[wpiutil] Add reflection based cleanup helper (#4919)

Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>

wpiutil/src/main/java/edu/wpi/first/util/cleanup/CleanupPool.java

@@ -0,0 +1,55 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util.cleanup;
+
+import edu.wpi.first.util.ErrorMessages;
+import java.util.ArrayDeque;
+import java.util.Deque;
+
+/**
+ * An object containing a Stack of AutoCloseable objects that are closed when this object is closed.
+ */
+public class CleanupPool implements AutoCloseable {
+  // Use a Deque instead of a Stack, as Stack's iterators go the wrong way, and docs
+  // state ArrayDeque is faster anyway.
+  private final Deque<AutoCloseable> m_closers = new ArrayDeque<AutoCloseable>();
+
+  /**
+   * Registers an object in the object stack for cleanup.
+   *
+   * @param <T> The object type
+   * @param object The object to register
+   * @return The registered object
+   */
+  public <T extends AutoCloseable> T register(T object) {
+    ErrorMessages.requireNonNullParam(object, "object", "register");
+    m_closers.addFirst(object);
+    return object;
+  }
+
+  /**
+   * Removes an object from the cleanup stack.
+   *
+   * @param object the object to remove
+   */
+  public void remove(AutoCloseable object) {
+    m_closers.remove(object);
+  }
+
+  /** Closes all objects in the stack. */
+  @Override
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  public void close() {
+    for (AutoCloseable autoCloseable : m_closers) {
+      try {
+        autoCloseable.close();
+      } catch (Exception e) {
+        // Swallow any exceptions on close
+        e.printStackTrace();
+      }
+    }
+    m_closers.clear();
+  }
+}

wpiutil/src/main/java/edu/wpi/first/util/cleanup/ReflectionCleanup.java

@@ -0,0 +1,50 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util.cleanup;
+
+import java.lang.reflect.Field;
+
+/**
+ * Implement this interface to have access to a `reflectionCleanup` method that can be called from
+ * your `close` method, that will use reflection to find all `AutoCloseable` instance members and
+ * close them.
+ */
+public interface ReflectionCleanup extends AutoCloseable {
+  /**
+   * Default implementation that uses reflection to find all AutoCloseable fields not marked
+   * SkipCleanup and call close() on them. Call this from your `close()` method with the class level
+   * you want to close.
+   *
+   * @param cls the class level to clean up
+   */
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  default void reflectionCleanup(Class<? extends ReflectionCleanup> cls) {
+    if (!cls.isAssignableFrom(getClass())) {
+      System.out.println("Passed in class is not assignable from \"this\"");
+      System.out.println("Expected something in the hierarchy of" + cls.getName());
+      System.out.println("This is " + getClass().getName());
+      return;
+    }
+    for (Field field : cls.getDeclaredFields()) {
+      if (field.isAnnotationPresent(SkipCleanup.class)) {
+        continue;
+      }
+      if (!AutoCloseable.class.isAssignableFrom(field.getType())) {
+        continue;
+      }
+      if (field.trySetAccessible()) {
+        try {
+          AutoCloseable c = (AutoCloseable) field.get(this);
+          if (c != null) {
+            c.close();
+          }
+        } catch (Exception e) {
+          // Ignore any exceptions
+          e.printStackTrace();
+        }
+      }
+    }
+  }
+}

wpiutil/src/main/java/edu/wpi/first/util/cleanup/SkipCleanup.java

@@ -0,0 +1,14 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util.cleanup;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Target(ElementType.FIELD)
+@Retention(RetentionPolicy.RUNTIME)
+public @interface SkipCleanup {}