Task :spotlessJava FAILED

For some reason, right after I updated my WPILib to the most recent version, I can’t build my code because of “Execution failed for task ‘:spotlessJava’.” I’m not really sure what to do, and I don’t even know what is spotlessJava. It was building fine before I updated the WPILib and it still doesn’t show any errors in my code.

Task :spotlessJava FAILED
Step ‘google-java-format’ found problem in ‘src/main/java/frc/robot/subsystems/Swerve.java’:
null
java.lang.reflect.InvocationTargetException
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 com.diffplug.spotless.java.GoogleJavaFormatStep$State.lambda$createFormat$1(GoogleJavaFormatStep.java:176)
at com.diffplug.spotless.FormatterFunc.apply(FormatterFunc.java:32)
at com.diffplug.spotless.FormatterStepImpl$Standard.format(FormatterStepImpl.java:78)
at com.diffplug.spotless.FormatterStep$Strict.format(FormatterStep.java:88)
at com.diffplug.spotless.Formatter.compute(Formatter.java:230)
at com.diffplug.spotless.PaddedCell.calculateDirtyState(PaddedCell.java:203)
at com.diffplug.spotless.PaddedCell.calculateDirtyState(PaddedCell.java:190)
at com.diffplug.gradle.spotless.SpotlessTaskImpl.processInputFile(SpotlessTaskImpl.java:92)
at com.diffplug.gradle.spotless.SpotlessTaskImpl.performAction(SpotlessTaskImpl.java:78)
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 org.gradle.internal.reflect.JavaMethod.invoke(JavaMethod.java:104)
at org.gradle.api.internal.project.taskfactory.IncrementalInputsTaskAction.doExecute(IncrementalInputsTaskAction.java:32)
at org.gradle.api.internal.project.taskfactory.StandardTaskAction.execute(StandardTaskAction.java:51)
at org.gradle.api.internal.project.taskfactory.AbstractIncrementalTaskAction.execute(AbstractIncrementalTaskAction.java:25)
at org.gradle.api.internal.project.taskfactory.StandardTaskAction.execute(StandardTaskAction.java:29)
at org.gradle.api.internal.tasks.execution.TaskExecution$2.run(TaskExecution.java:239)
at org.gradle.internal.operations.DefaultBuildOperationRunner$1.execute(DefaultBuildOperationRunner.java:29)
at org.gradle.internal.operations.DefaultBuildOperationRunner$1.execute(DefaultBuildOperationRunner.java:26)
at org.gradle.internal.operations.DefaultBuildOperationRunner$2.execute(DefaultBuildOperationRunner.java:66)
at org.gradle.internal.operations.DefaultBuildOperationRunner$2.execute(DefaultBuildOperationRunner.java:59)
at org.gradle.internal.operations.DefaultBuildOperationRunner.execute(DefaultBuildOperationRunner.java:157)
at org.gradle.internal.operations.DefaultBuildOperationRunner.execute(DefaultBuildOperationRunner.java:59)
at org.gradle.internal.operations.DefaultBuildOperationRunner.run(DefaultBuildOperationRunner.java:47)
at org.gradle.internal.operations.DefaultBuildOperationExecutor.run(DefaultBuildOperationExecutor.java:68)
at org.gradle.api.internal.tasks.execution.TaskExecution.executeAction(TaskExecution.java:224)
at org.gradle.api.internal.tasks.execution.TaskExecution.executeActions(TaskExecution.java:207)
at org.gradle.api.internal.tasks.execution.TaskExecution.executeWithPreviousOutputFiles(TaskExecution.java:190)
at org.gradle.api.internal.tasks.execution.TaskExecution.execute(TaskExecution.java:168)
at org.gradle.internal.execution.steps.ExecuteStep.executeInternal(ExecuteStep.java:89)
at org.gradle.internal.execution.steps.ExecuteStep.access$000(ExecuteStep.java:40)
at org.gradle.internal.execution.steps.ExecuteStep$1.call(ExecuteStep.java:53)
at org.gradle.internal.execution.steps.ExecuteStep$1.call(ExecuteStep.java:50)
at org.gradle.internal.operations.DefaultBuildOperationRunner$CallableBuildOperationWorker.execute(DefaultBuildOperationRunner.java:204)
at org.gradle.internal.operations.DefaultBuildOperationRunner$CallableBuildOperationWorker.execute(DefaultBuildOperationRunner.java:199)
at org.gradle.internal.operations.DefaultBuildOperationRunner$2.execute(DefaultBuildOperationRunner.java:66)
at org.gradle.internal.operations.DefaultBuildOperationRunner$2.execute(DefaultBuildOperationRunner.java:59)
at org.gradle.internal.operations.DefaultBuildOperationRunner.execute(DefaultBuildOperationRunner.java:157)
at org.gradle.internal.operations.DefaultBuildOperationRunner.execute(DefaultBuildOperationRunner.java:59)
at org.gradle.internal.operations.DefaultBuildOperationRunner.call(DefaultBuildOperationRunner.java:53)
at org.gradle.internal.operations.DefaultBuildOperationExecutor.call(DefaultBuildOperationExecutor.java:73)
at org.gradle.internal.execution.steps.ExecuteStep.execute(ExecuteStep.java:50)
at org.gradle.internal.execution.steps.ExecuteStep.execute(ExecuteStep.java:40)
at org.gradle.internal.execution.steps.RemovePreviousOutputsStep.execute(RemovePreviousOutputsStep.java:68)
at org.gradle.internal.execution.steps.RemovePreviousOutputsStep.execute(RemovePreviousOutputsStep.java:38)
at org.gradle.internal.execution.steps.ResolveInputChangesStep.execute(ResolveInputChangesStep.java:48)
at org.gradle.internal.execution.steps.ResolveInputChangesStep.execute(ResolveInputChangesStep.java:36)
at org.gradle.internal.execution.steps.CancelExecutionStep.execute(CancelExecutionStep.java:41)
at org.gradle.internal.execution.steps.TimeoutStep.executeWithoutTimeout(TimeoutStep.java:74)
at org.gradle.internal.execution.steps.TimeoutStep.execute(TimeoutStep.java:55)
at org.gradle.internal.execution.steps.CreateOutputsStep.execute(CreateOutputsStep.java:51)
at org.gradle.internal.execution.steps.CreateOutputsStep.execute(CreateOutputsStep.java:29)
at org.gradle.internal.execution.steps.CaptureStateAfterExecutionStep.execute(CaptureStateAfterExecutionStep.java:61)
at org.gradle.internal.execution.steps.CaptureStateAfterExecutionStep.execute(CaptureStateAfterExecutionStep.java:42)
at org.gradle.internal.execution.steps.BroadcastChangingOutputsStep.execute(BroadcastChangingOutputsStep.java:60)
at org.gradle.internal.execution.steps.BroadcastChangingOutputsStep.execute(BroadcastChangingOutputsStep.java:27)
at org.gradle.internal.execution.steps.BuildCacheStep.executeWithoutCache(BuildCacheStep.java:188)
at org.gradle.internal.execution.steps.BuildCacheStep.lambda$execute$1(BuildCacheStep.java:75)
at org.gradle.internal.Either$Right.fold(Either.java:175)
at org.gradle.internal.execution.caching.CachingState.fold(CachingState.java:59)
at org.gradle.internal.execution.steps.BuildCacheStep.execute(BuildCacheStep.java:73)
at org.gradle.internal.execution.steps.BuildCacheStep.execute(BuildCacheStep.java:48)
at org.gradle.internal.execution.steps.StoreExecutionStateStep.execute(StoreExecutionStateStep.java:38)
at org.gradle.internal.execution.steps.StoreExecutionStateStep.execute(StoreExecutionStateStep.java:27)
at org.gradle.internal.execution.steps.RecordOutputsStep.execute(RecordOutputsStep.java:36)
at org.gradle.internal.execution.steps.RecordOutputsStep.execute(RecordOutputsStep.java:22)
at org.gradle.internal.execution.steps.SkipUpToDateStep.executeBecause(SkipUpToDateStep.java:109)
at org.gradle.internal.execution.steps.SkipUpToDateStep.lambda$execute$2(SkipUpToDateStep.java:56)
at org.gradle.internal.execution.steps.SkipUpToDateStep.execute(SkipUpToDateStep.java:56)
at org.gradle.internal.execution.steps.SkipUpToDateStep.execute(SkipUpToDateStep.java:38)
at org.gradle.internal.execution.steps.ResolveChangesStep.execute(ResolveChangesStep.java:73)
at org.gradle.internal.execution.steps.ResolveChangesStep.execute(ResolveChangesStep.java:44)
at org.gradle.internal.execution.steps.legacy.MarkSnapshottingInputsFinishedStep.execute(MarkSnapshottingInputsFinishedStep.java:37)
at org.gradle.internal.execution.steps.legacy.MarkSnapshottingInputsFinishedStep.execute(MarkSnapshottingInputsFinishedStep.java:27)
at org.gradle.internal.execution.steps.ResolveCachingStateStep.execute(ResolveCachingStateStep.java:89)
at org.gradle.internal.execution.steps.ResolveCachingStateStep.execute(ResolveCachingStateStep.java:50)
at org.gradle.internal.execution.steps.ValidateStep.execute(ValidateStep.java:114)
at org.gradle.internal.execution.steps.ValidateStep.execute(ValidateStep.java:57)
at org.gradle.internal.execution.steps.CaptureStateBeforeExecutionStep.execute(CaptureStateBeforeExecutionStep.java:76)
at org.gradle.internal.execution.steps.CaptureStateBeforeExecutionStep.execute(CaptureStateBeforeExecutionStep.java:50)
at org.gradle.internal.execution.steps.SkipEmptyWorkStep.lambda$execute$2(SkipEmptyWorkStep.java:93)
at org.gradle.internal.execution.steps.SkipEmptyWorkStep.execute(SkipEmptyWorkStep.java:93)
at org.gradle.internal.execution.steps.SkipEmptyWorkStep.execute(SkipEmptyWorkStep.java:34)
at org.gradle.internal.execution.steps.legacy.MarkSnapshottingInputsStartedStep.execute(MarkSnapshottingInputsStartedStep.java:38)
at org.gradle.internal.execution.steps.LoadPreviousExecutionStateStep.execute(LoadPreviousExecutionStateStep.java:43)
at org.gradle.internal.execution.steps.LoadPreviousExecutionStateStep.execute(LoadPreviousExecutionStateStep.java:31)
at org.gradle.internal.execution.steps.AssignWorkspaceStep.lambda$execute$0(AssignWorkspaceStep.java:40)
at org.gradle.api.internal.tasks.execution.TaskExecution$3.withWorkspace(TaskExecution.java:284)
at org.gradle.internal.execution.steps.AssignWorkspaceStep.execute(AssignWorkspaceStep.java:40)
at org.gradle.internal.execution.steps.AssignWorkspaceStep.execute(AssignWorkspaceStep.java:30)
at org.gradle.internal.execution.steps.IdentityCacheStep.execute(IdentityCacheStep.java:37)
at org.gradle.internal.execution.steps.IdentityCacheStep.execute(IdentityCacheStep.java:27)
at org.gradle.internal.execution.steps.IdentifyStep.execute(IdentifyStep.java:44)
at org.gradle.internal.execution.steps.IdentifyStep.execute(IdentifyStep.java:33)
at org.gradle.internal.execution.impl.DefaultExecutionEngine$1.execute(DefaultExecutionEngine.java:76)
at org.gradle.api.internal.tasks.execution.ExecuteActionsTaskExecuter.executeIfValid(ExecuteActionsTaskExecuter.java:142)
at org.gradle.api.internal.tasks.execution.ExecuteActionsTaskExecuter.execute(ExecuteActionsTaskExecuter.java:131)
at org.gradle.api.internal.tasks.execution.CleanupStaleOutputsExecuter.execute(CleanupStaleOutputsExecuter.java:77)
at org.gradle.api.internal.tasks.execution.FinalizePropertiesTaskExecuter.execute(FinalizePropertiesTaskExecuter.java:46)
at org.gradle.api.internal.tasks.execution.ResolveTaskExecutionModeExecuter.execute(ResolveTaskExecutionModeExecuter.java:51)
at org.gradle.api.internal.tasks.execution.SkipTaskWithNoActionsExecuter.execute(SkipTaskWithNoActionsExecuter.java:57)
at org.gradle.api.internal.tasks.execution.SkipOnlyIfTaskExecuter.execute(SkipOnlyIfTaskExecuter.java:56)
at org.gradle.api.internal.tasks.execution.CatchExceptionTaskExecuter.execute(CatchExceptionTaskExecuter.java:36)
at org.gradle.api.internal.tasks.execution.EventFiringTaskExecuter$1.executeTask(EventFiringTaskExecuter.java:77)
at org.gradle.api.internal.tasks.execution.EventFiringTaskExecuter$1.call(EventFiringTaskExecuter.java:55)
at org.gradle.api.internal.tasks.execution.EventFiringTaskExecuter$1.call(EventFiringTaskExecuter.java:52)
at org.gradle.internal.operations.DefaultBuildOperationRunner$CallableBuildOperationWorker.execute(DefaultBuildOperationRunner.java:204)
at org.gradle.internal.operations.DefaultBuildOperationRunner$CallableBuildOperationWorker.execute(DefaultBuildOperationRunner.java:199)
at org.gradle.internal.operations.DefaultBuildOperationRunner$2.execute(DefaultBuildOperationRunner.java:66)
at org.gradle.internal.operations.DefaultBuildOperationRunner$2.execute(DefaultBuildOperationRunner.java:59)
at org.gradle.internal.operations.DefaultBuildOperationRunner.execute(DefaultBuildOperationRunner.java:157)
at org.gradle.internal.operations.DefaultBuildOperationRunner.execute(DefaultBuildOperationRunner.java:59)
at org.gradle.internal.operations.DefaultBuildOperationRunner.call(DefaultBuildOperationRunner.java:53)
at org.gradle.internal.operations.DefaultBuildOperationExecutor.call(DefaultBuildOperationExecutor.java:73)
at org.gradle.api.internal.tasks.execution.EventFiringTaskExecuter.execute(EventFiringTaskExecuter.java:52)
at org.gradle.execution.plan.LocalTaskNodeExecutor.execute(LocalTaskNodeExecutor.java:74)
at org.gradle.execution.taskgraph.DefaultTaskExecutionGraph$InvokeNodeExecutorsAction.execute(DefaultTaskExecutionGraph.java:402)
at org.gradle.execution.taskgraph.DefaultTaskExecutionGraph$InvokeNodeExecutorsAction.execute(DefaultTaskExecutionGraph.java:389)
at org.gradle.execution.taskgraph.DefaultTaskExecutionGraph$BuildOperationAwareExecutionAction.execute(DefaultTaskExecutionGraph.java:382)
at org.gradle.execution.taskgraph.DefaultTaskExecutionGraph$BuildOperationAwareExecutionAction.execute(DefaultTaskExecutionGraph.java:368)
at org.gradle.execution.plan.DefaultPlanExecutor$ExecutorWorker.lambda$run$0(DefaultPlanExecutor.java:127)
at org.gradle.execution.plan.DefaultPlanExecutor$ExecutorWorker.execute(DefaultPlanExecutor.java:191)
at org.gradle.execution.plan.DefaultPlanExecutor$ExecutorWorker.executeNextNode(DefaultPlanExecutor.java:182)
at org.gradle.execution.plan.DefaultPlanExecutor$ExecutorWorker.run(DefaultPlanExecutor.java:124)
at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:64)
at org.gradle.internal.concurrent.ManagedExecutorImpl$1.run(ManagedExecutorImpl.java:48)
at org.gradle.internal.concurrent.ThreadFactoryImpl$ManagedThreadRunnable.run(ThreadFactoryImpl.java:61)
Caused by: java.lang.IllegalAccessError: class com.google.googlejavaformat.java.JavaInput (in unnamed module @0x1fd79f0f) cannot access class com.sun.tools.javac.parser.Tokens$TokenKind (in module jdk.compiler) because module jdk.compiler does not export com.sun.tools.javac.parser to unnamed module @0x1fd79f0f
at com.google.googlejavaformat.java.JavaInput.buildToks(JavaInput.java:349)
at com.google.googlejavaformat.java.JavaInput.buildToks(JavaInput.java:334)
at com.google.googlejavaformat.java.JavaInput.(JavaInput.java:276)
at com.google.googlejavaformat.java.Formatter.getFormatReplacements(Formatter.java:280)
at com.google.googlejavaformat.java.Formatter.formatSource(Formatter.java:267)
at com.google.googlejavaformat.java.Formatter.formatSource(Formatter.java:233)
… 131 more

FAILURE: Build failed with an exception.

  • What went wrong:
    Execution failed for task ‘:spotlessJava’.

Spotless is a code formatter that can be used with grade.

From the top of the error you can see that the formatter had a problem with Swerve.java so I would assume there is a syntax error in that file as the formatter cannot format if there is a syntax error.

It would also be helpful if you post your code.

1 Like

VScode didn’t mark any errors in the file though. Do know what does Java.lang.reflect.InvocationTargetException mean. I’ve never seen that error before. Here’s my GitHub file: GitHub - DesteoyerRZSS/SwerveBot-2022: The source code for the 2022 FRC postseason swerve drive robot.
I’m using 3512’s base code

Something that you could try is to disable running spotless on build so you would be able to see a useful error message. You can do this by setting enforceCheck to false in the spotless configuration. In your build.gradle it would look something like:

spotless {
    enforceCheck false
    // Everthing else that was here goes here
}
2 Likes

I believe the problem is you’re using an older spotless version that doesn’t support jdk 17, which is what the 2023 wpilib installer installs now. Further, you’re using a 2022 wpilib version, so it won’t work with a robot imaged with 2023 image.

If you intend to keep a 2022 roborio working, then you should run the project in 2022 wpilib VS Code which would run with jdk 11 and work with the spotless version you have called out.

If you intend to use this for your 2023 robot, you need to import your project for 2023 and update vendordeps and re-add any customizations to the build.gradle (such as spotless, with the latest version that supports jdk 17).

3 Likes

Oh ok, I forgot that I am supposed to import my project into 2023. Thanks!

Also note that coming from 2022 to 2023 will most likely break your swerve drive odometry as it now uses SwerveModulePosition to do odometty instead of wheel velocity

ok, I will check that

Oh I know this one,


Just add this to your main folder, magically fixes everything.

# The --add-exports flags work around a bug with spotless and JDK 17
# https://github.com/diffplug/spotless/issues/834
org.gradle.jvmargs=-Xmx2g \
  --add-exports jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED \
  --add-exports jdk.compiler/com.sun.tools.javac.file=ALL-UNNAMED \
  --add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \
  --add-exports jdk.compiler/com.sun.tools.javac.tree=ALL-UNNAMED \
  --add-exports jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED
2 Likes

Wait, so if I calculate swerve drive odometer with wheel velocity, it won’t work?

The WPILIB SwerveDriveOdometey and SwerveDrivePoseEstimator classes expect you to provide SwerveModulePosition objects.

1 Like