Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::c: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/workSite.cfg re: Using default vehicle config file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/vehicle.cfg" ateTask() - navigationServer : starting LC: layeredControlServer -plan Lab1.cfg -abort abortMplan.cfg Supervisor::createTask() - layeredControlServer -plan Lab1.cfg -abort abortMplan.cfg Supervisor::createTask() - dynamicControlSe: Creating NavigationServer... r: *** NavigationServer::NavigationServer()... ver : layeredControlServer - creating non dynamic version : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x231bc : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : Navigation::Navigation - Setting start depth to 0.0 meters. : Navigation::Navigation _logOnly = 0 : Navigation - Using only the Dvl to compute altitude. : Navigation/EchoSounder:: epoch = (1544195770,7887930) : Navigation: Opening Acoustic Modem Interface: : Supervisor::createTasks() - spawning newTailConeServer -dev /dev/ser3 Supervisor::createTask() - newTailConeServer -dev /dev/ser3 : Supervisor::createTasks() - spawning m3dmgx1Server -dev /dev/ser5 -useForNav Supervisor::createTask() - m3dmgx1Server -dev /dev/ser5 -useForNav : Supervisor::createTasks() - spawning gpsServer -r ashtech -dev /dev/ser7 Supervisor::createTask() - gpsServer -r ashtech -dev /dev/ser7 : Preparing to fork : I'm the child...forking : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser9 Supervisor::createTask() - parosciServer -dev /dev/ser9 : SerialDevice: done... : Attributes::parse() - Couldn't open CrossbowConstants attributes file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/crossbow.cfg" : SerialDevice: done... : Supervisor::createTasks() - spawning newBattServer -dev tcp:134.89.32.137:10003 -n newBatt1 : VehicleConstants -- Caught exception while loading vehicle constants : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts Sup: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts er: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts vis: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts or: SerialDevice: done... :: SerialDevice: done... :c: Crossbow.cc: In getSerialNumber() reateTask: SerialDevice: done... () - newBattServer -dev tcp:134.89.32.137:10003 -n newBatt1 : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser13 Supervisor::createTask() - dropWeightServer -dev /dev/ser13 : SerialDevice: done... : Parosci::reson host is NULL : Parosci.cc -- parsed PR (100) and TempInterval (100) : NewBattServer: servicename=NewBattIFServer : NewBattServer::spawnAuxTasks - execlp(newBattDriver newBattDriver -dev tcp:134.89.32.137:10003 -n newBatt1 : SerialDevice: done... : SerialDevice: done... : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : Battery newBatt1 initializing. : SerialDevice: done... : PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6548 : PeriodicTask::run() (crossbow) - sampleInterval=200, maxInterval=200 : Parosci.cc - mode set to standard resolution : Parosci.cc -- Serial # is 123917 : Parosci::init() - mode set okay : Parosci.cc -- PI reply = 100 : Parosci.cc -- units = 3 : no response to address set : SerialDevice: done... : 3 Modules found : Command checksum error! : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Parosci.cc -- Initial pressure = 0.075095 : Parosci.cc -- Parosci initial pressure period = 29.918532 : Parosci.cc -- Parosci initial temp period = 5.820010 : initial pressure is 1.086567 : Parosci.cc -- Paroscientific configured. : gpsDriver::readRecord() - serial device timed out : **** EventTriggers::add() - attaching proxy : Parosci.cc - mode set to nano resolution : Parosci.cc - mode set to streaming : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.1 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : newBatt:: There are 55 packs of 3.4 A-h cells. : gpsDriver::readRecord() - serial device timed out : Navigation: navigation: unable to open modem interface : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 20208. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 20208. : Navigation::connectSensors core - connecting to Nav->Ahrs at t = 20208. : ahrs if is Nav->Ahrs : Navigation::connectSensors core - connecting to Nav->Dvl at t = 20208. : gpsDriver::readRecord() - serial device timed out : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : DropWeight Destructor Executing. : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NewBattIFServer - exit() on signal 2 : **** SharedData destructor for object newBatt1 **** : destroying segment ParosciOutput_ShmemName : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1 **** : NavigationOutput::~NavigationOutput() : destroying segment LayeredControlOutput_ShmemName : **** SharedData destructor for object LayeredControlInput_ShmemName **** : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is 0.00, at t=0.00. : destroying segment GpsOutput_ShmemName : StepGetStat(2): checksum error : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : Supervisor::signalHandler - setting exit flag [1] //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/newBattServer terminated (SIGSEGV) at 0007:000201F7. : **** SharedData destructor for object dropWeightOutput **** : destroying segment newBatt1 : **** SharedData destructor for object GpsOutput_ShmemName **** : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment m3dmgx1 : **** SharedData destructor for object navigationOutput **** : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying segment LayeredControlInput_ShmemName : destroying prot sem GpsOutput_ShmemName_prot : **** SharedData destructor for object navigationOutput **** : destroying segment TailConeInput_ShmemName : destroying segment m3dmgx1Cmd : destroying segment ParosciOutput_ShmemName : destroying segment dropWeightOutput : Supervisor::run - caught stop signal - exiting run loop : destroying segment dropWeightOutput : destroying prot sem newBatt1_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying prot sem m3dmgx1_prot : destroying segment GpsOutput_ShmemName : destroying segment navigationOutput : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying segment navigationOutput : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem m3dmgx1Cmd_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : Supervisor::run - calling shutdown/exit : destroying prot sem dropWeightOutput_prot : destroying notify sem newBatt1_notify : destroying notify sem m3dmgx1_notify : destroying prot sem navigationOutput_prot : destroying prot sem GpsOutput_ShmemName_prot : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem navigationOutput_prot : destroying notify sem TailConeInput_ShmemName_notify : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : destroying notify sem m3dmgx1Cmd_notify : destroying notify sem dropWeightOutput_notify : Supervisor::shutdown - signaling processes : destroying notify sem dropWeightOutput_notify : **** SharedData destructor for object m3dmgx1Cmd **** : destroying notify sem navigationOutput_notify : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying notify sem navigationOutput_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : Supervisor::signalHandler - caught signal 2 : destroying segment m3dmgx1Cmd : failed to unlink queue NavigationInput : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment LayeredControlOutput_ShmemName : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : destroying segment TailConeOutput_ShmemName : destroying segment m3dmgx1 : Supervisor::signalHandler possible duplicate signal[2] : destroying prot sem m3dmgx1Cmd_prot : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying prot sem TailConeOutput_ShmemName_prot : destroying prot sem m3dmgx1_prot : Supervisor::signalHandler - setting exit flag [2] : destroying notify sem m3dmgx1Cmd_notify : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem m3dmgx1_notify : Supervisor::shutdown - cleaning up : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::shutdown - deleting output : destroying segment TailConeInput_ShmemName : **** SharedData destructor for object SupervisorOutout **** : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem TailConeInput_ShmemName_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment SupervisorOutout : destroying segment TailConeOutput_ShmemName : destroying prot sem TailConeOutput_ShmemName_prot : destroying prot sem SupervisorOutout_prot : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem SupervisorOutout_notify : Supervisor::shutdown - done : Supervisor::~Supervisor - dtor