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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 os
import platform
from functools import wraps
import pytest
import torch
from lerobot import available_cameras, available_motors, available_robots
from lerobot.utils.import_utils import is_package_available
DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu"
TEST_ROBOT_TYPES = []
for robot_type in available_robots:
TEST_ROBOT_TYPES += [(robot_type, True), (robot_type, False)]
TEST_CAMERA_TYPES = []
for camera_type in available_cameras:
TEST_CAMERA_TYPES += [(camera_type, True), (camera_type, False)]
TEST_MOTOR_TYPES = []
for motor_type in available_motors:
TEST_MOTOR_TYPES += [(motor_type, True), (motor_type, False)]
# Camera indices used for connecting physical cameras
OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))
INTELREALSENSE_SERIAL_NUMBER = int(os.environ.get("LEROBOT_TEST_INTELREALSENSE_SERIAL_NUMBER", 128422271614))
DYNAMIXEL_PORT = os.environ.get("LEROBOT_TEST_DYNAMIXEL_PORT", "/dev/tty.usbmodem575E0032081")
DYNAMIXEL_MOTORS = {
"shoulder_pan": [1, "xl430-w250"],
"shoulder_lift": [2, "xl430-w250"],
"elbow_flex": [3, "xl330-m288"],
"wrist_flex": [4, "xl330-m288"],
"wrist_roll": [5, "xl330-m288"],
"gripper": [6, "xl330-m288"],
}
FEETECH_PORT = os.environ.get("LEROBOT_TEST_FEETECH_PORT", "/dev/tty.usbmodem585A0080971")
FEETECH_MOTORS = {
"shoulder_pan": [1, "sts3215"],
"shoulder_lift": [2, "sts3215"],
"elbow_flex": [3, "sts3215"],
"wrist_flex": [4, "sts3215"],
"wrist_roll": [5, "sts3215"],
"gripper": [6, "sts3215"],
}
def require_x86_64_kernel(func):
"""
Decorator that skips the test if plateform device is not an x86_64 cpu.
"""
from functools import wraps
@wraps(func)
def wrapper(*args, **kwargs):
if platform.machine() != "x86_64":
pytest.skip("requires x86_64 plateform")
return func(*args, **kwargs)
return wrapper
def require_cpu(func):
"""
Decorator that skips the test if device is not cpu.
"""
from functools import wraps
@wraps(func)
def wrapper(*args, **kwargs):
if DEVICE != "cpu":
pytest.skip("requires cpu")
return func(*args, **kwargs)
return wrapper
def require_cuda(func):
"""
Decorator that skips the test if cuda is not available.
"""
from functools import wraps
@wraps(func)
def wrapper(*args, **kwargs):
if not torch.cuda.is_available():
pytest.skip("requires cuda")
return func(*args, **kwargs)
return wrapper
def require_env(func):
"""
Decorator that skips the test if the required environment package is not installed.
As it need 'env_name' in args, it also checks whether it is provided as an argument.
If 'env_name' is None, this check is skipped.
"""
@wraps(func)
def wrapper(*args, **kwargs):
# Determine if 'env_name' is provided and extract its value
arg_names = func.__code__.co_varnames[: func.__code__.co_argcount]
if "env_name" in arg_names:
# Get the index of 'env_name' and retrieve the value from args
index = arg_names.index("env_name")
env_name = args[index] if len(args) > index else kwargs.get("env_name")
else:
raise ValueError("Function does not have 'env_name' as an argument.")
# Perform the package check
package_name = f"gym_{env_name}"
if env_name is not None and not is_package_available(package_name):
pytest.skip(f"gym-{env_name} not installed")
return func(*args, **kwargs)
return wrapper
def require_package_arg(func):
"""
Decorator that skips the test if the required package is not installed.
This is similar to `require_env` but more general in that it can check any package (not just environments).
As it need 'required_packages' in args, it also checks whether it is provided as an argument.
If 'required_packages' is None, this check is skipped.
"""
@wraps(func)
def wrapper(*args, **kwargs):
# Determine if 'required_packages' is provided and extract its value
arg_names = func.__code__.co_varnames[: func.__code__.co_argcount]
if "required_packages" in arg_names:
# Get the index of 'required_packages' and retrieve the value from args
index = arg_names.index("required_packages")
required_packages = args[index] if len(args) > index else kwargs.get("required_packages")
else:
raise ValueError("Function does not have 'required_packages' as an argument.")
if required_packages is None:
return func(*args, **kwargs)
# Perform the package check
for package in required_packages:
if not is_package_available(package):
pytest.skip(f"{package} not installed")
return func(*args, **kwargs)
return wrapper
def require_package(package_name):
"""
Decorator that skips the test if the specified package is not installed.
"""
def decorator(func):
@wraps(func)
def wrapper(*args, **kwargs):
if not is_package_available(package_name):
pytest.skip(f"{package_name} not installed")
return func(*args, **kwargs)
return wrapper
return decorator
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