[wpilibj] Remove useless AutoCloseable implementations (#9344)

Left over from #7773.

Author: Gold856

wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java

@@ -50,7 +50,7 @@
  * arcadeDrive, or curvatureDrive methods should be called periodically to avoid Motor Safety
  * timeouts.
  */
-public class DifferentialDrive extends RobotDriveBase implements TelemetryLoggable, AutoCloseable {
+public class DifferentialDrive extends RobotDriveBase implements TelemetryLoggable {
   private final DoubleConsumer m_leftMotor;
   private final DoubleConsumer m_rightMotor;
 
@@ -121,9 +121,6 @@ public DifferentialDrive(DoubleConsumer leftMotor, DoubleConsumer rightMotor) {
     m_rightMotor = rightMotor;
   }
 
-  @Override
-  public void close() {}
-
   /**
    * Arcade drive method for differential drive platform. The calculated values will be squared to
    * decrease sensitivity at low velocities.

wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java

@@ -48,7 +48,7 @@
  * <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The driveCartesian or
  * drivePolar methods should be called periodically to avoid Motor Safety timeouts.
  */
-public class MecanumDrive extends RobotDriveBase implements TelemetryLoggable, AutoCloseable {
+public class MecanumDrive extends RobotDriveBase implements TelemetryLoggable {
   private final DoubleConsumer m_frontLeftMotor;
   private final DoubleConsumer m_rearLeftMotor;
   private final DoubleConsumer m_frontRightMotor;
@@ -147,9 +147,6 @@ public MecanumDrive(
     m_rearRightMotor = rearRightMotor;
   }
 
-  @Override
-  public void close() {}
-
   /**
    * Drive method for Mecanum platform.
    *

wpilibj/src/main/java/org/wpilib/smartdashboard/Field2d.java

@@ -42,9 +42,6 @@ public Field2d() {
   @Override
   public synchronized void close() {
     TunableRegistry.remove(this);
-    for (FieldObject2d obj : m_objects) {
-      obj.close();
-    }
   }
 
   /**

wpilibj/src/main/java/org/wpilib/smartdashboard/FieldObject2d.java

@@ -19,7 +19,7 @@
 import org.wpilib.units.measure.Distance;
 
 /** Game field object on a Field2d. */
-public class FieldObject2d implements AutoCloseable {
+public class FieldObject2d {
   private static final TunableConfig POSES_TUNABLE_CONFIG =
       TunableConfig.of(TunableOption.GET_ON_CHANGE);
 
@@ -36,9 +36,6 @@ public class FieldObject2d implements AutoCloseable {
     setPoseArray(initialPoses);
   }
 
-  @Override
-  public void close() {}
-
   /**
    * Set the pose from a Pose object.
    *

wpilibj/src/main/java/org/wpilib/smartdashboard/Mechanism2d.java

@@ -22,7 +22,7 @@
  * @see MechanismLigament2d
  * @see MechanismRoot2d
  */
-public final class Mechanism2d implements TelemetryLoggable, AutoCloseable {
+public final class Mechanism2d implements TelemetryLoggable {
   private final Map<String, MechanismRoot2d> m_roots;
   private final double[] m_dims = new double[2];
   private String m_color;
@@ -55,13 +55,6 @@ public Mechanism2d(double width, double height, Color8Bit backgroundColor) {
     setBackgroundColor(backgroundColor);
   }
 
-  @Override
-  public synchronized void close() {
-    for (MechanismRoot2d root : m_roots.values()) {
-      root.close();
-    }
-  }
-
   /**
    * Get or create a root in this Mechanism2d with the given name and position.
    *

wpilibj/src/main/java/org/wpilib/smartdashboard/MechanismObject2d.java

@@ -18,7 +18,7 @@
  *
  * @see Mechanism2d
  */
-public abstract class MechanismObject2d implements TelemetryLoggable, AutoCloseable {
+public abstract class MechanismObject2d implements TelemetryLoggable {
   /** Relative to parent. */
   private final String m_name;
 
@@ -33,13 +33,6 @@ protected MechanismObject2d(String name) {
     m_name = name;
   }
 
-  @Override
-  public synchronized void close() {
-    for (MechanismObject2d obj : m_objects.values()) {
-      obj.close();
-    }
-  }
-
   /**
    * Append a Mechanism object that is based on this one.
    *

wpilibj/src/test/java/org/wpilib/smartdashboard/Mechanism2dTest.java

@@ -34,72 +34,64 @@ public void shutdown() {
 
   @Test
   void testCanvas() {
-    try (var mechanism = new Mechanism2d(5, 10)) {
-      Telemetry.log("mechanism", mechanism);
-      assertArrayEquals(
-          new double[] {5, 10}, m_mock.getLastValue("/mechanism/dims", double[].class));
-      assertEquals(
-          "#000020",
-          m_mock.getLastValue("/mechanism/backgroundColor", LogStringValue.class).value());
+    var mechanism = new Mechanism2d(5, 10);
+    Telemetry.log("mechanism", mechanism);
+    assertArrayEquals(new double[] {5, 10}, m_mock.getLastValue("/mechanism/dims", double[].class));
+    assertEquals(
+        "#000020", m_mock.getLastValue("/mechanism/backgroundColor", LogStringValue.class).value());
 
-      mechanism.setBackgroundColor(new Color8Bit(255, 255, 255));
-      Telemetry.log("mechanism", mechanism);
-      assertEquals(
-          "#FFFFFF",
-          m_mock.getLastValue("/mechanism/backgroundColor", LogStringValue.class).value());
-    }
+    mechanism.setBackgroundColor(new Color8Bit(255, 255, 255));
+    Telemetry.log("mechanism", mechanism);
+    assertEquals(
+        "#FFFFFF", m_mock.getLastValue("/mechanism/backgroundColor", LogStringValue.class).value());
   }
 
   @Test
   void testRoot() {
-    try (var mechanism = new Mechanism2d(5, 10)) {
-      final var root = mechanism.getRoot("root", 1, 2);
-      Telemetry.log("mechanism", mechanism);
-      assertArrayEquals(
-          new double[] {1, 2}, m_mock.getLastValue("/mechanism/root/position", double[].class));
+    var mechanism = new Mechanism2d(5, 10);
+    final var root = mechanism.getRoot("root", 1, 2);
+    Telemetry.log("mechanism", mechanism);
+    assertArrayEquals(
+        new double[] {1, 2}, m_mock.getLastValue("/mechanism/root/position", double[].class));
 
-      root.setPosition(2, 4);
-      Telemetry.log("mechanism", mechanism);
-      assertArrayEquals(
-          new double[] {2, 4}, m_mock.getLastValue("/mechanism/root/position", double[].class));
-    }
+    root.setPosition(2, 4);
+    Telemetry.log("mechanism", mechanism);
+    assertArrayEquals(
+        new double[] {2, 4}, m_mock.getLastValue("/mechanism/root/position", double[].class));
   }
 
   @Test
   void testLigament() {
-    try (var mechanism = new Mechanism2d(5, 10)) {
-      var root = mechanism.getRoot("root", 1, 2);
-      var ligament =
-          root.append(new MechanismLigament2d("ligament", 3, 90, 1, new Color8Bit(255, 255, 255)));
-      Telemetry.log("mechanism", mechanism);
-      assertEquals(
-          ligament.getAngle(), m_mock.getLastValue("/mechanism/root/ligament/angle", Double.class));
-      assertEquals(
-          ligament.getColor().toHexString(),
-          m_mock.getLastValue("/mechanism/root/ligament/color", LogStringValue.class).value());
-      assertEquals(
-          ligament.getLength(),
-          m_mock.getLastValue("/mechanism/root/ligament/length", Double.class));
-      assertEquals(
-          ligament.getLineWeight(),
-          m_mock.getLastValue("/mechanism/root/ligament/weight", Double.class));
+    var mechanism = new Mechanism2d(5, 10);
+    var root = mechanism.getRoot("root", 1, 2);
+    var ligament =
+        root.append(new MechanismLigament2d("ligament", 3, 90, 1, new Color8Bit(255, 255, 255)));
+    Telemetry.log("mechanism", mechanism);
+    assertEquals(
+        ligament.getAngle(), m_mock.getLastValue("/mechanism/root/ligament/angle", Double.class));
+    assertEquals(
+        ligament.getColor().toHexString(),
+        m_mock.getLastValue("/mechanism/root/ligament/color", LogStringValue.class).value());
+    assertEquals(
+        ligament.getLength(), m_mock.getLastValue("/mechanism/root/ligament/length", Double.class));
+    assertEquals(
+        ligament.getLineWeight(),
+        m_mock.getLastValue("/mechanism/root/ligament/weight", Double.class));
 
-      ligament.setAngle(45);
-      ligament.setColor(new Color8Bit(0, 0, 0));
-      ligament.setLength(2);
-      ligament.setLineWeight(4);
-      Telemetry.log("mechanism", mechanism);
-      assertEquals(
-          ligament.getAngle(), m_mock.getLastValue("/mechanism/root/ligament/angle", Double.class));
-      assertEquals(
-          ligament.getColor().toHexString(),
-          m_mock.getLastValue("/mechanism/root/ligament/color", LogStringValue.class).value());
-      assertEquals(
-          ligament.getLength(),
-          m_mock.getLastValue("/mechanism/root/ligament/length", Double.class));
-      assertEquals(
-          ligament.getLineWeight(),
-          m_mock.getLastValue("/mechanism/root/ligament/weight", Double.class));
-    }
+    ligament.setAngle(45);
+    ligament.setColor(new Color8Bit(0, 0, 0));
+    ligament.setLength(2);
+    ligament.setLineWeight(4);
+    Telemetry.log("mechanism", mechanism);
+    assertEquals(
+        ligament.getAngle(), m_mock.getLastValue("/mechanism/root/ligament/angle", Double.class));
+    assertEquals(
+        ligament.getColor().toHexString(),
+        m_mock.getLastValue("/mechanism/root/ligament/color", LogStringValue.class).value());
+    assertEquals(
+        ligament.getLength(), m_mock.getLastValue("/mechanism/root/ligament/length", Double.class));
+    assertEquals(
+        ligament.getLineWeight(),
+        m_mock.getLastValue("/mechanism/root/ligament/weight", Double.class));
   }
 }

wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java

@@ -127,8 +127,5 @@ public void stop() {
   public void close() {
     motor.close();
     encoder.close();
-    mech2d.close();
-    armPivot.close();
-    arm.close();
   }
 }

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java

@@ -136,6 +136,5 @@ public void updateTelemetry() {
   public void close() {
     encoder.close();
     motor.close();
-    mech2d.close();
   }
 }

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java

@@ -120,6 +120,5 @@ public void updateTelemetry() {
   public void close() {
     encoder.close();
     motor.close();
-    mech2d.close();
   }
 }