magicbot: feedback: Allow fixed-length homogenous tuples

magicbot/magic_tunable.py

@@ -285,8 +285,10 @@ def _get_topic_type(
     origin = getattr(return_annotation, "__origin__", None)
     args = typing.get_args(return_annotation)
     if origin in (list, tuple, collections.abc.Sequence) and args:
-        # Ensure tuples are tuple[T, ...]
-        if origin is tuple and not (len(args) == 2 and args[1] is Ellipsis):
+        # Ensure tuples are tuple[T, ...] or homogenous
+        if origin is tuple and not (
+            (len(args) == 2 and args[1] is Ellipsis) or len(set(args)) == 1
+        ):
             return None
 
         inner_type = args[0]

tests/test_magicbot_feedback.py

@@ -1,4 +1,4 @@
-from typing import Sequence
+from typing import Sequence, Tuple
 
 import ntcore
 from wpimath import geometry
@@ -32,6 +32,10 @@ def get_rotation(self) -> geometry.Rotation2d:
     def get_rotation_array(self) -> Sequence[geometry.Rotation2d]:
         return [geometry.Rotation2d()]
 
+    @magicbot.feedback
+    def get_rotation_2_tuple(self) -> Tuple[geometry.Rotation2d, geometry.Rotation2d]:
+        return (geometry.Rotation2d(), geometry.Rotation2d())
+
     @magicbot.feedback
     def get_int(self) -> int:
         return 0
@@ -90,6 +94,11 @@ def test_feedbacks_with_type_hints():
 
     for name, struct_type, value in (
         ("type_hinted/rotation_array", geometry.Rotation2d, [geometry.Rotation2d()]),
+        (
+            "type_hinted/rotation_2_tuple",
+            geometry.Rotation2d,
+            [geometry.Rotation2d(), geometry.Rotation2d()],
+        ),
     ):
         assert nt.getTopic(name).getTypeString() == f"struct:{struct_type.__name__}[]"
         topic = nt.getStructArrayTopic(name, struct_type)