTimeout(self): ...
def getCurrentTime(self): ...
def getTimeSinceStart(self): ...
def setupPort(self, cflag_baud): ...
def getCFlagBaud(self, baudrate): ...
class MockMotorsBus(MotorsBus):
available_baudrates = [500_000, 1_000_000]
default_timeout = 1000
model_baudrate_table = DUMMY_MODEL_BAUDRATE_TABLE
model_ctrl_table = DUMMY_MODEL_CTRL_TABLE
model_encoding_table = DUMMY_MODEL_ENCODING_TABLE
model_number_table = DUMMY_MODEL_NUMBER_TABLE
model_resolution_table = DUMMY_MODEL_RESOLUTION_TABLE
normalized_data = ["Present_Position", "Goal_Position"]
def __init__(self, port: str, motors: dict[str, Motor]):
super().__init__(port, motors)
self.port_handler = MockPortHandler(port)
def _assert_protocol_is_compatible(self, instruction_name): ...
def _handshake(self): ...
def _find_single_motor(self, motor, initial_baudrate): ...
def configure_motors(self): ...
def is_calibrated(self): ...
def read_calibration(self): ...
def write_calibration(self, calibration_dict): ...
def disable_torque(self, motors, num_retry): ...
def _disable_torque(self, motor, model, num_retry): ...
def enable_torque(self, motors, num_retry): ...
def _get_half_turn_homings(self, positions): ...
def _encode_sign(self, data_name, ids_values): ...
def _decode_sign(self, data_name, ids_values): ...
def _split_into_byte_chunks(self, value, length): ...
def broadcast_ping(self, num_retry, raise_on_error): ...
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