def test_pretty_hex_str_items_value_hi(self):
"""Check that the utils.pretty_hex_str() function fails when the
"byte_seq" items's value is wrong (too high)."""
byte_seq = (0xffff, 0, 10) # the first item is too high
with self.assertRaises(ValueError):
utils.pretty_hex_str(byte_seq)
def test_pretty_hex_str_items_value_hi(self):
"""Check that the utils.pretty_hex_str() function fails when the
"byte_seq" items's value is wrong (too high)."""
byte_seq = (0xffff, 0, 10) # the first item is too high
with self.assertRaises(ValueError):
utils.pretty_hex_str(byte_seq)
def test_pretty_hex_str_wrong_arg_type(self):
"""Check that the utils.pretty_hex_str() function fails when the
"byte_seq" argument's type is wrong (int)."""
with self.assertRaises(TypeError):
utils.pretty_hex_str(1.0)
with self.assertRaises(TypeError):
utils.pretty_hex_str("hello")
def test_pretty_hex_str_wrong_arg_type(self):
"""Check that the utils.pretty_hex_str() function fails when the
"byte_seq" argument's type is wrong (int)."""
with self.assertRaises(TypeError):
utils.pretty_hex_str(1.0)
with self.assertRaises(TypeError):
utils.pretty_hex_str("hello")
def test_pretty_hex_str_2(self):
"""Check the returned value of utils.pretty_hex_str()."""
byte_seq = (0xff,) * 10
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff," * 9 + "ff"
self.assertEqual(hex_str, expected_str)
def test_pretty_hex_str_2(self):
"""Check the returned value of utils.pretty_hex_str()."""
byte_seq = (0xff, ) * 10
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff," * 9 + "ff"
self.assertEqual(hex_str, expected_str)
def test_pretty_hex_str_good_arg_type(self):
"""Check the returned value of utils.pretty_hex_str() when various
correct arguments are given."""
# Test with a tuple of bytes
byte_seq = (0xff, 0x00, 0x0a)
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff,00,0a"
self.assertEqual(hex_str, expected_str)
# Test with a list of bytes
byte_seq = [0xff, 0x00, 0x0a]
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff,00,0a"
self.assertEqual(hex_str, expected_str)
# Test with a bytes string
byte_seq = bytes((0xff, 0x00, 0x0a))
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff,00,0a"
self.assertEqual(hex_str, expected_str)
# Test with a bytearray
byte_seq = bytearray((0xff, 0x00, 0x0a))
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff,00,0a"
self.assertEqual(hex_str, expected_str)
# Test with an integer
byte_seq = 0xff
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff"
self.assertEqual(hex_str, expected_str)
def test_pretty_hex_str_good_arg_type(self):
"""Check the returned value of utils.pretty_hex_str() when various
correct arguments are given."""
# Test with a tuple of bytes
byte_seq = (0xff, 0x00, 0x0a)
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff,00,0a"
self.assertEqual(hex_str, expected_str)
# Test with a list of bytes
byte_seq = [0xff, 0x00, 0x0a]
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff,00,0a"
self.assertEqual(hex_str, expected_str)
# Test with a bytes string
byte_seq = bytes((0xff, 0x00, 0x0a))
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff,00,0a"
self.assertEqual(hex_str, expected_str)
# Test with a bytearray
byte_seq = bytearray((0xff, 0x00, 0x0a))
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff,00,0a"
self.assertEqual(hex_str, expected_str)
# Test with an integer
byte_seq = 0xff
hex_str = utils.pretty_hex_str(byte_seq)
expected_str = "ff"
self.assertEqual(hex_str, expected_str)
def test_pretty_hex_str_items_type(self):
"""Check that the utils.pretty_hex_str() function fails when the
"byte_seq" items have wrong type."""
byte_seq = (1.0, 0, 10) # wrong type (float)
with self.assertRaises(TypeError):
utils.pretty_hex_str(byte_seq)
byte_seq = ("hello", 0, 10) # wrong type (str)
with self.assertRaises(TypeError):
utils.pretty_hex_str(byte_seq)
byte_seq = ((1, ), 0, 10) # wrong type (tuple)
with self.assertRaises(TypeError):
utils.pretty_hex_str(byte_seq)
def test_pretty_hex_str_items_type(self):
"""Check that the utils.pretty_hex_str() function fails when the
"byte_seq" items have wrong type."""
byte_seq = (1.0, 0, 10) # wrong type (float)
with self.assertRaises(TypeError):
utils.pretty_hex_str(byte_seq)
byte_seq = ("hello", 0, 10) # wrong type (str)
with self.assertRaises(TypeError):
utils.pretty_hex_str(byte_seq)
byte_seq = ((1, ), 0, 10) # wrong type (tuple)
with self.assertRaises(TypeError):
utils.pretty_hex_str(byte_seq)
def __init__(self, dynamixel_id, instruction, parameters=None):
# Check the parameters byte.
# "TypeError" and "ValueError" are raised by the "bytes" constructor if
# necessary.
# The statement "tuple(parameters)" implicitely rejects integers (and
# all non-iterable objects) to compensate the fact that the bytes
# constructor doesn't reject them: bytes(3) is valid and returns
# b'\x00\x00\x00'.
if parameters is None:
parameters = bytes()
else:
parameters = bytes(tuple(parameters))
# Add the header bytes.
self._bytes = bytearray((0xff, 0xff))
# Check and add the Dynamixel ID byte.
# "TypeError" and "ValueError" are raised by the "bytearray.append()"
# if necessary.
if 0x00 <= dynamixel_id <= 0xfe:
self._bytes.append(dynamixel_id)
else:
if isinstance(dynamixel_id, int):
msg = ("Wrong dynamixel_id value, "
"an integer in range(0x00, 0xfe) is required.")
raise ValueError(msg)
else:
raise TypeError("Wrong dynamixel_id type (integer required).")
# Add the length byte.
self._bytes.append(len(parameters) + 2)
# Check and add the instruction byte.
# "TypeError" and "ValueError" are raised by the "bytearray.append()"
# if necessary.
if instruction in INSTRUCTIONS:
self._bytes.append(instruction)
else:
if isinstance(instruction, int):
msg = "Wrong instruction, should be in ({})."
instructions_str = utils.pretty_hex_str(INSTRUCTIONS)
raise ValueError(msg.format(instructions_str))
else:
raise TypeError("Wrong instruction type (integer required).")
# Check and add the parameter bytes.
nb_param_min = NUMBER_OF_PARAMETERS[self.instruction]['min']
nb_param_max = NUMBER_OF_PARAMETERS[self.instruction]['max']
if nb_param_min <= len(parameters) <= nb_param_max:
self._bytes.extend(parameters)
else:
msg = ("Wrong number of parameters: {} parameters "
"(min expected={}; max expected={}).")
nb_param = len(parameters)
raise ValueError(msg.format(nb_param, nb_param_min, nb_param_max))
# Add the checksum byte.
computed_checksum = pk.compute_checksum(self._bytes[2:])
self._bytes.append(computed_checksum)
def __init__(self, dynamixel_id, instruction, parameters=None):
# Check the parameters byte.
# "TypeError" and "ValueError" are raised by the "bytes" constructor if
# necessary.
# The statement "tuple(parameters)" implicitely rejects integers (and
# all non-iterable objects) to compensate the fact that the bytes
# constructor doesn't reject them: bytes(3) is valid and returns
# b'\x00\x00\x00'.
if parameters is None:
parameters = bytes()
else:
parameters = bytes(tuple(parameters))
# Add the header bytes.
self._bytes = bytearray((0xff, 0xff))
# Check and add the Dynamixel ID byte.
# "TypeError" and "ValueError" are raised by the "bytearray.append()"
# if necessary.
if 0x00 <= dynamixel_id <= 0xfe:
self._bytes.append(dynamixel_id)
else:
if isinstance(dynamixel_id, int):
msg = ("Wrong dynamixel_id value, "
"an integer in range(0x00, 0xfe) is required.")
raise ValueError(msg)
else:
raise TypeError("Wrong dynamixel_id type (integer required).")
# Add the length byte.
self._bytes.append(len(parameters) + 2)
# Check and add the instruction byte.
# "TypeError" and "ValueError" are raised by the "bytearray.append()"
# if necessary.
if instruction in INSTRUCTIONS:
self._bytes.append(instruction)
else:
if isinstance(instruction, int):
msg = "Wrong instruction, should be in ({})."
instructions_str = utils.pretty_hex_str(INSTRUCTIONS)
raise ValueError(msg.format(instructions_str))
else:
raise TypeError("Wrong instruction type (integer required).")
# Check and add the parameter bytes.
nb_param_min = NUMBER_OF_PARAMETERS[self.instruction]['min']
nb_param_max = NUMBER_OF_PARAMETERS[self.instruction]['max']
if nb_param_min <= len(parameters) <= nb_param_max:
self._bytes.extend(parameters)
else:
msg = ("Wrong number of parameters: {} parameters "
"(min expected={}; max expected={}).")
nb_param = len(parameters)
raise ValueError(msg.format(nb_param, nb_param_min, nb_param_max))
# Add the checksum byte.
computed_checksum = pk.compute_checksum(self._bytes[2:])
self._bytes.append(computed_checksum)
