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Fix Mac tests using mock #3977

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Merged
paul-nechifor merged 5 commits into from
Sep 12, 2026
+16 −4
Merged

Fix Mac tests using mock #3977

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22ca599
Fix Mac tests using mock
Dreamsorcerer Sep 8, 2026
b76a9b8
Merge branch 'main' into fix-mac-mock
paul-nechifor Sep 12, 2026
7109d6d
Merge branch 'main' into fix-mac-mock
paul-nechifor Sep 12, 2026
77f8a43
Merge branch 'main' into fix-mac-mock
paul-nechifor Sep 12, 2026
0f32271
Merge branch 'main' into fix-mac-mock
paul-nechifor Sep 12, 2026
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4 changes: 2 additions & 2 deletions dimos/hardware/whole_body/damiao/test_adapter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -330,7 +330,7 @@ def test_make_can_bus_linux_uses_ordered_defaults(
dual_robot: FakeRobot,
mocker: MockerFixture,
) -> None:
socketcan = mocker.patch.object(can_motor_control, "SocketCanBus")
socketcan = mocker.patch.object(can_motor_control, "SocketCanBus", create=True)
mocker.patch.object(adapter_module.sys, "platform", "linux")
adapter = DualAdapter(dual_robot)

Expand All @@ -343,7 +343,7 @@ def test_make_can_bus_linux_uses_configured_interface(
dual_robot: FakeRobot,
mocker: MockerFixture,
) -> None:
socketcan = mocker.patch.object(can_motor_control, "SocketCanBus")
socketcan = mocker.patch.object(can_motor_control, "SocketCanBus", create=True)
mocker.patch.object(adapter_module.sys, "platform", "linux")
adapter = DualAdapter(
dual_robot,
Expand Down
8 changes: 7 additions & 1 deletion dimos/hardware/whole_body/dual_openyam_damiao/test_adapter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
import pytest
from pytest_mock import MockerFixture

from dimos.hardware.whole_body.damiao import adapter as adapter_module
from dimos.hardware.whole_body.damiao.config import DamiaoRuntimeConfig
from dimos.hardware.whole_body.dual_openyam_damiao.adapter import (
DualOpenYamDamiaoAdapter,
Expand All @@ -29,7 +30,12 @@

@pytest.fixture
def adapter(mocker: MockerFixture) -> Iterator[DualOpenYamDamiaoAdapter]:
mocker.patch.object(can_motor_control, "SocketCanBus", can_motor_control.MockCanBus)
# Darwin wheels of can_motor_control omit SocketCanBus (SocketCAN is
# Linux-only), so create the attribute and force the Linux bus path.
mocker.patch.object(
can_motor_control, "SocketCanBus", can_motor_control.MockCanBus, create=True
)
mocker.patch.object(adapter_module.sys, "platform", "linux")
result = DualOpenYamDamiaoAdapter(
runtime_config=DamiaoRuntimeConfig(
bus_devices={"left": "can8", "right": "can9"},
Expand Down
8 changes: 7 additions & 1 deletion dimos/hardware/whole_body/openarm_damiao/test_adapter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
import pytest
from pytest_mock import MockerFixture

from dimos.hardware.whole_body.damiao import adapter as damiao_adapter_module
from dimos.hardware.whole_body.damiao.adapter import DamiaoWholeBodyAdapter
from dimos.hardware.whole_body.damiao.config import DamiaoRuntimeConfig
from dimos.hardware.whole_body.openarm_damiao import adapter as adapter_module
Expand All @@ -30,7 +31,12 @@

@pytest.fixture
def openarm_adapter(mocker: MockerFixture) -> Iterator[OpenArmDamiaoAdapter]:
mocker.patch.object(can_motor_control, "SocketCanBus", can_motor_control.MockCanBus)
# Darwin wheels of can_motor_control omit SocketCanBus (SocketCAN is
# Linux-only), so create the attribute and force the Linux bus path.
mocker.patch.object(
can_motor_control, "SocketCanBus", can_motor_control.MockCanBus, create=True
)
mocker.patch.object(damiao_adapter_module.sys, "platform", "linux")
adapter = OpenArmDamiaoAdapter(
runtime_config=DamiaoRuntimeConfig(gravity_comp=False),
)
Expand Down
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