Merge remote-tracking branch 'origin' into async-periodic

Author: CoolSpy3

.github/workflows/release.yml

@@ -0,0 +1,20 @@
+name: Create Release
+
+on:
+  push:
+    tags:
+      - '[0-9]+.[0-9]+.[0-9]+'
+
+jobs:
+  release:
+    name: Release Tag
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Create Release
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          tag: ${{ github.ref_name }}
+        run: |
+          gh release create "$tag" --repo="$GITHUB_REPOSITORY" --title="$tag" --generate-notes

src/main/java/org/carlmontrobotics/lib199/Mocks.java

@@ -8,6 +8,8 @@
 import java.util.Arrays;
 import java.util.HashMap;
 import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.function.Consumer;
+import java.util.function.Predicate;
 import java.util.stream.Collectors;
 
 import org.mockito.MockSettings;
@@ -19,6 +21,13 @@
 public final class Mocks {
 
     private static final CopyOnWriteArrayList<WeakReference<Object>> MOCKS = new CopyOnWriteArrayList<>();
+    private static final Predicate<WeakReference<?>> IS_REFERENCE_CLEARED = reference -> reference.get() == null;
+    private static final Consumer<WeakReference<Object>> CLEAR_INVOCATIONS_ON_REFERENCED_MOCK = reference -> Mockito.clearInvocations(reference.get());
+    private static final Predicate<WeakReference<Object>> CLEAR_INVOCATIONS_ON_REFERENCED_MOCK_IF_REFERENCE_NOT_CLEARED = reference -> {
+        if(IS_REFERENCE_CLEARED.test(reference)) return true;
+        CLEAR_INVOCATIONS_ON_REFERENCED_MOCK.accept(reference);
+        return false;
+    };
 
     static {
         // Use a single predicate so that clearing references and invocations is an atomic operation
@@ -27,12 +36,7 @@ public final class Mocks {
         // 2) Garbage collected references are removed
         // 3) Mock is garbage collected
         // 4) Mock invocations are cleared -> throws NullPointerException
-        Lib199Subsystem.registerAsyncPeriodic(() -> MOCKS.removeIf(reference -> {
-            Object mock = reference.get();
-            if(mock == null) return true;
-            Mockito.clearInvocations(mock);
-            return false;
-        }));
+        Lib199Subsystem.registerAsyncPeriodic(() -> MOCKS.removeIf(CLEAR_INVOCATIONS_ON_REFERENCED_MOCK_IF_REFERENCE_NOT_CLEARED));
     }
 
     /**
@@ -56,7 +60,7 @@ public static <T, U> T createMock(Class<T> classToMock, U implClass, Class<?>...
      * @param <U> the class type which will be used to provide method implementations
      * @param classToMock the class type which will be mocked
      * @param implClass the object to which to try to forward method calls
-     * @param forwardUnknownCalls whether methods which are not overriden will call their real methods
+     * @param forwardUnknownCalls whether methods which are not overridden will call their real methods
      * @param interfaces a list of interfaces which the mocked object should extend
      * @return an instance of <code>T</code> in which some or all of the classes methods are replaced with a mocked implementation from <code>U</code>
      * @see #createMock(Class, Object, Class...)
@@ -72,7 +76,7 @@ public static <T, U> T createMock(Class<T> classToMock, U implClass, boolean for
      * @param <U> the class type which will be used to provide method implementations
      * @param classToMock the class type which will be mocked
      * @param implClass the object to which to try to forward method calls
-     * @param defaultAnswer The answer to use when no overriden implementation is found
+     * @param defaultAnswer The answer to use when no overridden implementation is found
      * @param interfaces a list of interfaces which the mocked object should extend
      * @return an instance of <code>T</code> in which some or all of the classes methods are replaced with a mocked implementation from <code>U</code>
      * @see #createMock(Class, Object, Class...)

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

@@ -171,7 +171,7 @@ public static UsbCamera configureCamera() {
   }
 
   /**
-   * This method is equivilent to calling {@link #configureCamera()} {@code numCameras} times.
+   * This method is equivalent to calling {@link #configureCamera()} {@code numCameras} times.
    * The last camera will be set as the primary Camera feed.
    * To change it, call {@code CameraServer.getServer().setSource()}.
    *

src/main/java/org/carlmontrobotics/lib199/MotorErrors.java

@@ -47,14 +47,14 @@ private static <T extends Enum<T>> void reportError(String vendor, T error, T ok
         if(error == null || error == ok) {
             return;
         }
-        System.err.println("Error: " + error.name() + " occured while configuring " + vendor + " motor");
+        System.err.println("Error: " + error.name() + " occurred while configuring " + vendor + " motor");
         System.err.println("Full stack trace:");
         StackTraceElement[] stack = Thread.currentThread().getStackTrace();
         System.err.println(Arrays.toString(stack));
     }
 
     public static void checkSparkMaxErrors(CANSparkMax spark) {
-        //Purposely obivously impersonal to differentiate from actual computer generated errors
+        //Purposely obviously impersonal to differentiate from actual computer generated errors
         short faults = spark.getFaults();
         short stickyFaults = spark.getStickyFaults();
         short prevFaults = flags.containsKey(spark) ? flags.get(spark) : 0;
@@ -114,7 +114,7 @@ public static void doReportSparkMaxTemp() {
         temperatureSparks.forEach((port, spark) -> {
             double temp = spark.getMotorTemperature();
             SmartDashboard.putNumber("Port " + port + " Spark Max Temp", temp);
-            // Check if temperature exceeds the setpoint or if the contoller has already overheated to prevent other code from resetting the current limit after the controller has cooled
+            // Check if temperature exceeds the setpoint or if the controller has already overheated to prevent other code from resetting the current limit after the controller has cooled
             if(temp >= sparkTemperatureLimits.get(port) || overheatedSparks.contains(port)) {
                 if(!overheatedSparks.contains(port)) {
                     overheatedSparks.add(port);

src/main/java/org/carlmontrobotics/lib199/path/RobotPath.java

@@ -85,12 +85,12 @@ public Command getPathCommand(boolean faceInPathDirection, boolean stopAtEnd) {
         if (trajectory == null) {
             generateTrajectory();
         }
-        hs.reset();
         // We want the robot to stay facing the same direction (in this case), so save
         // the current heading (make sure to update at the start of the command)
         AtomicReference<Rotation2d> headingRef = new AtomicReference<>(dt.getPose().getRotation());
         Supplier<Rotation2d> desiredHeading = (!faceInPathDirection) ? () -> headingRef.get() : () -> hs.sample();
         Command command = dt.createAutoCommand(trajectory, desiredHeading);
+        command = new InstantCommand(hs::reset).andThen(command, new InstantCommand(hs::stop));
         if (stopAtEnd) {
             command = command.andThen(new InstantCommand(dt::stop, dt));
         }
@@ -310,5 +310,13 @@ public void reset() {
             timerStarted = false;
             timer.reset();
         }
+
+        /**
+         * Stops the timer
+         */
+        public void stop() {
+            timer.stop();
+            reset();
+        }
     }
 }