magicbot: Add tests for tunable

Author: auscompgeek

tests/test_magicbot_tunable.py

@@ -0,0 +1,56 @@
+import ntcore
+import pytest
+from wpimath import geometry
+
+from magicbot.magic_tunable import setup_tunables, tunable
+
+
+def test_tunable() -> None:
+    class Component:
+        an_int = tunable(1)
+        ints = tunable([0])
+        floats = tunable([1.0, 2.0])
+        rotation = tunable(geometry.Rotation2d())
+        rotations = tunable([geometry.Rotation2d()])
+
+    component = Component()
+    setup_tunables(component, "test_tunable")
+    nt = ntcore.NetworkTableInstance.getDefault().getTable("/components/test_tunable")
+
+    for name, type_str, value in [
+        ("an_int", "int", 1),
+        ("ints", "int[]", [0]),
+        ("floats", "double[]", [1.0, 2.0]),
+    ]:
+        topic = nt.getTopic(name)
+        assert topic.getTypeString() == type_str
+        assert topic.genericSubscribe().get().value() == value
+
+    for name, value in [
+        ("rotation", geometry.Rotation2d()),
+    ]:
+        struct_type = type(value)
+        assert nt.getTopic(name).getTypeString() == f"struct:{struct_type.__name__}"
+        topic = nt.getStructTopic(name, struct_type)
+        assert topic.subscribe(None).get() == value
+
+    for name, struct_type, value in [
+        ("rotations", geometry.Rotation2d, [geometry.Rotation2d()]),
+    ]:
+        assert nt.getTopic(name).getTypeString() == f"struct:{struct_type.__name__}[]"
+        topic = nt.getStructArrayTopic(name, struct_type)
+        assert topic.subscribe([]).get() == value
+
+
+def test_tunable_errors():
+    with pytest.raises(TypeError):
+
+        class Component:
+            invalid = tunable(None)
+
+
+def test_tunable_errors_with_empty_sequence():
+    with pytest.raises(ValueError):
+
+        class Component:
+            empty = tunable([])