[wpilibj] Use try with resources for Java tests (#2612)

2026-06-21 01:01:43 +00:00 · 2020-07-24 13:07:11 -07:00
parent e759dad019
commit 0fe2319dfc
37 changed files with 1235 additions and 1255 deletions
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
@@ -29,12 +29,9 @@ public final class MockHardwareExtension implements BeforeAllCallback {

  private void initializeHardware() {
    HAL.initialize(500, 0);
-    DriverStationSim dsSim = new DriverStationSim();
-    dsSim.setDsAttached(true);
-    dsSim.setAutonomous(false);
-    dsSim.setEnabled(true);
-    dsSim.setTest(true);
-
-
+    DriverStationSim.setDsAttached(true);
+    DriverStationSim.setAutonomous(false);
+    DriverStationSim.setEnabled(true);
+    DriverStationSim.setTest(true);
  }
 }
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -23,172 +23,163 @@ class WatchdogTest {
  void enableDisableTest() {
    final AtomicInteger watchdogCounter = new AtomicInteger(0);

-    final Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1));
+    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
+      System.out.println("Run 1");
+      watchdog.enable();
+      try {
+        Thread.sleep(200);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.disable();

-    System.out.println("Run 1");
-    watchdog.enable();
-    try {
-      Thread.sleep(200);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+
+      System.out.println("Run 2");
+      watchdogCounter.set(0);
+      watchdog.enable();
+      try {
+        Thread.sleep(600);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.disable();
+
+      assertEquals(1, watchdogCounter.get(),
+          "Watchdog either didn't trigger or triggered more than once");
+
+      // Run 3
+      watchdogCounter.set(0);
+      watchdog.enable();
+      try {
+        Thread.sleep(1000);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.disable();
+
+      assertEquals(1, watchdogCounter.get(),
+          "Watchdog either didn't trigger or triggered more than once");
    }
-    watchdog.disable();
-
-    assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
-
-    System.out.println("Run 2");
-    watchdogCounter.set(0);
-    watchdog.enable();
-    try {
-      Thread.sleep(600);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
-    }
-    watchdog.disable();
-
-    assertEquals(1, watchdogCounter.get(),
-        "Watchdog either didn't trigger or triggered more than once");
-
-    // Run 3
-    watchdogCounter.set(0);
-    watchdog.enable();
-    try {
-      Thread.sleep(1000);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
-    }
-    watchdog.disable();
-
-    assertEquals(1, watchdogCounter.get(),
-        "Watchdog either didn't trigger or triggered more than once");
-
-    watchdog.close();
  }

  @Test
  void resetTest() {
    final AtomicInteger watchdogCounter = new AtomicInteger(0);

-    final Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1));
+    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
+      watchdog.enable();
+      try {
+        Thread.sleep(200);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.reset();
+      try {
+        Thread.sleep(200);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.disable();

-    watchdog.enable();
-    try {
-      Thread.sleep(200);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
    }
-    watchdog.reset();
-    try {
-      Thread.sleep(200);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
-    }
-    watchdog.disable();
-
-    assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
-
-    watchdog.close();
  }

  @Test
  void setTimeoutTest() {
    final AtomicInteger watchdogCounter = new AtomicInteger(0);

-    final Watchdog watchdog = new Watchdog(1.0, () -> watchdogCounter.addAndGet(1));
+    try (Watchdog watchdog = new Watchdog(1.0, () -> watchdogCounter.addAndGet(1))) {
+      watchdog.enable();
+      try {
+        Thread.sleep(200);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.setTimeout(0.2);

-    watchdog.enable();
-    try {
-      Thread.sleep(200);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
+      assertEquals(0.2, watchdog.getTimeout());
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+
+      try {
+        Thread.sleep(300);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.disable();
+
+      assertEquals(1, watchdogCounter.get(),
+          "Watchdog either didn't trigger or triggered more than once");
    }
-    watchdog.setTimeout(0.2);
-
-    assertEquals(0.2, watchdog.getTimeout());
-    assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
-
-    try {
-      Thread.sleep(300);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
-    }
-    watchdog.disable();
-
-    assertEquals(1, watchdogCounter.get(),
-        "Watchdog either didn't trigger or triggered more than once");
-
-    watchdog.close();
  }

  @Test
  void isExpiredTest() {
-    final Watchdog watchdog = new Watchdog(0.2, () -> {
-    });
-    assertFalse(watchdog.isExpired());
-    watchdog.enable();
+    try (Watchdog watchdog = new Watchdog(0.2, () -> {
+    })) {
+      assertFalse(watchdog.isExpired());
+      watchdog.enable();

-    assertFalse(watchdog.isExpired());
-    try {
-      Thread.sleep(300);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
+      assertFalse(watchdog.isExpired());
+      try {
+        Thread.sleep(300);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      assertTrue(watchdog.isExpired());
+
+      watchdog.disable();
+      assertTrue(watchdog.isExpired());
+
+      watchdog.reset();
+      assertFalse(watchdog.isExpired());
    }
-    assertTrue(watchdog.isExpired());
-
-    watchdog.disable();
-    assertTrue(watchdog.isExpired());
-
-    watchdog.reset();
-    assertFalse(watchdog.isExpired());
-
-    watchdog.close();
  }

  @Test
  void epochsTest() {
    final AtomicInteger watchdogCounter = new AtomicInteger(0);

-    final Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1));
+    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
+      System.out.println("Run 1");
+      watchdog.enable();
+      watchdog.addEpoch("Epoch 1");
+      try {
+        Thread.sleep(100);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.addEpoch("Epoch 2");
+      try {
+        Thread.sleep(100);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.addEpoch("Epoch 3");
+      watchdog.disable();

-    System.out.println("Run 1");
-    watchdog.enable();
-    watchdog.addEpoch("Epoch 1");
-    try {
-      Thread.sleep(100);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+
+      System.out.println("Run 2");
+      watchdog.enable();
+      watchdog.addEpoch("Epoch 1");
+      try {
+        Thread.sleep(200);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.reset();
+      try {
+        Thread.sleep(200);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog.addEpoch("Epoch 2");
+      watchdog.disable();
+
+      assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
    }
-    watchdog.addEpoch("Epoch 2");
-    try {
-      Thread.sleep(100);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
-    }
-    watchdog.addEpoch("Epoch 3");
-    watchdog.disable();
-
-    assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
-
-    System.out.println("Run 2");
-    watchdog.enable();
-    watchdog.addEpoch("Epoch 1");
-    try {
-      Thread.sleep(200);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
-    }
-    watchdog.reset();
-    try {
-      Thread.sleep(200);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
-    }
-    watchdog.addEpoch("Epoch 2");
-    watchdog.disable();
-
-    assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
-
-    watchdog.close();
  }

  @Test
@@ -196,33 +187,30 @@ class WatchdogTest {
    final AtomicInteger watchdogCounter1 = new AtomicInteger(0);
    final AtomicInteger watchdogCounter2 = new AtomicInteger(0);

-    final Watchdog watchdog1 = new Watchdog(0.2, () -> watchdogCounter1.addAndGet(1));
-    final Watchdog watchdog2 = new Watchdog(0.6, () -> watchdogCounter2.addAndGet(1));
+    try (Watchdog watchdog1 = new Watchdog(0.2, () -> watchdogCounter1.addAndGet(1));
+        Watchdog watchdog2 = new Watchdog(0.6, () -> watchdogCounter2.addAndGet(1))) {
+      watchdog2.enable();
+      try {
+        Thread.sleep(200);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      assertEquals(0, watchdogCounter1.get(), "Watchdog triggered early");
+      assertEquals(0, watchdogCounter2.get(), "Watchdog triggered early");

-    watchdog2.enable();
-    try {
-      Thread.sleep(200);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
+      // Sleep enough such that only the watchdog enabled later times out first
+      watchdog1.enable();
+      try {
+        Thread.sleep(300);
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      watchdog1.disable();
+      watchdog2.disable();
+
+      assertEquals(1, watchdogCounter1.get(),
+          "Watchdog either didn't trigger or triggered more than once");
+      assertEquals(0, watchdogCounter2.get(), "Watchdog triggered early");
    }
-    assertEquals(0, watchdogCounter1.get(), "Watchdog triggered early");
-    assertEquals(0, watchdogCounter2.get(), "Watchdog triggered early");
-
-    // Sleep enough such that only the watchdog enabled later times out first
-    watchdog1.enable();
-    try {
-      Thread.sleep(300);
-    } catch (InterruptedException ex) {
-      Thread.currentThread().interrupt();
-    }
-    watchdog1.disable();
-    watchdog2.disable();
-
-    assertEquals(1, watchdogCounter1.get(),
-        "Watchdog either didn't trigger or triggered more than once");
-    assertEquals(0, watchdogCounter2.get(), "Watchdog triggered early");
-
-    watchdog1.close();
-    watchdog2.close();
  }
 }
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -19,36 +19,38 @@ class PIDToleranceTest {

  @Test
  void initialToleranceTest() {
-    var controller = new PIDController(0.05, 0.0, 0.0);
-    controller.enableContinuousInput(-kRange / 2, kRange / 2);
+    try (var controller = new PIDController(0.05, 0.0, 0.0)) {
+      controller.enableContinuousInput(-kRange / 2, kRange / 2);

-    assertTrue(controller.atSetpoint());
+      assertTrue(controller.atSetpoint());
+    }
  }

  @Test
  void absoluteToleranceTest() {
-    var controller = new PIDController(0.05, 0.0, 0.0);
-    controller.enableContinuousInput(-kRange / 2, kRange / 2);
+    try (var controller = new PIDController(0.05, 0.0, 0.0)) {
+      controller.enableContinuousInput(-kRange / 2, kRange / 2);

-    controller.setTolerance(kTolerance);
-    controller.setSetpoint(kSetpoint);
+      controller.setTolerance(kTolerance);
+      controller.setSetpoint(kSetpoint);

-    controller.calculate(0.0);
+      controller.calculate(0.0);

-    assertFalse(controller.atSetpoint(),
-        "Error was in tolerance when it should not have been. Error was " + controller
-            .getPositionError());
+      assertFalse(controller.atSetpoint(),
+          "Error was in tolerance when it should not have been. Error was "
+          + controller.getPositionError());

-    controller.calculate(kSetpoint + kTolerance / 2);
+      controller.calculate(kSetpoint + kTolerance / 2);

-    assertTrue(controller.atSetpoint(),
-        "Error was not in tolerance when it should have been. Error was " + controller
-            .getPositionError());
+      assertTrue(controller.atSetpoint(),
+          "Error was not in tolerance when it should have been. Error was "
+          + controller.getPositionError());

-    controller.calculate(kSetpoint + 10 * kTolerance);
+      controller.calculate(kSetpoint + 10 * kTolerance);

-    assertFalse(controller.atSetpoint(),
-        "Error was in tolerance when it should not have been. Error was " + controller
-            .getPositionError());
+      assertFalse(controller.atSetpoint(),
+          "Error was in tolerance when it should not have been. Error was "
+          + controller.getPositionError());
+    }
  }
 }
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogInputSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogInputSimTest.java
@@ -25,21 +25,18 @@ class AnalogInputSimTest {
  void setCallbackTest() {
    HAL.initialize(500, 0);

-    AnalogInput input = new AnalogInput(5);
-    AnalogInputSim inputSim = new AnalogInputSim(input);
+    try (AnalogInput input = new AnalogInput(5)) {
+      AnalogInputSim inputSim = new AnalogInputSim(input);

-    for (double i = 0; i < 5.0; i += 0.1) {
-      inputSim.setVoltage(0);
+      for (double i = 0; i < 5.0; i += 0.1) {
+        inputSim.setVoltage(0);

-      assertEquals(input.getVoltage(), 0, 0.001);
+        assertEquals(input.getVoltage(), 0, 0.001);

-      inputSim.setVoltage(i);
-
-      assertEquals(input.getVoltage(), i, 0.001);
+        inputSim.setVoltage(i);

+        assertEquals(input.getVoltage(), i, 0.001);
+      }
    }
-
-    input.close();
-
  }
 }
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSimTest.java
@@ -34,38 +34,36 @@ class AnalogOutputSimTest {
    HAL.initialize(500, 0);


-    AnalogOutput output = new AnalogOutput(0);
-    output.setVoltage(0.5);
+    try (AnalogOutput output = new AnalogOutput(0)) {
+      output.setVoltage(0.5);

-    AnalogOutputSim outputSim = new AnalogOutputSim(output);
+      AnalogOutputSim outputSim = new AnalogOutputSim(output);

-    DoubleStore store = new DoubleStore();
+      DoubleStore store = new DoubleStore();

-    try (CallbackStore cb = outputSim.registerVoltageCallback((name, value) -> {
-      store.m_wasTriggered = true;
-      store.m_wasCorrectType = true;
-      store.m_setValue = value.getDouble();
-    }, false)) {
-      assertFalse(store.m_wasTriggered);
+      try (CallbackStore cb = outputSim.registerVoltageCallback((name, value) -> {
+        store.m_wasTriggered = true;
+        store.m_wasCorrectType = true;
+        store.m_setValue = value.getDouble();
+      }, false)) {
+        assertFalse(store.m_wasTriggered);

-      for (double i = 0.1; i < 5.0; i += 0.1) {
-        store.reset();
+        for (double i = 0.1; i < 5.0; i += 0.1) {
+          store.reset();

-        output.setVoltage(0);
+          output.setVoltage(0);

-        assertTrue(store.m_wasTriggered);
-        assertEquals(store.m_setValue, 0, 0.001);
+          assertTrue(store.m_wasTriggered);
+          assertEquals(store.m_setValue, 0, 0.001);

-        store.reset();
+          store.reset();

-        output.setVoltage(i);
-
-        assertTrue(store.m_wasTriggered);
-        assertEquals(store.m_setValue, i, 0.001);
+          output.setVoltage(i);

+          assertTrue(store.m_wasTriggered);
+          assertEquals(store.m_setValue, i, 0.001);
+        }
      }
    }
-
-    output.close();
  }
 }
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java
@@ -32,7 +32,7 @@ class CubicHermiteSplineTest {
  @SuppressWarnings({"ParameterName", "PMD.UnusedLocalVariable"})
  private void run(Pose2d a, List<Translation2d> waypoints, Pose2d b) {
    // Start the timer.
-    var start = System.nanoTime();
+    //var start = System.nanoTime();

    // Generate and parameterize the spline.
    var controlVectors =
@@ -51,10 +51,10 @@ class CubicHermiteSplineTest {
    }

    // End the timer.
-    var end = System.nanoTime();
+    //var end = System.nanoTime();

    // Calculate the duration (used when benchmarking)
-    var durationMicroseconds = (end - start) / 1000.0;
+    //var durationMicroseconds = (end - start) / 1000.0;

    for (int i = 0; i < poses.size() - 1; i++) {
      var p0 = poses.get(i);
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
@@ -28,7 +28,7 @@ class QuinticHermiteSplineTest {
  @SuppressWarnings({ "ParameterName", "PMD.UnusedLocalVariable" })
  private void run(Pose2d a, Pose2d b) {
    // Start the timer.
-    var start = System.nanoTime();
+    //var start = System.nanoTime();

    // Generate and parameterize the spline.
    var controlVectors = SplineHelper.getQuinticControlVectorsFromWaypoints(List.of(a, b));
@@ -37,10 +37,10 @@ class QuinticHermiteSplineTest {
    var poses = SplineParameterizer.parameterize(spline);

    // End the timer.
-    var end = System.nanoTime();
+    //var end = System.nanoTime();

    // Calculate the duration (used when benchmarking)
-    var durationMicroseconds = (end - start) / 1000.0;
+    //var durationMicroseconds = (end - start) / 1000.0;

    for (int i = 0; i < poses.size() - 1; i++) {
      var p0 = poses.get(i);
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java
@@ -75,8 +75,7 @@ class TrajectoryGeneratorTest {

  @Test
  void testMalformedTrajectory() {
-    var dsSim = new DriverStationSim();
-    dsSim.setSendError(false);
+    DriverStationSim.setSendError(false);

    var traj =
        TrajectoryGenerator.generateTrajectory(
@@ -90,6 +89,6 @@ class TrajectoryGeneratorTest {
    assertEquals(traj.getStates().size(), 1);
    assertEquals(traj.getTotalTimeSeconds(), 0);

-    dsSim.setSendError(true);
+    DriverStationSim.setSendError(true);
  }
 }