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#!/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 traceback
import pytest
from serial import SerialException
from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
from tests.utils import DEVICE
# Import fixture modules as plugins
pytest_plugins = [
"tests.fixtures.dataset_factories",
"tests.fixtures.files",
"tests.fixtures.hub",
"tests.fixtures.optimizers",
"tests.plugins.reachy2_sdk",
]
def pytest_collection_finish():
print(f"\nTesting with {DEVICE=}")
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 isinstance(e, SerialException):
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())
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