diff --git a/lib/src/test/java/com/team2813/lib2813/preferences/IsolatedPreferences.java b/lib/src/test/java/com/team2813/lib2813/preferences/IsolatedPreferences.java
index cb6ed91b..d183769f 100644
--- a/lib/src/test/java/com/team2813/lib2813/preferences/IsolatedPreferences.java
+++ b/lib/src/test/java/com/team2813/lib2813/preferences/IsolatedPreferences.java
@@ -40,6 +40,7 @@ protected void before() {
prevInstance = Preferences.getNetworkTable().getInstance();
tempInstance = NetworkTableInstance.create();
Preferences.setNetworkTableInstance(tempInstance);
+ tempInstance.waitForListenerQueue(1);
removePreferencesListener();
}
@@ -52,7 +53,7 @@ protected void after() {
// This works around a race condition in WPILib where a listener registered by Preferences can
// be called after the NetworkTableInstance was closed (see
// https://github.com/wpilibsuite/allwpilib/issues/8215).
- if (!tempInstance.waitForListenerQueue(4)) {
+ if (!tempInstance.waitForListenerQueue(.4)) {
System.err.println(
"Timed out waiting for the NetworkTableInstance listener queue to empty (waited 400ms);"
+ " will not close temporary NetworkTableInstance");
@@ -74,7 +75,7 @@ private static void removePreferencesListener() {
NetworkTableListener listener = (NetworkTableListener) listnerField.get(null);
listnerField.set(null, null);
listener.close();
- } catch (NoSuchFieldException | IllegalAccessException e) {
+ } catch (NoSuchFieldException | IllegalAccessException | IllegalArgumentException e) {
}
}
}
diff --git a/lib/src/test/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystemTest.java b/lib/src/test/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystemTest.java
index 6da2a7fc..a14ebc9d 100644
--- a/lib/src/test/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystemTest.java
+++ b/lib/src/test/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystemTest.java
@@ -1,5 +1,5 @@
/*
-Copyright 2025 Prospect Robotics SWENext Club
+Copyright 2025-2026 Prospect Robotics SWENext Club
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
@@ -22,16 +22,15 @@
import com.team2813.lib2813.control.Motor;
import com.team2813.lib2813.testing.FakeMotor;
import com.team2813.lib2813.testing.junit.jupiter.CommandTester;
-import com.team2813.lib2813.testing.junit.jupiter.WPILibExtension;
+import com.team2813.lib2813.testing.junit.jupiter.InitWPILib;
import edu.wpi.first.wpilibj2.command.Command;
import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.extension.ExtendWith;
import org.junit.jupiter.params.ParameterizedClass;
import org.junit.jupiter.params.provider.EnumSource;
@ParameterizedClass
@EnumSource(ControlMode.class)
-@ExtendWith(WPILibExtension.class)
+@InitWPILib
public final class ParameterizedIntakeSubsystemTest {
private static class ConcreteParameterizedIntakeSubsystem extends ParameterizedIntakeSubsystem {
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/CommandTester.java b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/CommandTester.java
index 6fbdd517..7eabcf92 100644
--- a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/CommandTester.java
+++ b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/CommandTester.java
@@ -20,7 +20,7 @@
/**
* Allows tests to run commands.
*
- * Tests can get an instance by using {@link WPILibExtension}.
+ *
Tests can get an instance by using {@link InitWPILib}.
*
* @since 2.0.0
*/
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/InitWPILib.java b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/InitWPILib.java
new file mode 100644
index 00000000..8ac614fc
--- /dev/null
+++ b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/InitWPILib.java
@@ -0,0 +1,59 @@
+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.testing.junit.jupiter;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+import org.junit.jupiter.api.extension.ExtendWith;
+
+/**
+ * JUnit Jupiter annotation used to signal tests that depends on WPILib.
+ *
+ *
Also provides a {@link CommandTester} for tests.
+ *
+ *
Example use:
+ *
+ *
{@code
+ * @InitWPILib
+ * public final class FlightSubsystemTest {
+ *
+ * @Test
+ * public void initiallyNotInAir() {
+ * var flight = new FlightSubsystem();
+ *
+ * assertThat(flight.inAir()).isFalse();
+ * }
+ *
+ * @Test
+ * public void takesFlight(CommandTester commandTester) {
+ * var flight = new FlightSubsystem();
+ * Command takeOff = flight.createTakeOffCommandCommand();
+ *
+ * commandTester.runUntilComplete(takeOff);
+ *
+ * assertThat(flight.inAir()).isTrue();
+ * }
+ * }
+ * }
+ *
+ * @since 2.0.0
+ */
+@Target(ElementType.TYPE)
+@Retention(RetentionPolicy.RUNTIME)
+@ExtendWith(InitWPILibExtension.class)
+public @interface InitWPILib {}
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtension.java b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/InitWPILibExtension.java
similarity index 82%
rename from testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtension.java
rename to testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/InitWPILibExtension.java
index 085d27a1..d3f9bcc0 100644
--- a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtension.java
+++ b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/InitWPILibExtension.java
@@ -30,39 +30,8 @@
import org.junit.jupiter.api.extension.ParameterResolutionException;
import org.junit.jupiter.api.extension.ParameterResolver;
-/**
- * JUnit Jupiter extension for testing code that depends on WPILib.
- *
- * Also provides a {@link CommandTester} for tests.
- *
- *
Example use:
- *
- *
{@code
- * @ExtendWith(WPILibExtension.class)
- * public final class FlightSubsystemTest {
- *
- * @Test
- * public void initiallyNotInAir() {
- * var flight = new FlightSubsystem();
- *
- * assertThat(flight.inAir()).isFalse();
- * }
- *
- * @Test
- * public void takesFlight(CommandTester commandTester) {
- * var flight = new FlightSubsystem();
- * Command takeOff = flight.createTakeOffCommandCommand();
- *
- * commandTester.runUntilComplete(takeOff);
- *
- * assertThat(flight.inAir()).isTrue();
- * }
- * }
- * }
- *
- * @since 2.0.0
- */
-public final class WPILibExtension
+/** JUnit Jupiter extension for testing code that depends on WPILib. */
+final class InitWPILibExtension
implements Extension,
AfterAllCallback,
AfterEachCallback,
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/ProvideUniqueNetworkTableInstance.java b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/ProvideUniqueNetworkTableInstance.java
new file mode 100644
index 00000000..96e3e186
--- /dev/null
+++ b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/ProvideUniqueNetworkTableInstance.java
@@ -0,0 +1,59 @@
+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.testing.junit.jupiter;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+import org.junit.jupiter.api.extension.ExtendWith;
+
+/**
+ * JUnit Jupiter annotation used to signal tests that need an isolated NetworkTableInstance.
+ *
+ * Example use:
+ *
+ *
{@code
+ * @ProvideUniqueNetworkTableInstance
+ * public final class IntakeTest {
+ *
+ * @Test
+ * public void intakeCoral(NetworkTableInstance ntInstance) {
+ * // Do something with ntInstance
+ * }
+ * }
+ * }
+ *
+ * @since 2.0.0
+ */
+@Target(ElementType.TYPE)
+@Retention(RetentionPolicy.RUNTIME)
+@ExtendWith(ProvideUniqueNetworkTableInstanceExtension.class)
+public @interface ProvideUniqueNetworkTableInstance {
+
+ /**
+ * How long to wait for the listener queue to empty before destroying the temporary network table
+ * instance.
+ */
+ double waitForListenerQueueSeconds() default 0.6;
+
+ /**
+ * Whether to call {@link
+ * edu.wpi.first.wpilibj.Preferences#setNetworkTableInstance(edu.wpi.first.networktables.NetworkTableInstance)}
+ * with the temporary network table instance before starting each test.
+ */
+ boolean replacePreferencesNetworkTable() default false;
+}
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/IsolatedNetworkTablesExtension.java b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/ProvideUniqueNetworkTableInstanceExtension.java
similarity index 64%
rename from testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/IsolatedNetworkTablesExtension.java
rename to testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/ProvideUniqueNetworkTableInstanceExtension.java
index fde01441..222e4d22 100644
--- a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/IsolatedNetworkTablesExtension.java
+++ b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/ProvideUniqueNetworkTableInstanceExtension.java
@@ -20,6 +20,7 @@
import edu.wpi.first.wpilibj.Preferences;
import java.lang.reflect.Field;
import org.junit.jupiter.api.extension.AfterEachCallback;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
import org.junit.jupiter.api.extension.BeforeEachCallback;
import org.junit.jupiter.api.extension.Extension;
import org.junit.jupiter.api.extension.ExtensionContext;
@@ -28,37 +29,39 @@
import org.junit.jupiter.api.extension.ParameterContext;
import org.junit.jupiter.api.extension.ParameterResolutionException;
import org.junit.jupiter.api.extension.ParameterResolver;
+import org.junit.platform.commons.support.AnnotationSupport;
-/**
- * JUnit Jupiter extension for providing an isolated NetworkTableInstance to tests.
- *
- * Example use:
- *
- *
{@code
- * @ExtendWith(IsolatedNetworkTablesExtension.class)
- * public final class IntakeTest {
- *
- * @Test
- * public void intakeCoral(NetworkTableInstance ntInstance) {
- * // Do something with ntInstance
- * }
- * }
- * }
- *
- * @since 2.0.0
- */
-public final class IsolatedNetworkTablesExtension
- implements Extension, BeforeEachCallback, AfterEachCallback, ParameterResolver {
- private static final Namespace NAMESPACE = Namespace.create(IsolatedNetworkTablesExtension.class);
+/** JUnit Jupiter extension for providing an isolated NetworkTableInstance to tests. */
+final class ProvideUniqueNetworkTableInstanceExtension
+ implements Extension,
+ BeforeAllCallback,
+ BeforeEachCallback,
+ AfterEachCallback,
+ ParameterResolver {
+ private static final Namespace NAMESPACE =
+ Namespace.create(ProvideUniqueNetworkTableInstanceExtension.class);
private static final StoreKey DATA_KEY = StoreKey.of(Data.class);
+ private static final StoreKey ANNOTATION_KEY =
+ StoreKey.of(ProvideUniqueNetworkTableInstance.class);
+
+ @Override
+ public void beforeAll(ExtensionContext context) {
+ Store store = context.getStore(NAMESPACE);
+ ANNOTATION_KEY.put(store, getAnnotation(context));
+ }
@Override
public void beforeEach(ExtensionContext context) {
Store store = context.getStore(NAMESPACE);
NetworkTableInstance ntInstance =
DATA_KEY.getOrComputeIfAbsent(store, Data::create).testInstance;
- Preferences.setNetworkTableInstance(ntInstance);
- removePreferencesListener();
+
+ ProvideUniqueNetworkTableInstance annotation = ANNOTATION_KEY.get(store);
+ if (annotation.replacePreferencesNetworkTable()) {
+ Preferences.setNetworkTableInstance(ntInstance);
+ ntInstance.waitForListenerQueue(1);
+ removePreferencesListener();
+ }
}
@Override
@@ -67,17 +70,22 @@ public void afterEach(ExtensionContext context) {
Store store = context.getStore(NAMESPACE);
Data data = DATA_KEY.remove(store);
if (data != null) {
- Preferences.setNetworkTableInstance(data.prevInstance);
+ ProvideUniqueNetworkTableInstance annotation = ANNOTATION_KEY.get(store);
+ if (!data.prevInstance.equals(Preferences.getNetworkTable().getInstance())) {
+ Preferences.setNetworkTableInstance(data.prevInstance);
+ }
// Clear out the listener queue before destroying our temporary NetworkTableInstance.
//
// This works around a race condition in WPILib where a listener registered by Preferences can
// be called after the NetworkTableInstance was closed (see
// https://github.com/wpilibsuite/allwpilib/issues/8215).
- if (!data.testInstance.waitForListenerQueue(.4)) {
- System.err.println(
- "Timed out waiting for the NetworkTableInstance listener queue to empty (waited 400ms);"
- + " will not close temporary NetworkTableInstance");
+ double timeout = annotation.waitForListenerQueueSeconds();
+ if (!data.testInstance.waitForListenerQueue(timeout)) {
+ System.err.printf(
+ "Timed out waiting for the NetworkTableInstance listener queue to empty (waited"
+ + " %dms); will not close temporary NetworkTableInstance%n",
+ Math.round(timeout * 1000));
} else {
data.testInstance.close();
}
@@ -110,6 +118,17 @@ static Data create() {
}
}
+ private static ProvideUniqueNetworkTableInstance getAnnotation(ExtensionContext context) {
+ return AnnotationSupport.findAnnotation(
+ context.getRequiredTestClass(),
+ ProvideUniqueNetworkTableInstance.class,
+ context.getEnclosingTestClasses())
+ .orElseThrow(
+ () ->
+ new IllegalStateException(
+ "Could not find an enclosed class annotated with @IsolatedNetworkTables"));
+ }
+
/**
* Removes the listener installed by {@link
* Preferences#setNetworkTableInstance(NetworkTableInstance)}.
@@ -123,7 +142,7 @@ private static void removePreferencesListener() {
NetworkTableListener listener = (NetworkTableListener) listnerField.get(null);
listnerField.set(null, null);
listener.close();
- } catch (NoSuchFieldException | IllegalAccessException e) {
+ } catch (NoSuchFieldException | IllegalAccessException | IllegalArgumentException e) {
}
}
}
diff --git a/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/ExtensionAssertions.java b/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/ExtensionAssertions.java
index bb9cb086..9646cbab 100644
--- a/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/ExtensionAssertions.java
+++ b/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/ExtensionAssertions.java
@@ -1,5 +1,5 @@
/*
-Copyright 2025 Prospect Robotics SWENext Club
+Copyright 2025-2026 Prospect Robotics SWENext Club
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
@@ -15,8 +15,11 @@
*/
package com.team2813.lib2813.testing.junit.jupiter;
+import java.util.List;
import org.junit.platform.testkit.engine.EngineExecutionResults;
+import org.junit.platform.testkit.engine.Event;
import org.junit.platform.testkit.engine.Events;
+import org.opentest4j.MultipleFailuresError;
/**
* A collection of utility methods that support asserting conditions in tests of JUnit Extensions.
@@ -28,7 +31,14 @@ final class ExtensionAssertions {
*
* @param events Events fired during execution of a test plan on the JUnit Platform.
*/
- public static void assertHasNoFailures(Events events) {
+ public static void assertHasNoFailures(Events events, String category) {
+ if (!events.failed().list().isEmpty()) {
+ List failures =
+ events.failed().stream().map(Event::toString).map(AssertionError::new).toList();
+ throw new MultipleFailuresError(
+ String.format("Expected no failed events with category '%s'", category), failures);
+ }
+
events.assertStatistics(
stats -> {
stats.skipped(0);
@@ -42,8 +52,8 @@ public static void assertHasNoFailures(Events events) {
* @param results Results of executing a test plan on the JUnit Platform.
*/
public static void assertHasNoFailures(EngineExecutionResults results) {
- assertHasNoFailures(results.containerEvents());
- assertHasNoFailures(results.testEvents());
+ assertHasNoFailures(results.containerEvents(), "container");
+ assertHasNoFailures(results.testEvents(), "test");
}
private ExtensionAssertions() {
diff --git a/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtensionTest.java b/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/InitWPILibExtensionTest.java
similarity index 96%
rename from testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtensionTest.java
rename to testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/InitWPILibExtensionTest.java
index f35b49d0..249c8323 100644
--- a/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtensionTest.java
+++ b/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/InitWPILibExtensionTest.java
@@ -1,5 +1,5 @@
/*
-Copyright 2025 Prospect Robotics SWENext Club
+Copyright 2025-2026 Prospect Robotics SWENext Club
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
@@ -33,12 +33,11 @@
import org.junit.jupiter.api.Tag;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.TestMethodOrder;
-import org.junit.jupiter.api.extension.ExtendWith;
import org.junit.platform.testkit.engine.EngineExecutionResults;
import org.junit.platform.testkit.engine.EngineTestKit;
-/** Tests for {@link WPILibExtension}. */
-public class WPILibExtensionTest {
+/** Tests for {@link InitWPILibExtension}. */
+public class InitWPILibExtensionTest {
static final Command FAKE_COMMAND = new Command() {};
@@ -49,7 +48,7 @@ static void initializeHal() {
}
}
- @ExtendWith(WPILibExtension.class)
+ @InitWPILib
@Tag("ignore-outside-testkit")
@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
public static class SampleTest {
diff --git a/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/IsolatedNetworkTablesExtensionTest.java b/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/ProvideUniqueNetworkTableInstanceExtensionTest.java
similarity index 85%
rename from testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/IsolatedNetworkTablesExtensionTest.java
rename to testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/ProvideUniqueNetworkTableInstanceExtensionTest.java
index cc0e0665..6c70e6fb 100644
--- a/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/IsolatedNetworkTablesExtensionTest.java
+++ b/testing/src/test/java/com/team2813/lib2813/testing/junit/jupiter/ProvideUniqueNetworkTableInstanceExtensionTest.java
@@ -25,14 +25,13 @@
import org.junit.jupiter.api.Tag;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.TestMethodOrder;
-import org.junit.jupiter.api.extension.ExtendWith;
import org.junit.platform.testkit.engine.EngineExecutionResults;
import org.junit.platform.testkit.engine.EngineTestKit;
-/** Tests for {@link IsolatedNetworkTablesExtension}. */
-class IsolatedNetworkTablesExtensionTest {
+/** Tests for {@link ProvideUniqueNetworkTableInstanceExtension}. */
+class ProvideUniqueNetworkTableInstanceExtensionTest {
- @ExtendWith(IsolatedNetworkTablesExtension.class)
+ @ProvideUniqueNetworkTableInstance
@Tag("ignore-outside-testkit")
@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
public static class SampleTest {
@@ -45,9 +44,9 @@ public void verifyProvidesNetworkTableParameter(NetworkTableInstance ntInstance)
}
@Test
- public void verifyReplacesPreferencesNetworkTableInstance() {
+ public void verifyDoesNotReplacePreferencesNetworkTableInstanceByDefault() {
assertThat(Preferences.getNetworkTable().getInstance().getHandle())
- .isNotEqualTo(NetworkTableInstance.getDefault().getHandle());
+ .isEqualTo(NetworkTableInstance.getDefault().getHandle());
}
} // end SampleTest
diff --git a/vision/src/test/java/com/team2813/lib2813/vision/MultiPhotonPoseEstimatorTest.java b/vision/src/test/java/com/team2813/lib2813/vision/MultiPhotonPoseEstimatorTest.java
index 7be00ae9..73f650e6 100644
--- a/vision/src/test/java/com/team2813/lib2813/vision/MultiPhotonPoseEstimatorTest.java
+++ b/vision/src/test/java/com/team2813/lib2813/vision/MultiPhotonPoseEstimatorTest.java
@@ -17,7 +17,7 @@
import static com.google.common.truth.Truth.assertThat;
-import com.team2813.lib2813.testing.junit.jupiter.IsolatedNetworkTablesExtension;
+import com.team2813.lib2813.testing.junit.jupiter.ProvideUniqueNetworkTableInstance;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.math.geometry.Pose3d;
@@ -27,13 +27,12 @@
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.List;
-import org.junit.jupiter.api.extension.ExtendWith;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
import org.photonvision.PhotonPoseEstimator.PoseStrategy;
/** Tests for {@link MultiPhotonPoseEstimator}. */
-@ExtendWith(IsolatedNetworkTablesExtension.class)
+@ProvideUniqueNetworkTableInstance
class MultiPhotonPoseEstimatorTest {
private static final double FIELD_LENGTH = 17.548;
private static final double FIELD_WIDTH = 8.052;
diff --git a/vision/src/test/java/com/team2813/lib2813/vision/TimestampedStructPublisherTest.java b/vision/src/test/java/com/team2813/lib2813/vision/TimestampedStructPublisherTest.java
index 4c21d839..5057f937 100644
--- a/vision/src/test/java/com/team2813/lib2813/vision/TimestampedStructPublisherTest.java
+++ b/vision/src/test/java/com/team2813/lib2813/vision/TimestampedStructPublisherTest.java
@@ -1,5 +1,5 @@
/*
-Copyright 2025 Prospect Robotics SWENext Club
+Copyright 2025-2026 Prospect Robotics SWENext Club
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
@@ -19,17 +19,16 @@
import static com.team2813.lib2813.vision.TimestampedStructPublisher.DEFAULT_PUBLISHED_VALUE_VALID_MICROS;
import static com.team2813.lib2813.vision.TimestampedStructPublisher.EXPECTED_UPDATE_FREQUENCY_MICROS;
-import com.team2813.lib2813.testing.junit.jupiter.IsolatedNetworkTablesExtension;
+import com.team2813.lib2813.testing.junit.jupiter.ProvideUniqueNetworkTableInstance;
import edu.wpi.first.math.geometry.*;
import edu.wpi.first.networktables.*;
import edu.wpi.first.units.Units;
import java.util.*;
import java.util.function.Supplier;
import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.extension.ExtendWith;
/** Tests for {@link TimestampedStructPublisher}. */
-@ExtendWith(IsolatedNetworkTablesExtension.class)
+@ProvideUniqueNetworkTableInstance(waitForListenerQueueSeconds = 0.6)
public class TimestampedStructPublisherTest {
private static final long MICROSECONDS_PER_SECOND = 1_000_000;
private static final Translation2d DEFAULT_VALUE = new Translation2d(28, 13);