File size: 4,571 Bytes
f4a62da |
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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 |
#!/usr/bin/env python
# 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.
import pytest
from lerobot.motors.encoding_utils import (
decode_sign_magnitude,
decode_twos_complement,
encode_sign_magnitude,
encode_twos_complement,
)
@pytest.mark.parametrize(
"value, sign_bit_index, expected",
[
(5, 4, 5),
(0, 4, 0),
(7, 3, 7),
(-1, 4, 17),
(-8, 4, 24),
(-3, 3, 11),
],
)
def test_encode_sign_magnitude(value, sign_bit_index, expected):
assert encode_sign_magnitude(value, sign_bit_index) == expected
@pytest.mark.parametrize(
"encoded, sign_bit_index, expected",
[
(5, 4, 5),
(0, 4, 0),
(7, 3, 7),
(17, 4, -1),
(24, 4, -8),
(11, 3, -3),
],
)
def test_decode_sign_magnitude(encoded, sign_bit_index, expected):
assert decode_sign_magnitude(encoded, sign_bit_index) == expected
@pytest.mark.parametrize(
"encoded, sign_bit_index",
[
(16, 4),
(-9, 3),
],
)
def test_encode_raises_on_overflow(encoded, sign_bit_index):
with pytest.raises(ValueError):
encode_sign_magnitude(encoded, sign_bit_index)
def test_encode_decode_sign_magnitude():
for sign_bit_index in range(2, 6):
max_val = (1 << sign_bit_index) - 1
for value in range(-max_val, max_val + 1):
encoded = encode_sign_magnitude(value, sign_bit_index)
decoded = decode_sign_magnitude(encoded, sign_bit_index)
assert decoded == value, f"Failed at value={value}, index={sign_bit_index}"
@pytest.mark.parametrize(
"value, n_bytes, expected",
[
(0, 1, 0),
(5, 1, 5),
(-1, 1, 255),
(-128, 1, 128),
(-2, 1, 254),
(127, 1, 127),
(0, 2, 0),
(5, 2, 5),
(-1, 2, 65_535),
(-32_768, 2, 32_768),
(-2, 2, 65_534),
(32_767, 2, 32_767),
(0, 4, 0),
(5, 4, 5),
(-1, 4, 4_294_967_295),
(-2_147_483_648, 4, 2_147_483_648),
(-2, 4, 4_294_967_294),
(2_147_483_647, 4, 2_147_483_647),
],
)
def test_encode_twos_complement(value, n_bytes, expected):
assert encode_twos_complement(value, n_bytes) == expected
@pytest.mark.parametrize(
"value, n_bytes, expected",
[
(0, 1, 0),
(5, 1, 5),
(255, 1, -1),
(128, 1, -128),
(254, 1, -2),
(127, 1, 127),
(0, 2, 0),
(5, 2, 5),
(65_535, 2, -1),
(32_768, 2, -32_768),
(65_534, 2, -2),
(32_767, 2, 32_767),
(0, 4, 0),
(5, 4, 5),
(4_294_967_295, 4, -1),
(2_147_483_648, 4, -2_147_483_648),
(4_294_967_294, 4, -2),
(2_147_483_647, 4, 2_147_483_647),
],
)
def test_decode_twos_complement(value, n_bytes, expected):
assert decode_twos_complement(value, n_bytes) == expected
@pytest.mark.parametrize(
"value, n_bytes",
[
(-129, 1),
(128, 1),
(-32_769, 2),
(32_768, 2),
(-2_147_483_649, 4),
(2_147_483_648, 4),
],
)
def test_encode_twos_complement_out_of_range(value, n_bytes):
with pytest.raises(ValueError):
encode_twos_complement(value, n_bytes)
@pytest.mark.parametrize(
"value, n_bytes",
[
(-128, 1),
(-1, 1),
(0, 1),
(1, 1),
(127, 1),
(-32_768, 2),
(-1, 2),
(0, 2),
(1, 2),
(32_767, 2),
(-2_147_483_648, 4),
(-1, 4),
(0, 4),
(1, 4),
(2_147_483_647, 4),
],
)
def test_encode_decode_twos_complement(value, n_bytes):
encoded = encode_twos_complement(value, n_bytes)
decoded = decode_twos_complement(encoded, n_bytes)
assert decoded == value, f"Failed at value={value}, n_bytes={n_bytes}"
|