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Setting up build.gradle for Java-only unit test that use wpilibjni/HAL #50

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jonathandao0 opened this issue Jan 12, 2025 · 2 comments
Closed

Setting up build.gradle for Java-only unit test that use wpilibjni/HAL #50

jonathandao0 opened this issue Jan 12, 2025 · 2 comments

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@jonathandao0
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I'm trying to set up a vendordep for use as a shared team library and I am having issues setting up the build.gradle file to run a unit tests that invokes HAL.initialize().

For reference, this is the GitHub repo/branch I am working off of: https://github.com/4201VitruvianBots/Codex/tree/dev-halUnitTest

I believe it is due to how I need to set up the model section in build.gradle to reference wpilib's native libraries when it runs the gradle test task. Initially, when trying to run the unit test without setting up the model section, I get the following error:

java.io.IOException: wpiHaljni could not be loaded from path.
	attempted to load for platform /windows/x86-64/
Last Load Error: 
no wpiHaljni in java.library.path: C:\Users\Public\wpilib\2025\jdk\bin;C:\WINDOWS\Sun\Java\bin;C:\WINDOWS\system32;C:\WINDOWS;C:\Program Files\Python312\Scripts\;C:\Program Files\Python312\;C:\Program Files\National Instruments\Shared\OpenVINO\;C:\WINDOWS\system32;C:\WINDOWS;C:\WINDOWS\System32\Wbem;C:\WINDOWS\System32\WindowsPowerShell\v1.0\;C:\WINDOWS\System32\OpenSSH\;C:\Program Files\dotnet\;C:\Program Files\Git\cmd;C:\Program Files\PuTTY\;C:\Program Files (x86)\WinSCP\;C:\Program Files\NVIDIA Corporation\NVIDIA app\NvDLISR;C:\Program Files (x86)\NVIDIA Corporation\PhysX\Common;C:\Program Files\Tailscale\;C:\Program Files\Meld\;C:\Users\jonat\AppData\Local\Microsoft\WindowsApps;C:\Users\jonat\AppData\Local\gitkraken\bin;.
JVM Location: C:\Users\Public\wpilib\2025\jdk\bin\java.exe
A common cause of this error is using a JVM with an incorrect MSVC runtime.
Ensure you are using the WPILib JVM (The current running JVM is listed above)
See https://wpilib.org/jvmruntime for more information

	at edu.wpi.first.util.RuntimeLoader.loadLibrary(RuntimeLoader.java:47)
	at edu.wpi.first.hal.JNIWrapper.<clinit>(JNIWrapper.java:44)
	at org.team4201.codex.commands.CommandTestBase.commandSetup(CommandTestBase.java:26)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
	at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.base/java.lang.reflect.Method.invoke(Method.java:569)
	at org.junit.platform.commons.util.ReflectionUtils.invokeMethod(ReflectionUtils.java:728)
	at org.junit.jupiter.engine.execution.MethodInvocation.proceed(MethodInvocation.java:60)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain$ValidatingInvocation.proceed(InvocationInterceptorChain.java:131)
	at org.junit.jupiter.engine.extension.TimeoutExtension.intercept(TimeoutExtension.java:156)
	at org.junit.jupiter.engine.extension.TimeoutExtension.interceptLifecycleMethod(TimeoutExtension.java:128)
	at org.junit.jupiter.engine.extension.TimeoutExtension.interceptBeforeEachMethod(TimeoutExtension.java:78)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker$ReflectiveInterceptorCall.lambda$ofVoidMethod$0(InterceptingExecutableInvoker.java:103)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.lambda$invoke$0(InterceptingExecutableInvoker.java:93)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain$InterceptedInvocation.proceed(InvocationInterceptorChain.java:106)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain.proceed(InvocationInterceptorChain.java:64)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain.chainAndInvoke(InvocationInterceptorChain.java:45)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain.invoke(InvocationInterceptorChain.java:37)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.invoke(InterceptingExecutableInvoker.java:92)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.invoke(InterceptingExecutableInvoker.java:86)
	at org.junit.jupiter.engine.descriptor.ClassBasedTestDescriptor.invokeMethodInExtensionContext(ClassBasedTestDescriptor.java:521)
	at org.junit.jupiter.engine.descriptor.ClassBasedTestDescriptor.lambda$synthesizeBeforeEachMethodAdapter$23(ClassBasedTestDescriptor.java:506)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.lambda$invokeBeforeEachMethods$3(TestMethodTestDescriptor.java:175)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.lambda$invokeBeforeMethodsOrCallbacksUntilExceptionOccurs$6(TestMethodTestDescriptor.java:203)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.invokeBeforeMethodsOrCallbacksUntilExceptionOccurs(TestMethodTestDescriptor.java:203)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.invokeBeforeEachMethods(TestMethodTestDescriptor.java:172)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.execute(TestMethodTestDescriptor.java:135)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.execute(TestMethodTestDescriptor.java:69)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$6(NodeTestTask.java:151)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$8(NodeTestTask.java:141)
	at org.junit.platform.engine.support.hierarchical.Node.around(Node.java:137)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$9(NodeTestTask.java:139)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.executeRecursively(NodeTestTask.java:138)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.execute(NodeTestTask.java:95)
	at java.base/java.util.ArrayList.forEach(ArrayList.java:1511)
	at org.junit.platform.engine.support.hierarchical.SameThreadHierarchicalTestExecutorService.invokeAll(SameThreadHierarchicalTestExecutorService.java:41)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$6(NodeTestTask.java:155)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$8(NodeTestTask.java:141)
	at org.junit.platform.engine.support.hierarchical.Node.around(Node.java:137)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$9(NodeTestTask.java:139)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.executeRecursively(NodeTestTask.java:138)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.execute(NodeTestTask.java:95)
	at java.base/java.util.ArrayList.forEach(ArrayList.java:1511)
	at org.junit.platform.engine.support.hierarchical.SameThreadHierarchicalTestExecutorService.invokeAll(SameThreadHierarchicalTestExecutorService.java:41)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$6(NodeTestTask.java:155)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$8(NodeTestTask.java:141)
	at org.junit.platform.engine.support.hierarchical.Node.around(Node.java:137)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$9(NodeTestTask.java:139)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.executeRecursively(NodeTestTask.java:138)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.execute(NodeTestTask.java:95)
	at org.junit.platform.engine.support.hierarchical.SameThreadHierarchicalTestExecutorService.submit(SameThreadHierarchicalTestExecutorService.java:35)
	at org.junit.platform.engine.support.hierarchical.HierarchicalTestExecutor.execute(HierarchicalTestExecutor.java:57)
	at org.junit.platform.engine.support.hierarchical.HierarchicalTestEngine.execute(HierarchicalTestEngine.java:54)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:198)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:169)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:93)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.lambda$execute$0(EngineExecutionOrchestrator.java:58)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.withInterceptedStreams(EngineExecutionOrchestrator.java:141)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:57)
	at org.junit.platform.launcher.core.DefaultLauncher.execute(DefaultLauncher.java:103)
	at org.junit.platform.launcher.core.DefaultLauncher.execute(DefaultLauncher.java:85)
	at org.junit.platform.launcher.core.DelegatingLauncher.execute(DelegatingLauncher.java:47)
	at org.gradle.api.internal.tasks.testing.junitplatform.JUnitPlatformTestClassProcessor$CollectAllTestClassesExecutor.processAllTestClasses(JUnitPlatformTestClassProcessor.java:124)
	at org.gradle.api.internal.tasks.testing.junitplatform.JUnitPlatformTestClassProcessor$CollectAllTestClassesExecutor.access$000(JUnitPlatformTestClassProcessor.java:99)
	at org.gradle.api.internal.tasks.testing.junitplatform.JUnitPlatformTestClassProcessor.stop(JUnitPlatformTestClassProcessor.java:94)
	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.stop(SuiteTestClassProcessor.java:63)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
	at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.base/java.lang.reflect.Method.invoke(Method.java:569)
	at org.gradle.internal.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:36)
	at org.gradle.internal.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
	at org.gradle.internal.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:33)
	at org.gradle.internal.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:92)
	at jdk.proxy1/jdk.proxy1.$Proxy4.stop(Unknown Source)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker$3.run(TestWorker.java:200)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker.executeAndMaintainThreadName(TestWorker.java:132)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker.execute(TestWorker.java:103)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker.execute(TestWorker.java:63)
	at org.gradle.process.internal.worker.child.ActionExecutionWorker.execute(ActionExecutionWorker.java:56)
	at org.gradle.process.internal.worker.child.SystemApplicationClassLoaderWorker.call(SystemApplicationClassLoaderWorker.java:121)
	at org.gradle.process.internal.worker.child.SystemApplicationClassLoaderWorker.call(SystemApplicationClassLoaderWorker.java:71)
	at worker.org.gradle.process.internal.worker.GradleWorkerMain.run(GradleWorkerMain.java:69)
	at worker.org.gradle.process.internal.worker.GradleWorkerMain.main(GradleWorkerMain.java:74)
Unexpected exception thrown.
org.gradle.internal.remote.internal.MessageIOException: Could not write '/127.0.0.1:63461'.
	at org.gradle.internal.remote.internal.inet.SocketConnection.flush(SocketConnection.java:145)
	at org.gradle.internal.remote.internal.hub.MessageHub$ConnectionDispatch.run(MessageHub.java:333)
	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:64)
	at org.gradle.internal.concurrent.AbstractManagedExecutor$1.run(AbstractManagedExecutor.java:48)
	at java.base/java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1136)
	at java.base/java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:635)
	at java.base/java.lang.Thread.run(Thread.java:840)
Caused by: java.io.IOException: Connection reset by peer
	at java.base/sun.nio.ch.SocketDispatcher.write0(Native Method)
	at java.base/sun.nio.ch.SocketDispatcher.write(SocketDispatcher.java:54)
	at java.base/sun.nio.ch.IOUtil.writeFromNativeBuffer(IOUtil.java:132)
	at java.base/sun.nio.ch.IOUtil.write(IOUtil.java:76)
	at java.base/sun.nio.ch.IOUtil.write(IOUtil.java:53)
	at java.base/sun.nio.ch.SocketChannelImpl.write(SocketChannelImpl.java:532)
	at org.gradle.internal.remote.internal.inet.SocketConnection$SocketOutputStream.writeWithNonBlockingRetry(SocketConnection.java:285)
	at org.gradle.internal.remote.internal.inet.SocketConnection$SocketOutputStream.writeBufferToChannel(SocketConnection.java:272)
	at org.gradle.internal.remote.internal.inet.SocketConnection$SocketOutputStream.flush(SocketConnection.java:266)
	at org.gradle.internal.remote.internal.inet.SocketConnection.flush(SocketConnection.java:143)
	... 6 more
> Task :test FAILED
FAILURE: Build failed with an exception.
* What went wrong:
Execution failed for task ':test'.
> Process 'Gradle Test Executor 153' finished with non-zero exit value 1
  This problem might be caused by incorrect test process configuration.
  For more on test execution, please refer to https://docs.gradle.org/8.11/userguide/java_testing.html#sec:test_execution in the Gradle documentation.
* Try:
> Run with --stacktrace option to get the stack trace.
> Run with --info or --debug option to get more log output.
> Run with --scan to get full insights.
> Get more help at https://help.gradle.org.
BUILD FAILED in 1s

I've tried various permutations of modifying the model section without success. If I copy the unit tests and commands for CommandsTests and CommandTestBase into the vendor-template or a 2025 robot project, the tests pass without issue, so I can just re-add the cpp example driver portions if needed, but I would prefer to avoid that if possible. This also seemed like a good opportunity to understand more of how build.gradle is set up to call dependencies.
@ThadHouse
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This repo is not built at all for Java only. The way it adds native binaries depends on having a c++ build.

The infrastructure to depend on native binaries in Java only projects is all in gradlerio. So likely the best plan for a Java only project is to start from a robot project, and add maven publishing to that. We don’t have any templates for this however.

@jonathandao0
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Got it, thanks!

@jonathandao0 jonathandao0 mentioned this issue Jan 18, 2025
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@ThadHouse @jonathandao0