Update check_actuator_connection decorator and DephyActuator meth…

…ods for offline mode

* Update `check_actuator_connection` decorator to allow offline mode without raising an exception
* Update `start` method in `DephyActuator` to check for offline mode and skip connection attempt if offline
* Update `home` method in `DephyActuator` to check for offline mode and skip update call if offline
* Add test cases for offline mode in `test_actuators_base.py` to ensure no exceptions are raised

opensourceleg/actuators/decorators.py

@@ -10,7 +10,7 @@
 def check_actuator_connection(func):
     @wraps(func)
     def wrapper(self: ActuatorBase, *args, **kwargs):
-        if self.is_offline:
+        if not self.is_offline and not self.is_open:
             raise ActuatorConnectionException(tag=self.tag)
 
         return func(self, *args, **kwargs)

opensourceleg/actuators/dephy.py

@@ -182,6 +182,11 @@ def _CONTROL_MODE_CONFIGS(self) -> CONTROL_MODE_CONFIGS:
 
     @check_actuator_connection
     def start(self) -> None:
+        if self.is_offline:
+            self._is_open = True
+            self._is_streaming = True
+            return
+
         try:
             self.open()
             self._is_open = True
@@ -281,7 +286,8 @@ def home(
 
         try:
             while is_homing:
-                self.update()
+                if not self.is_offline:
+                    self.update()
                 time.sleep(1 / homing_frequency)
 
                 _motor_encoder_array.append(self.motor_position)
@@ -1044,6 +1050,11 @@ def _CONTROL_MODE_CONFIGS(self) -> CONTROL_MODE_CONFIGS:
 
     @check_actuator_connection
     def start(self) -> None:
+        if self.is_offline:
+            self._is_open = True
+            self._is_streaming = True
+            return
+
         try:
             self.open(
                 freq=self._frequency,

tests/test_actuators/test_actuators_base.py

@@ -566,3 +566,30 @@ def test_motor_constants_properties(mock_actuator: MockActuator):
 
 def test_hello_world():
     assert len("Hello World") == 11
+
+
+def test_offline_mode():
+    mock_actuator = MockActuator(
+        "test_actuator",
+        10.0,
+        MOTOR_CONSTANTS(
+            MOTOR_COUNT_PER_REV=1000,
+            NM_PER_AMP=0.1,
+            NM_PER_RAD_TO_K=1.0,
+            NM_S_PER_RAD_TO_B=0.1,
+            MAX_CASE_TEMPERATURE=100.0,
+            MAX_WINDING_TEMPERATURE=150.0,
+        ),
+        offline=True,
+    )
+
+    assert mock_actuator.is_offline
+
+    # Test start method in offline mode
+    mock_actuator.start()
+    assert mock_actuator.is_open
+    assert mock_actuator.is_streaming
+
+    # Test home method in offline mode
+    mock_actuator.home()
+    assert mock_actuator.is_homed