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PX4 / jMAVSim

Simple multirotor simulator with MAVLink protocol support
BSD 3-Clause "New" or "Revised" License
84 stars 208 forks source link

java.lang.IllegalAccessException when running/building on Ubuntu 20.04 #133

Closed Manodiestra closed 2 years ago

Manodiestra commented 2 years ago

OS: Ubuntu 20.04 java: openjdk 16.0.1 2021-04-20 ant: 1.10.7

I get an error:

java.lang.IllegalAccessException: class javax.media.j3d.JoglPipeline cannot access class sun.awt.X11GraphicsDevice

I cloned the repo and tried building as specified in the README.md:

ant create_run_jar copy_res
cd out/production
java -Djava.ext.dirs= -jar jmavsim_run.jar

I also tried building the distribution package

ant distro

Then unzipped it and ran it from the command line with java -jar jmavsim_run.jar

In both cases it stops with error output as follows: (Full output)

Options parsed, starting Sim.
Starting GUI...
Caught AppContextInfo(Bug 1004) InaccessibleObjectException: Unable to make public static sun.awt.AppContext sun.awt.AppContext.getAppContext() accessible: module java.desktop does not "exports sun.awt" to unnamed module @6c80d78a on thread J3D-Renderer-1
    [0]: java.base/java.lang.reflect.AccessibleObject.checkCanSetAccessible(AccessibleObject.java:357)
    [1]: java.base/java.lang.reflect.AccessibleObject.checkCanSetAccessible(AccessibleObject.java:297)
    [2]: java.base/java.lang.reflect.Method.checkCanSetAccessible(Method.java:199)
    [3]: java.base/java.lang.reflect.Method.setAccessible(Method.java:193)
    [4]: com.jogamp.nativewindow.awt.AppContextInfo$1$1.run(AppContextInfo.java:40)
    [5]: com.jogamp.common.util.UnsafeUtil.doWithoutIllegalAccessLogger(UnsafeUtil.java:202)
    [6]: com.jogamp.nativewindow.awt.AppContextInfo$1.run(AppContextInfo.java:34)
    [7]: java.base/java.security.AccessController.doPrivileged(AccessController.java:312)
    [8]: com.jogamp.nativewindow.awt.AppContextInfo.<clinit>(AppContextInfo.java:31)
    [9]: com.jogamp.nativewindow.awt.JAWTWindow.<init>(JAWTWindow.java:128)
    [10]: jogamp.nativewindow.jawt.x11.X11JAWTWindow.<init>(X11JAWTWindow.java:60)
    [11]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
    [12]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:78)
    [13]: java.base/jdk.internal.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
    [14]: java.base/java.lang.reflect.Constructor.newInstanceWithCaller(Constructor.java:499)
    [15]: java.base/java.lang.reflect.Constructor.newInstance(Constructor.java:480)
    [16]: jogamp.nativewindow.NativeWindowFactoryImpl.getAWTNativeWindow(NativeWindowFactoryImpl.java:105)
    [17]: jogamp.nativewindow.NativeWindowFactoryImpl.getNativeWindowImpl(NativeWindowFactoryImpl.java:66)
    [18]: com.jogamp.nativewindow.NativeWindowFactory.getNativeWindow(NativeWindowFactory.java:654)
    [19]: javax.media.j3d.JoglPipeline$QueryCanvas.addNotify(JoglPipeline.java:8604)
    [20]: java.desktop/java.awt.Container.addNotify(Container.java:2801)
    [21]: java.desktop/java.awt.Window.addNotify(Window.java:787)
    [22]: java.desktop/java.awt.Frame.addNotify(Frame.java:493)
    [23]: java.desktop/java.awt.Window.show(Window.java:1049)
    [24]: java.desktop/java.awt.Component.show(Component.java:1720)
    [25]: java.desktop/java.awt.Component.setVisible(Component.java:1667)
    [26]: java.desktop/java.awt.Window.setVisible(Window.java:1032)
    [27]: javax.media.j3d.JoglPipeline.getBestConfiguration(JoglPipeline.java:8379)
    [28]: javax.media.j3d.Renderer.doWork(Renderer.java:496)
    [29]: javax.media.j3d.J3dThread.run(J3dThread.java:271)
Caught AppContextInfo(Bug 1004) IllegalAccessException: class com.jogamp.nativewindow.awt.AppContextInfo cannot access class sun.awt.AppContext (in module java.desktop) because module java.desktop does not export sun.awt to unnamed module @6c80d78a on thread J3D-Renderer-1
    [0]: java.base/jdk.internal.reflect.Reflection.newIllegalAccessException(Reflection.java:385)
    [1]: java.base/java.lang.reflect.AccessibleObject.checkAccess(AccessibleObject.java:687)
    [2]: java.base/java.lang.reflect.Method.invoke(Method.java:559)
    [3]: com.jogamp.nativewindow.awt.AppContextInfo.fetchAppContext(AppContextInfo.java:191)
    [4]: com.jogamp.nativewindow.awt.AppContextInfo.update(AppContextInfo.java:135)
    [5]: com.jogamp.nativewindow.awt.AppContextInfo.<init>(AppContextInfo.java:50)
    [6]: com.jogamp.nativewindow.awt.JAWTWindow.<init>(JAWTWindow.java:128)
    [7]: jogamp.nativewindow.jawt.x11.X11JAWTWindow.<init>(X11JAWTWindow.java:60)
    [8]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
    [9]: java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:78)
    [10]: java.base/jdk.internal.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
    [11]: java.base/java.lang.reflect.Constructor.newInstanceWithCaller(Constructor.java:499)
    [12]: java.base/java.lang.reflect.Constructor.newInstance(Constructor.java:480)
    [13]: jogamp.nativewindow.NativeWindowFactoryImpl.getAWTNativeWindow(NativeWindowFactoryImpl.java:105)
    [14]: jogamp.nativewindow.NativeWindowFactoryImpl.getNativeWindowImpl(NativeWindowFactoryImpl.java:66)
    [15]: com.jogamp.nativewindow.NativeWindowFactory.getNativeWindow(NativeWindowFactory.java:654)
    [16]: javax.media.j3d.JoglPipeline$QueryCanvas.addNotify(JoglPipeline.java:8604)
    [17]: java.desktop/java.awt.Container.addNotify(Container.java:2801)
    [18]: java.desktop/java.awt.Window.addNotify(Window.java:787)
    [19]: java.desktop/java.awt.Frame.addNotify(Frame.java:493)
    [20]: java.desktop/java.awt.Window.show(Window.java:1049)
    [21]: java.desktop/java.awt.Component.show(Component.java:1720)
    [22]: java.desktop/java.awt.Component.setVisible(Component.java:1667)
    [23]: java.desktop/java.awt.Window.setVisible(Window.java:1032)
    [24]: javax.media.j3d.JoglPipeline.getBestConfiguration(JoglPipeline.java:8379)
    [25]: javax.media.j3d.Renderer.doWork(Renderer.java:496)
    [26]: javax.media.j3d.J3dThread.run(J3dThread.java:271)
Exception in thread "main" java.lang.reflect.InvocationTargetException
    at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
    at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:78)
    at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
    at java.base/java.lang.reflect.Method.invoke(Method.java:567)
    at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.lang.RuntimeException: java.lang.IllegalAccessException: class javax.media.j3d.JoglPipeline cannot access class sun.awt.X11GraphicsDevice (in module java.desktop) because module java.desktop does not export sun.awt to unnamed module @6c80d78a
    at javax.media.j3d.JoglPipeline.getScreen(JoglPipeline.java:8553)
    at javax.media.j3d.Screen3D.<init>(Screen3D.java:354)
    at javax.media.j3d.Canvas3D.<init>(Canvas3D.java:1124)
    at javax.media.j3d.Canvas3D.<init>(Canvas3D.java:1026)
    at javax.media.j3d.Canvas3D.<init>(Canvas3D.java:990)
    at me.drton.jmavsim.Visualizer3D$CustomCanvas3D.<init>(Visualizer3D.java:909)
    at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:196)
    at me.drton.jmavsim.Simulator.<init>(Simulator.java:192)
    at me.drton.jmavsim.Simulator.main(Simulator.java:941)
    ... 5 more
Caused by: java.lang.IllegalAccessException: class javax.media.j3d.JoglPipeline cannot access class sun.awt.X11GraphicsDevice (in module java.desktop) because module java.desktop does not export sun.awt to unnamed module @6c80d78a
    at java.base/jdk.internal.reflect.Reflection.newIllegalAccessException(Reflection.java:385)
    at java.base/java.lang.reflect.AccessibleObject.checkAccess(AccessibleObject.java:687)
    at java.base/java.lang.reflect.Method.invoke(Method.java:559)
    at javax.media.j3d.JoglPipeline.getScreen(JoglPipeline.java:8551)
    ... 13 more

Any help to resolve the issue would be appreciated.

Manodiestra commented 2 years ago

The issue was the use of OpenJDK. The project requires a proprietary JDK to build.

jzy3d commented 2 years ago

You may also keep your existing JDK 16 and use JVM option --illegal-access=permit

https://github.com/jzy3d/jogl/issues/11

alper50 commented 2 years ago

can someone help me ı am getting same error but ı couldnt understand the answers, detailed answer could be useful. I have both jdk(17.02) and open-jdk(17.01)

Manodiestra commented 2 years ago

@alper50 In your terminal run java --version and see what it spits out. If it's pulling OpenJDK, then either uninstall it or switch the default Java JDK in your shell PATH to point to the proprietary JDK.

Or you can try doing what @jzy3d suggested and run java --illegal-access=permit -jar my.jar instead of java -jar my.jar.

alper50 commented 2 years ago

@Manodiestra java --version output is = openjdk 17.0.1 2021-10-19 OpenJDK Runtime Environment (build 17.0.1+12) OpenJDK 64-Bit Server VM (build 17.0.1+12, mixed mode)

and ı decided to run java --illegal-access=permit -jar my.jar but the output is = ' Error: Unable to access jarfile my.jar '