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Vortx3735 / Robot2019

KIRT VorTX 3735 Deep Space Code
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Can't find dependent libraries - CTRE_PhoenixCCI.dll #5

Open dbauducco opened 5 years ago

dbauducco commented 5 years ago

When running WPILib: Simulate Robot Code On Desktop, this error appears:

java.lang.UnsatisfiedLinkError: C:\Users\David\Documents\Robot Code\Robot2019\build\tmp\jniExtractDir\CTRE_PhoenixCCI.dll: Can't find dependent libraries
        at java.base/java.lang.ClassLoader$NativeLibrary.load0(Native Method)
        at java.base/java.lang.ClassLoader$NativeLibrary.load(ClassLoader.java:2430)
        at java.base/java.lang.ClassLoader$NativeLibrary.loadLibrary(ClassLoader.java:2487)
        at java.base/java.lang.ClassLoader.loadLibrary0(ClassLoader.java:2684)
        at java.base/java.lang.ClassLoader.loadLibrary(ClassLoader.java:2649)
        at java.base/java.lang.Runtime.loadLibrary0(Runtime.java:829)
        at java.base/java.lang.System.loadLibrary(System.java:1867)
        at com.ctre.phoenix.CTREJNIWrapper.<clinit>(CTREJNIWrapper.java:9)
        at com.ctre.phoenix.motorcontrol.can.BaseMotorController.<init>(BaseMotorController.java:54)        at com.ctre.phoenix.motorcontrol.can.TalonSRX.<init>(TalonSRX.java:27)
        at com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX.<init>(WPI_TalonSRX.java:49)
        at org.usfirst.frc.team3735.robot.util.hardware.VortxTalon.<init>(VortxTalon.java:31)        at org.usfirst.frc.team3735.robot.util.hardware.VortxTalon.<init>(VortxTalon.java:37)
        at org.usfirst.frc.team3735.robot.subsystems.Drive.<init>(Drive.java:75)        at org.usfirst.frc.team3735.robot.Robot.robotInit(Robot.java:70)
        at org.usfirst.frc.team3735.robot.util.bases.VortxIterative.startCompetition(VortxIterative.java:71)        at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:263)
        at org.usfirst.frc.team3735.robot.Main.main(Main.java:20)
dbauducco commented 5 years ago

Currently getting past this by commenting these two lines in Robot.java:

drive = new Drive();
navigation = new Navigation();
nleach999 commented 5 years ago

Windows or Mac? That file is not likely to be a correct shared lib on a mac (I guess they could have named it that, but usually it will end in .so)

Does the simulator support simulating the Talons? If not, we have to code some mock classes to use when running under the simulator.

dbauducco commented 5 years ago

I'm running Windows.

From what I am hearing around, Simulator is currently not supporting using the Talons. I'm having to make sure that they are never referenced. So far, commenting out those two lines does it for now.

nleach999 commented 5 years ago

I suggest reading about Mock Objects (https://en.wikipedia.org/wiki/Mock_object) to avoid commenting stuff in and out for simulation. We'll also probably need to do a little with dependency injection that will be similar to dynamically loading robot sub systems. The proper way to perform the mock/dependency injection is through Inversion of Control (https://en.wikipedia.org/wiki/Inversion_of_control).