Fix and unit test TimedTaskManager (#91)

Adds TimedTaskManager unit test and switches back to standard executor instead of the custom subclass.

photon-server/src/main/java/org/photonvision/common/util/TimedTaskManager.java

@@ -48,40 +48,8 @@ public class TimedTaskManager {
         }
     }
 
-    private static class TimedTaskExecutorPool extends ScheduledThreadPoolExecutor {
-        public TimedTaskExecutorPool(int corePoolSize) {
-            super(corePoolSize, new CaughtThreadFactory());
-        }
-
-        // Thanks to Abdullah Ozturk for this tip
-        // https://medium.com/@aozturk/how-to-handle-uncaught-exceptions-in-java-abf819347906
-        @Override
-        protected void afterExecute(Runnable runnable, Throwable throwable) {
-            super.afterExecute(runnable, throwable);
-
-            // If submit() method is called instead of execute()
-            if (throwable == null && runnable instanceof Future<?>) {
-                try {
-                    //noinspection unused
-                    Object result = ((Future<?>) runnable).get();
-                } catch (CancellationException e) {
-                    throwable = e;
-                } catch (ExecutionException e) {
-                    throwable = e.getCause();
-                } catch (InterruptedException e) {
-                    Thread.currentThread().interrupt();
-                }
-            }
-
-            if (throwable != null) {
-                logger.error("TimedTask threw uncaught exception!", throwable);
-                // Restart the runnable again
-                execute(runnable);
-            }
-        }
-    }
-
-    private final ScheduledExecutorService timedTaskExecutorPool = new TimedTaskExecutorPool(2);
+    private final ScheduledExecutorService timedTaskExecutorPool =
+            new ScheduledThreadPoolExecutor(2, new CaughtThreadFactory());
     private final ConcurrentHashMap<String, Future<?>> activeTasks = new ConcurrentHashMap<>();
 
     public void addTask(String identifier, Runnable runnable, long millisInterval) {

photon-server/src/test/java/org/photonvision/common/util/TimedTaskManagerTest.java

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.util;
+
+import java.util.concurrent.atomic.AtomicInteger;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.Test;
+
+public class TimedTaskManagerTest {
+
+    @Test
+    public void atomicIntegerIncrementTest() throws InterruptedException {
+        AtomicInteger i = new AtomicInteger();
+        TimedTaskManager.getInstance().addTask("TaskManagerTest", i::getAndIncrement, 2);
+        Thread.sleep(400);
+        Assertions.assertEquals(200, i.get(), 5);
+    }
+}