Add unit tests and fix three bugs in akit core

akit/build.gradle.kts

@@ -1,8 +1,10 @@
 import org.gradle.external.javadoc.StandardJavadocDocletOptions
+import org.gradle.internal.os.OperatingSystem
 
 plugins {
     id("cpp")
     id("java")
+    id("jacoco")
     id("google-test")
     id("edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin") version "2025.0"
     id("edu.wpi.first.NativeUtils") version "2026.0.1"
@@ -56,8 +58,58 @@ tasks.withType<Javadoc> {
     }
 }
 
+// Determine the NativeUtils platform classifier for the current OS/arch so we
+// can locate the WPI native libraries that were extracted by the C++ build.
+val wpilibNativePlatform: String by lazy {
+    val os = OperatingSystem.current()
+    when {
+        os.isMacOsX -> "osxuniversal"
+        os.isLinux -> {
+            val arch = System.getProperty("os.arch") ?: "amd64"
+            if (arch.contains("aarch64") || arch.contains("arm64")) "linuxarm64"
+            else if (arch.contains("arm")) "linuxarm32"
+            else "linuxx86-64"
+        }
+        os.isWindows -> "windowsx86-64"
+        else -> throw GradleException("Unsupported platform for WPI native library detection")
+    }
+}
+
 tasks.named<Test>("test") {
     useJUnitPlatform()
+    finalizedBy(tasks.named("jacocoTestReport"))
+
+    // The C++ install task extracts all WPI shared libraries (libwpiHaljni, libwpiutil, etc.)
+    // into build/install/wpilibioTest/<platform>/release/lib/. Depend on that task so the
+    // libraries exist before the JVM test process starts, then add the directory to
+    // java.library.path so RuntimeLoader can find them without extracting from JARs.
+    //
+    // NativeUtils creates the install tasks via the old Gradle software model, so they are
+    // not available via tasks.named() at configuration time. Use tasks.matching() instead
+    // (which is lazy and resolves after the model is realised).
+    val installTaskName =
+        "installWpilibioTest${wpilibNativePlatform.replaceFirstChar { it.uppercaseChar() }}ReleaseGoogleTestExe"
+    dependsOn(tasks.matching { it.name == installTaskName })
+
+    val wpiNativeLibDir =
+        layout.buildDirectory.dir("install/wpilibioTest/$wpilibNativePlatform/release/lib")
+    val wpilibioSharedLibDir =
+        layout.buildDirectory.dir("libs/wpilibio/shared/$wpilibNativePlatform/release")
+
+    doFirst {
+        jvmArgs(
+            "-Djava.library.path=${wpiNativeLibDir.get().asFile.absolutePath}${File.pathSeparator}${wpilibioSharedLibDir.get().asFile.absolutePath}"
+        )
+    }
+}
+
+tasks.named<JacocoReport>("jacocoTestReport") {
+    dependsOn(tasks.named("test"))
+    reports {
+        xml.required.set(false)
+        html.required.set(true)
+        csv.required.set(true)
+    }
 }
 
 java {

akit/src/main/java/org/littletonrobotics/junction/LogFileUtil.java

@@ -28,6 +28,7 @@ private LogFileUtil() {}
    * @return The new path.
    */
   public static String addPathSuffix(String path, String suffix) {
+    if (suffix.isEmpty()) return path;
     int dotIndex = path.lastIndexOf(".");
     if (dotIndex == -1) {
       return path;
@@ -100,7 +101,9 @@ static String findReplayLogAdvantageScope() {
         Paths.get(System.getProperty("java.io.tmpdir"), advantageScopeFileName);
     String advantageScopeLogPath = null;
     try (Scanner fileScanner = new Scanner(advantageScopeTempPath)) {
-      advantageScopeLogPath = fileScanner.nextLine();
+      if (fileScanner.hasNextLine()) {
+        advantageScopeLogPath = fileScanner.nextLine();
+      }
     } catch (IOException e) {
     }
     return advantageScopeLogPath;

akit/src/main/java/org/littletonrobotics/junction/LogTable.java

@@ -928,7 +928,8 @@ public LogValue get(String key) {
    */
   public byte[] get(String key, byte[] defaultValue) {
     if (data.containsKey(prefix + key)) {
-      return get(key).getRaw(defaultValue);
+      byte[] stored = get(key).getRaw(defaultValue);
+      return stored == defaultValue ? stored : stored.clone();
     } else {
       return defaultValue;
     }
@@ -977,7 +978,8 @@ public boolean get(String key, boolean defaultValue) {
    */
   public boolean[] get(String key, boolean[] defaultValue) {
     if (data.containsKey(prefix + key)) {
-      return get(key).getBooleanArray(defaultValue);
+      boolean[] stored = get(key).getBooleanArray(defaultValue);
+      return stored == defaultValue ? stored : stored.clone();
     } else {
       return defaultValue;
     }
@@ -1084,7 +1086,8 @@ public long get(String key, long defaultValue) {
    */
   public long[] get(String key, long[] defaultValue) {
     if (data.containsKey(prefix + key)) {
-      return get(key).getIntegerArray(defaultValue);
+      long[] stored = get(key).getIntegerArray(defaultValue);
+      return stored == defaultValue ? stored : stored.clone();
     } else {
       return defaultValue;
     }
@@ -1133,7 +1136,8 @@ public float get(String key, float defaultValue) {
    */
   public float[] get(String key, float[] defaultValue) {
     if (data.containsKey(prefix + key)) {
-      return get(key).getFloatArray(defaultValue);
+      float[] stored = get(key).getFloatArray(defaultValue);
+      return stored == defaultValue ? stored : stored.clone();
     } else {
       return defaultValue;
     }
@@ -1182,7 +1186,8 @@ public double get(String key, double defaultValue) {
    */
   public double[] get(String key, double[] defaultValue) {
     if (data.containsKey(prefix + key)) {
-      return get(key).getDoubleArray(defaultValue);
+      double[] stored = get(key).getDoubleArray(defaultValue);
+      return stored == defaultValue ? stored : stored.clone();
     } else {
       return defaultValue;
     }
@@ -1231,7 +1236,8 @@ public String get(String key, String defaultValue) {
    */
   public String[] get(String key, String[] defaultValue) {
     if (data.containsKey(prefix + key)) {
-      return get(key).getStringArray(defaultValue);
+      String[] stored = get(key).getStringArray(defaultValue);
+      return stored == defaultValue ? stored : stored.clone();
     } else {
       return defaultValue;
     }
@@ -2130,10 +2136,8 @@ public boolean equals(Object other) {
       if (other instanceof LogValue) {
         LogValue otherValue = (LogValue) other;
         if (otherValue.type.equals(type)
-            && customTypeStr == otherValue.customTypeStr
-            && unitStr == otherValue.unitStr
-            && (customTypeStr == null || otherValue.customTypeStr.equals(customTypeStr))
-            && (unitStr == null || otherValue.unitStr.equals(unitStr))) {
+            && Objects.equals(customTypeStr, otherValue.customTypeStr)
+            && Objects.equals(unitStr, otherValue.unitStr)) {
           switch (type) {
             case Raw:
               return Arrays.equals(getRaw(), otherValue.getRaw());

akit/src/main/java/org/littletonrobotics/junction/ReceiverThread.java

@@ -35,9 +35,16 @@ public void run() {
       while (true) {
         LogTable entry = queue.take(); // Wait for data
 
-        // Send data to receivers
+        // Send data to receivers — catch InterruptedException per-receiver so that a single
+        // receiver throwing it does not prematurely exit the loop and starve other receivers.
         for (int i = 0; i < dataReceivers.size(); i++) {
-          dataReceivers.get(i).putTable(entry);
+          try {
+            dataReceivers.get(i).putTable(entry);
+          } catch (InterruptedException e) {
+            // A receiver signalled an interrupt; treat it as a receiver-level error and
+            // re-interrupt the thread so the outer catch can initiate clean shutdown.
+            Thread.currentThread().interrupt();
+          }
         }
       }
     } catch (InterruptedException exception) {