Add annotations for JUnit Jupiter extensions

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) {
     }
   }
 }

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 {

testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/CommandTester.java

@@ -20,7 +20,7 @@
 /**
  * Allows tests to run commands.
  *
- * <p>Tests can get an instance by using {@link WPILibExtension}.
+ * <p>Tests can get an instance by using {@link InitWPILib}.
  *
  * @since 2.0.0
  */

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.
+ *
+ * <p>Also provides a {@link CommandTester} for tests.
+ *
+ * <p>Example use:
+ *
+ * <pre>{@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();
+ *   }
+ * }
+ * }</pre>
+ *
+ * @since 2.0.0
+ */
+@Target(ElementType.TYPE)
+@Retention(RetentionPolicy.RUNTIME)
+@ExtendWith(InitWPILibExtension.class)
+public @interface InitWPILib {}

testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtension.java → 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.
- *
- * <p>Also provides a {@link CommandTester} for tests.
- *
- * <p>Example use:
- *
- * <pre>{@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();
- *   }
- * }
- * }</pre>
- *
- * @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,

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.
+ *
+ * <p>Example use:
+ *
+ * <pre>{@code
+ * @ProvideUniqueNetworkTableInstance
+ * public final class IntakeTest {
+ *
+ *   @Test
+ *   public void intakeCoral(NetworkTableInstance ntInstance)  {
+ *     // Do something with ntInstance
+ *   }
+ * }
+ * }</pre>
+ *
+ * @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;
+}

testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/IsolatedNetworkTablesExtension.java → 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.
- *
- * <p>Example use:
- *
- * <pre>{@code
- * @ExtendWith(IsolatedNetworkTablesExtension.class)
- * public final class IntakeTest {
- *
- *   @Test
- *   public void intakeCoral(NetworkTableInstance ntInstance)  {
- *     // Do something with ntInstance
- *   }
- * }
- * }</pre>
- *
- * @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> DATA_KEY = StoreKey.of(Data.class);
+  private static final StoreKey<ProvideUniqueNetworkTableInstance> 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) {
     }
   }
 }

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<AssertionError> 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() {