Hal.report() crashing my code when I try to run junit

Technical
1

CODE:

import edu.wpi.first.wpilibj.controller.PIDController;
import org.junit.Assert;
import org.junit.Before;
import org.junit.Test;

public class Yes {

@Before
public void setup() {
    PIDController pidController = new PIDController(0.23, 0, 0, 1);
}

@Test
public void yes() {
    Assert.assertEquals(0, 0, 0);
}

}

ERROR:

java.io.IOException: wpiHaljni could not be loaded from path or an embedded resource.
attempted to load for platform /windows/x86-64/
Last Load Error:
no wpiHaljni in java.library.path: [C:\Users\saarz.jdks\corretto-11.0.11\bin, C:\WINDOWS\Sun\Java\bin, C:\WINDOWS\system32, C:\WINDOWS, C:\Python39\Scripts, C:\Python39, C:\Program Files (x86)\Razer\ChromaBroadcast\bin, C:\Program Files\Razer\ChromaBroadcast\bin, C:\Program Files (x86)\Common Files\Oracle\Java\javapath, C:\Windows\system32, C:\Windows, C:\Windows\System32\Wbem, C:\Windows\System32\WindowsPowerShell\v1.0, C:\Windows\System32\OpenSSH, C:\Program Files (x86)\NVIDIA Corporation\PhysX\Common, C:\Program Files\NVIDIA Corporation\NVIDIA NvDLISR, C:\WINDOWS\system32, C:\WINDOWS, C:\WINDOWS\System32\Wbem, C:\WINDOWS\System32\WindowsPowerShell\v1.0, C:\WINDOWS\System32\OpenSSH, C:\Program Files\Git\cmd, C:\Users\saarz\AppData\Local\Microsoft\WindowsApps, C:\Users\saarz\AppData\Local\gitkraken\bin, C:\Program Files\dotnet, C:\Program Files\nodejs, C:\ProgramData\chocolatey\bin, C:\Users\saarz\AppData\Local\Microsoft\WindowsApps, C:\Users\saarz\AppData\Local\gitkraken\bin, C:\Users\saarz.dotnet\tools, C:\Users\saarz\AppData\Roaming\npm, C:\Program Files\nodejs, ., C:\Users\saarz\AppData\Local\Programs\Microsoft VS Code\bin, .]
A common cause of this error is missing the C++ runtime.
Download the latest at https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads

at edu.wpi.first.wpiutil.RuntimeLoader.loadLibrary(RuntimeLoader.java:79)
at edu.wpi.first.hal.JNIWrapper.<clinit>(JNIWrapper.java:34)
at edu.wpi.first.wpilibj.controller.PIDController.<init>(PIDController.java:92)
at Yes.setup(Yes.java:13)
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.base/java.lang.reflect.Method.invoke(Method.java:566)
at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:24)
at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
at org.junit.runner.JUnitCore.run(JUnitCore.java:137)
at com.intellij.junit4.JUnit4IdeaTestRunner.startRunnerWithArgs(JUnit4IdeaTestRunner.java:69)
at com.intellij.rt.junit.IdeaTestRunner$Repeater.startRunnerWithArgs(IdeaTestRunner.java:33)
at com.intellij.rt.junit.JUnitStarter.prepareStreamsAndStart(JUnitStarter.java:235)
at com.intellij.rt.junit.JUnitStarter.main(JUnitStarter.java:54)

Process finished with exit code 1

Configuration is with JUnit

2

When running unit tests, you need to call HAL.initialize() before anything else. In regular operations RobotBase takes care of it for you. There’s an frc-docs article about unit tests, I suggest reading it.

3

I tried to do this and this is what happens:

CODE:

@Before
public void setup() {
    HAL.initialize(100, 0);
    PIDController pidController = new PIDController(0.23, 0, 0, 1);
}

ERROR:
java.io.IOException: wpiHaljni could not be loaded from path or an embedded resource.
attempted to load for platform /windows/x86-64/
Last Load Error:
no wpiHaljni in java.library.path: [C:\Users\saarz.jdks\corretto-11.0.11\bin, C:\WINDOWS\Sun\Java\bin, C:\WINDOWS\system32, C:\WINDOWS, C:\Python39\Scripts, C:\Python39, C:\Program Files (x86)\Razer\ChromaBroadcast\bin, C:\Program Files\Razer\ChromaBroadcast\bin, C:\Program Files (x86)\Common Files\Oracle\Java\javapath, C:\Windows\system32, C:\Windows, C:\Windows\System32\Wbem, C:\Windows\System32\WindowsPowerShell\v1.0, C:\Windows\System32\OpenSSH, C:\Program Files (x86)\NVIDIA Corporation\PhysX\Common, C:\Program Files\NVIDIA Corporation\NVIDIA NvDLISR, C:\WINDOWS\system32, C:\WINDOWS, C:\WINDOWS\System32\Wbem, C:\WINDOWS\System32\WindowsPowerShell\v1.0, C:\WINDOWS\System32\OpenSSH, C:\Program Files\Git\cmd, C:\Users\saarz\AppData\Local\Microsoft\WindowsApps, C:\Users\saarz\AppData\Local\gitkraken\bin, C:\Program Files\dotnet, C:\Program Files\nodejs, C:\ProgramData\chocolatey\bin, C:\Users\saarz\AppData\Local\Microsoft\WindowsApps, C:\Users\saarz\AppData\Local\gitkraken\bin, C:\Users\saarz.dotnet\tools, C:\Users\saarz\AppData\Roaming\npm, C:\Program Files\nodejs, ., C:\Users\saarz\AppData\Local\Programs\Microsoft VS Code\bin, .]
A common cause of this error is missing the C++ runtime.
Download the latest at https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads

at edu.wpi.first.wpiutil.RuntimeLoader.loadLibrary(RuntimeLoader.java:79)
at edu.wpi.first.hal.JNIWrapper.<clinit>(JNIWrapper.java:34)
at Yes.setup(Yes.java:11)
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.base/java.lang.reflect.Method.invoke(Method.java:566)
at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:24)
at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
at org.junit.runner.JUnitCore.run(JUnitCore.java:137)
at com.intellij.junit4.JUnit4IdeaTestRunner.startRunnerWithArgs(JUnit4IdeaTestRunner.java:69)
at com.intellij.rt.junit.IdeaTestRunner$Repeater.startRunnerWithArgs(IdeaTestRunner.java:33)
at com.intellij.rt.junit.JUnitStarter.prepareStreamsAndStart(JUnitStarter.java:235)
at com.intellij.rt.junit.JUnitStarter.main(JUnitStarter.java:54)
4

And I’ve also tried to do what it tells me to do and download C++ runtime and it didn’t change anything

5

Did you install WPILib (in a version that matches the one specified in the build.gradle)?

6

What do you mean? how do I do that. I am running the java class with JUnit. Do I need to run it with gradle?

7

Yes. Gradle takes care of extracting the native libraries and setting up Java to find them. See Unit Testing — FIRST Robotics Competition documentation (running tests section)

8

I have a question about this answer. I agree if you follow those instructions, you do get the test runner to run the tests written.

How do we debug test failures though? Pressing F1 and running “WpiLib: Test Robot Code” executes the test cases, but there is no debugger possible when there are failures.

I tried installing the standard VsCode extension “Java Test Runner”, and it executes tests that are pure java code. If we start to get into the HAL or NetworkTables though, I get the same “no wpiHaljni in java.library.path”. I obviously have VC++ runtime, as the tests run in command line. Is there a way we can get the JNI paths in standard gradle to debug tests?

9

See this link for how to get it working. For 2022 templates this should be fixed

10

Thanks! It works great!

11

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