mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-24 01:31:44 +00:00
Fix 'Resource leak: <variable> is never closed' warnings (#2023)
Fix numerous places where using AutoCloseable objects without closing them. Changes: - Upgrade JUnit from 5.10.0 to 5.11.4 (so `@AutoClose` can be used) - Use `Files.copy()` to copy files - Use try-with-resources when calling `Files.list()` or `Files.walk()` - Use try-with-resources or `@AutoClose` to close `PhotonCamera` and `PhotonCameraSim` objects created by tests - Update `SQLConfigTest` to use `@TempDir` ## Meta Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_ - [ ] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added
This commit is contained in:
Kevin Cooney
@@ -117,31 +117,31 @@ class PhotonCameraTest {
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inst.stopClient();
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inst.startServer();
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var camera = new PhotonCamera(inst, "Arducam_OV2311_USB_Camera");
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PhotonCamera.setVersionCheckEnabled(false);
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try (PhotonCamera camera = new PhotonCamera(inst, "Arducam_OV2311_USB_Camera")) {
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PhotonCamera.setVersionCheckEnabled(false);
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for (int i = 0; i < 5; i++) {
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Thread.sleep(500);
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for (int i = 0; i < 5; i++) {
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Thread.sleep(500);
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var res = camera.getLatestResult();
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var captureTime = res.getTimestampSeconds();
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var now = Timer.getFPGATimestamp();
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var res = camera.getLatestResult();
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var captureTime = res.getTimestampSeconds();
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var now = Timer.getFPGATimestamp();
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// expectTrue(captureTime < now);
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// expectTrue(captureTime < now);
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System.out.println(
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"sequence "
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+ res.metadata.sequenceID
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+ " image capture "
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+ captureTime
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+ " received at "
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+ res.getTimestampSeconds()
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+ " now: "
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+ NetworkTablesJNI.now() / 1e6
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+ " time since last pong: "
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+ res.metadata.timeSinceLastPong / 1e6);
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System.out.println(
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"sequence "
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+ res.metadata.sequenceID
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+ " image capture "
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+ captureTime
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+ " received at "
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+ res.getTimestampSeconds()
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+ " now: "
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+ NetworkTablesJNI.now() / 1e6
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+ " time since last pong: "
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+ res.metadata.timeSinceLastPong / 1e6);
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}
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}
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HAL.shutdown();
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}
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@@ -335,62 +335,62 @@ class PhotonCameraTest {
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Thread.sleep(20);
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}
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// GIVEN a simulated camera
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var sim = new PhotonCameraSim(camera);
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// AND a result with a timeSinceLastPong in the past
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PhotonPipelineResult noPongResult =
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new PhotonPipelineResult(
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new PhotonPipelineMetadata(
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1, 2, 3, 10 * 1000000 // 10 seconds -> us since last pong
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),
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List.of(),
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Optional.empty());
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// GIVEN a simulated camera AND a result with a timeSinceLastPong in the past
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try (PhotonCameraSim sim = new PhotonCameraSim(camera)) {
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PhotonPipelineResult noPongResult =
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new PhotonPipelineResult(
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new PhotonPipelineMetadata(
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1, 2, 3, 10 * 1000000 // 10 seconds -> us since last pong
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),
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List.of(),
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Optional.empty());
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// Loop to hit cases past first iteration
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for (int i = 0; i < 10; i++) {
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// AND a PhotonCamera with a "new" result
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// Loop to hit cases past first iteration
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for (int i = 0; i < 10; i++) {
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// AND a PhotonCamera with a "new" result
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sim.submitProcessedFrame(noPongResult);
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// WHEN we update the camera
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camera.getAllUnreadResults();
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// AND we tick SmartDashboard
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SmartDashboard.updateValues();
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// THEN the camera isn't disconnected
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assertTrue(
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Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
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.noneMatch(it -> it.equals(disconnectedCameraString)));
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// AND the alert string looks like a timesync warning
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assertTrue(
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Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
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.filter(it -> it.contains("is not connected to the TimeSyncServer"))
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.count()
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== 1);
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Thread.sleep(20);
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}
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final double HEARTBEAT_TIMEOUT = 0.5;
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// GIVEN a PhotonCamera provided new results
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SimHooks.pauseTiming();
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sim.submitProcessedFrame(noPongResult);
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// WHEN we update the camera
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camera.getAllUnreadResults();
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// AND in a connected state
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assertTrue(camera.isConnected());
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// AND we tick SmartDashboard
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SmartDashboard.updateValues();
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// WHEN we wait the timeout
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SimHooks.stepTiming(HEARTBEAT_TIMEOUT * 1.5);
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// THEN the camera isn't disconnected
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assertTrue(
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Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
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.noneMatch(it -> it.equals(disconnectedCameraString)));
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// AND the alert string looks like a timesync warning
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assertTrue(
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Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
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.filter(it -> it.contains("is not connected to the TimeSyncServer"))
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.count()
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== 1);
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// THEN the camera will not be connected
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assertFalse(camera.isConnected());
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Thread.sleep(20);
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// WHEN we then provide new results
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SimHooks.stepTiming(0.02);
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sim.submitProcessedFrame(noPongResult);
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camera.getAllUnreadResults();
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// THEN the camera will not be connected
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assertTrue(camera.isConnected());
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}
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final double HEARTBEAT_TIMEOUT = 0.5;
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// GIVEN a PhotonCamera provided new results
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SimHooks.pauseTiming();
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sim.submitProcessedFrame(noPongResult);
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camera.getAllUnreadResults();
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// AND in a connected state
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assertTrue(camera.isConnected());
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// WHEN we wait the timeout
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SimHooks.stepTiming(HEARTBEAT_TIMEOUT * 1.5);
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// THEN the camera will not be connected
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assertFalse(camera.isConnected());
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// WHEN we then provide new results
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SimHooks.stepTiming(0.02);
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sim.submitProcessedFrame(noPongResult);
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camera.getAllUnreadResults();
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// THEN the camera will not be connected
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assertTrue(camera.isConnected());
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}
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}
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@@ -53,6 +53,7 @@ import java.util.ArrayList;
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import java.util.List;
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import java.util.Optional;
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import org.junit.jupiter.api.AfterAll;
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import org.junit.jupiter.api.AutoClose;
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import org.junit.jupiter.api.BeforeAll;
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import org.junit.jupiter.api.Test;
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import org.photonvision.PhotonPoseEstimator.ConstrainedSolvepnpParams;
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@@ -72,6 +73,7 @@ import org.photonvision.targeting.TargetCorner;
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class PhotonPoseEstimatorTest {
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static AprilTagFieldLayout aprilTags;
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@AutoClose final PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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@BeforeAll
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public static void init() throws UnsatisfiedLinkError, IOException {
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@@ -99,7 +101,6 @@ class PhotonPoseEstimatorTest {
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@Test
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void testLowestAmbiguityStrategy() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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0,
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@@ -185,7 +186,6 @@ class PhotonPoseEstimatorTest {
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@Test
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void testClosestToCameraHeightStrategy() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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0,
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@@ -274,7 +274,6 @@ class PhotonPoseEstimatorTest {
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@Test
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void closestToReferencePoseStrategy() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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0,
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@@ -364,7 +363,6 @@ class PhotonPoseEstimatorTest {
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@Test
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void closestToLastPose() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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0,
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@@ -529,7 +527,6 @@ class PhotonPoseEstimatorTest {
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@Test
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void pnpDistanceTrigSolve() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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List<VisionTargetSim> simTargets =
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aprilTags.getTags().stream()
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.map((AprilTag x) -> new VisionTargetSim(x.pose, TargetModel.kAprilTag36h11, x.ID))
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@@ -591,7 +588,6 @@ class PhotonPoseEstimatorTest {
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@Test
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void cacheIsInvalidated() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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var result =
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new PhotonPipelineResult(
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0,
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@@ -668,7 +664,6 @@ class PhotonPoseEstimatorTest {
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@Test
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void averageBestPoses() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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0,
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@@ -757,8 +752,7 @@ class PhotonPoseEstimatorTest {
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@Test
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void testMultiTagOnRioFallback() {
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PhotonCameraInjector camera = new PhotonCameraInjector();
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camera.result =
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cameraOne.result =
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new PhotonPipelineResult(
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0,
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11 * 1_000_000,
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@@ -811,7 +805,7 @@ class PhotonPoseEstimatorTest {
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new PhotonPoseEstimator(aprilTags, PoseStrategy.MULTI_TAG_PNP_ON_RIO, Transform3d.kZero);
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estimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY);
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Optional<EstimatedRobotPose> estimatedPose = estimator.update(camera.result);
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Optional<EstimatedRobotPose> estimatedPose = estimator.update(cameraOne.result);
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Pose3d pose = estimatedPose.get().estimatedPose;
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// Make sure values match what we'd expect for the LOWEST_AMBIGUITY strategy
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assertAll(
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