Merge pull request #104 from DeepBlueRobotics/fix-to-close-mocked-encoders-when-mocked-spark-is-closed

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

Author: brettle

src/main/java/org/carlmontrobotics/lib199/sim/MockSparkBase.java

@@ -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;
 
     /**
@@ -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();
     }
 
@@ -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());
@@ -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;

src/test/java/org/carlmontrobotics/lib199/sim/MockSparkMaxTest.java

@@ -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);