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Fix to close mocked encoders associated with mocked Spark when the Spark is closed. #104

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Merged
brettle merged 1 commit into from
Jul 14, 2024
Merged

Fix to close mocked encoders associated with mocked Spark when the Spark is closed. #104

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19 changes: 17 additions & 2 deletions src/main/java/org/carlmontrobotics/lib199/sim/MockSparkBase.java
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,10 @@ public class MockSparkBase extends MockedMotorBase {
private final SparkPIDController pidController;
private final MockedSparkMaxPIDController pidControllerImpl;
private SparkAbsoluteEncoder absoluteEncoder = null;
private MockedEncoder absoluteEncoderImpl = null;
private MockedEncoder alternateEncoder = null;
private SparkAnalogSensor analogSensor = null;
private MockedEncoder analogSensorImpl = null;
private final String name;

/**
Expand Down Expand Up @@ -183,6 +185,18 @@ public double getBusVoltage() {
@Override
public void close() {
controllers.remove(port);
if (encoder != null) {
encoder.close();
}
if (absoluteEncoderImpl != null) {
absoluteEncoderImpl.close();
}
if (analogSensorImpl != null) {
analogSensorImpl.close();
}
if (alternateEncoder != null) {
alternateEncoder.close();
}
super.close();
}

Expand All @@ -196,7 +210,7 @@ public void close() {
*/
public synchronized SparkAbsoluteEncoder getAbsoluteEncoder(SparkAbsoluteEncoder.Type encoderType) {
if(absoluteEncoder == null) {
MockedEncoder absoluteEncoderImpl = new MockedEncoder(
absoluteEncoderImpl = new MockedEncoder(
SimDevice.create("CANDutyCycle:" + name, port), 0, false,
true, true);
absoluteEncoder = Mocks.createMock(SparkAbsoluteEncoder.class, absoluteEncoderImpl, new REVLibErrorAnswer());
Expand Down Expand Up @@ -243,7 +257,8 @@ public synchronized RelativeEncoder getAlternateEncoder(SparkMaxAlternateEncoder
*/
public synchronized SparkAnalogSensor getAnalog(SparkAnalogSensor.Mode mode) {
if(analogSensor == null) {
MockedEncoder analogSensorImpl = new MockedEncoder(SimDevice.create("CANAIn:" + name, port), 0, true, true);
analogSensorImpl = new MockedEncoder(
SimDevice.create("CANAIn:" + name, port), 0, true, true);
analogSensor = Mocks.createMock(SparkAnalogSensor.class, analogSensorImpl, new REVLibErrorAnswer());
}
return analogSensor;
Expand Down
16 changes: 16 additions & 0 deletions src/test/java/org/carlmontrobotics/lib199/sim/MockSparkMaxTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,22 @@ public void testHasEncoder() {
assertNotNull(simPosition);
}

@Test
public void testCanRecreateIfClosed() {
for (int i = 0; i < 2; i++) {
try (var mockSpark = new MockSparkMax(0, MotorType.kBrushless)) {
SimDeviceSim simSpark =
new SimDeviceSim("CANMotor:CANSparkMax", 0);
assertNotNull(simSpark);
SimDeviceSim simEncoder =
new SimDeviceSim("CANEncoder:CANSparkMax", 0);
assertNotNull(simEncoder);
SimDouble simPosition = simEncoder.getDouble("position");
assertNotNull(simPosition);
}
}
}

@Test
public void testGetOutputCurrent() {
var mockSpark = new MockSparkMax(0, MotorType.kBrushless);
Expand Down