magicbot: Test feedback

Author: auscompgeek

tests/test_magicbot_feedback.py

@@ -0,0 +1,76 @@
+from typing import Sequence
+
+import ntcore
+from wpimath import geometry
+
+import magicbot
+
+
+class BasicComponent:
+    @magicbot.feedback
+    def get_number(self):
+        return 0
+
+    @magicbot.feedback
+    def get_ints(self):
+        return (0,)
+
+    @magicbot.feedback
+    def get_floats(self):
+        return (0.0, 0)
+
+    def execute(self):
+        pass
+
+
+class TypeHintedComponent:
+    @magicbot.feedback
+    def get_rotation(self) -> geometry.Rotation2d:
+        return geometry.Rotation2d()
+
+    @magicbot.feedback
+    def get_rotation_array(self) -> Sequence[geometry.Rotation2d]:
+        return [geometry.Rotation2d()]
+
+    @magicbot.feedback
+    def get_int(self) -> int:
+        return 0
+
+    @magicbot.feedback
+    def get_float(self) -> float:
+        return 0.5
+
+    @magicbot.feedback
+    def get_ints(self) -> Sequence[int]:
+        return (0,)
+
+    def execute(self):
+        pass
+
+
+class Robot(magicbot.MagicRobot):
+    basic: BasicComponent
+    type_hinted: TypeHintedComponent
+
+    def createObjects(self):
+        pass
+
+
+def test_collect_feedbacks_with_type_hints():
+    robot = Robot()
+    robot.robotInit()
+    nt = ntcore.NetworkTableInstance.getDefault().getTable("components")
+
+    robot._do_periodics()
+
+    for name, type_str, value in (
+        ("basic/number", "double", 0.0),
+        ("basic/ints", "int[]", [0]),
+        ("basic/floats", "double[]", [0.0, 0.0]),
+        ("type_hinted/int", "int", 0),
+        ("type_hinted/float", "double", 0.5),
+        ("type_hinted/ints", "int[]", [0]),
+    ):
+        topic = nt.getTopic(name)
+        assert topic.getTypeString() == type_str
+        assert topic.genericSubscribe().get().value() == value