Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCon: Initializing worksiteServer figuration: WorkSite::WorkSite -- Adding attributes Se: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/workSite.cfg rver Supervisor::createTask() - externalCo: Using default vehicle config file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/vehicle.cfg" mmsServer Supervisor::createTask() - navigationServer : starting LC: layeredControlServer -plan Setpoint_Test.cfg.pp -abort abortMplan.cfg Supervisor::createTask() : WorkSite::WorkSite -- Finished loading parameters - : WorkSite::WorkSite -- Starting Depth is 0.000000 meters lay: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 ere: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 dC: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : Creating NavigationServer... o: *** NavigationServer::NavigationServer()... ntr: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 olSe: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 rve: WorkSite server: 0x23160 r : *** NavigationServer::NavigationServer() - DONE -: Done creating NavigationServer... pla: Navigation::Navigation - Setting start depth to 0.0 meters. n Setpoint: Navigation::Navigation _logOnly = 0 _: Navigation - Using only the Dvl to compute altitude. Te: Navigation/EchoSounder:: epoch = (1544210177,72075992) st.: Navigation: Opening Acoustic Modem Interface: cfg.pp -abort abortMplan.cfg Supervisor::createTask() - dynamicContr: layeredControlServer - creating non dynamic version olServer : 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() -: SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts gp: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts sS: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts er: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts v: Preparing to fork e: SerialDevice: done... r : I'm the child...forking -r as: SerialDevice: done... hte: Attributes::parse() - Couldn't open CrossbowConstants attributes file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/crossbow.cfg" : SerialDevice: done... ch: VehicleConstants -- Caught exception while loading vehicle constants -dev /dev/ser7 : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser9 Su: SerialDevice: done... p: Crossbow.cc: In getSerialNumber() ervisor::createTask() - parosciServer -dev /dev/ser9 : Supervisor::createTasks() - spawning dvlServer -dev /dev/ser6 Supervisor::createTask() -: SerialDevice: done... dvlSe: SerialDevice: done... r: Gps: initializing : Parosci::reson host is NULL v: SerialDevice: done... er : Parosci.cc -- parsed PR (100) and TempInterval (100) -de: Gps: done initializing... v /de: **** EventTriggers::add() - attaching proxy v/ser6 : Supervisor::createTasks() - spawning newBattServer -dev tcp:134.89.32.137:10003 -n newBatt1 Supervisor::createTask() - new: SerialDevice: done... BattServer -dev tcp:134.89.32.137:10003 -n newBatt1 : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser13 Supervisor::createTask() - dropWeig: NewBattServer: servicename=NewBattIFServer htServer -de: NewBattServer::spawnAuxTasks - execlp(newBattDriver newBattDriver -dev tcp:134.89.32.137:10003 -n newBatt1 v /dev/ser13 : Battery newBatt1 initializing. : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDeviceDriver::initialize() : Starting DVL Initialization. : PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : 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 : CR1 [Parameters set to FACTORY defaults] > : PD0 > : BK1 > : BK1 > : CL0 > : TP00:05.00 > : TE00:00:0.00 > : BL010,0010,0020 > : BM5 > : BR0 > : BV00010,250,0 > : BW00001 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EZ0111101 > : Dvl::initialize - Error. EC speed of sound is set in worksite.cfg. : EA+04500 > : WP0001 > : WB1 > : WS400 > : WN25 > : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 23 valid commands read in from dvl.cfg. : EC1500 > : > : PD0Header = 7F7FDB02 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : 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 : Parosci.cc -- Initial pressure = 0.077277 : Parosci.cc -- Parosci initial pressure period = 29.917411 : Parosci.cc -- Parosci initial temp period = 5.818512 : initial pressure is 1.120871 : 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 : Command checksum error! : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : gpsDriver::readRecord() - serial device timed out : Dvl::readRecord(): Incorrect number of bytes read. : **** EventTriggers::add() - attaching proxy : gpsDriver::readRecord() - serial device timed out : dvlSOS = 1500.000000 : newBatt::Average voltage = 28.65 V, Total current = -2.09 A : newBatt::Env:14.6 C, 15.8 C, 23.6 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 1.00 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 = 20198. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 20198. : Navigation::connectSensors core - connecting to Nav->Ahrs at t = 20198. : ahrs if is Nav->Ahrs : Navigation::connectSensors aux - connecting to Nav->Dvl at t = 20198. : Navigation::connectSensors aux - connecting to Nav->Gps at t = 20198. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 20198. : gpsDriver::readRecord() - serial device timed out : Dvl::readRecord(): Incorrect number of bytes read. : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.66 V, Total current = -1.70 A : newBatt::Env:14.6 C, 15.8 C, 23.6 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 1.10 A Charge Current = 0.00 A : dvlSOS = 1500.000000 : gpsDriver::readRecord() - serial device timed out : Navigation: Server for aux sensor "Nav->EchoSounder" not found : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 30297. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 30297. : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.66 V, Total current = -1.69 A : newBatt::Env:14.6 C, 15.8 C, 23.6 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 1.00 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : Dvl::readRecord(): Incorrect number of bytes read. : Navigation: Server for aux sensor "Nav->Usbl" not found : Navigation::Navigation(). _es->valid() = 0 at t = 40397. : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : **** EventTriggers::add() - attaching proxy : gpsDriver::readRecord() - serial device timed out : Navigation::processSensorData(). Error. The Dvl has stopped responding after 3 read attempts. Aborting. : Navigation - aborting mission : LayeredControl::callback() - got abort request from server : Initiating Mission Abort! : LayeredControl::execute() -- (t = 0.599959) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.599959) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.599959) Behavior missionTimer:-1 has changed to state Active : Navigation::processSensorData(). Error. The Dvl has stopped responding after 3 read attempts. Aborting. : Navigation::processSensorData(). Error. The Dvl has stopped responding after 3 read attempts. Aborting. : Navigation::processSensorData(). Error. The Dvl has stopped responding after 3 read attempts. Aborting. : Navigation::processSensorData(). Error. The Dvl has stopped responding after 3 read attempts. Aborting. : Navigation::processSensorData(). Error. The Dvl has stopped responding after 3 read attempts. Aborting. : Navigation::processSensorData(). Error. The Dvl has stopped responding after 3 read attempts. Aborting. : dvlSOS = 1500.000000 : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.66 V, Total current = -1.82 A : newBatt::Env:14.5 C, 15.7 C, 23.6 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 2.00 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : Supervisor::signalHandler - caught signal 15 : Supervisor::signalHandler - setting exit flag [1] : Supervisor::run - caught stop signal - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : **** SharedData destructor for object GpsOutput_ShmemName **** : 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 NewBattIFServer - exit() on signal 2 : **** SharedData destructor for object newBatt1 **** : destroying segment ParosciOutput_ShmemName : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : destroying segment LayeredControlOutput_ShmemName : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is -0.20, at t=11.40. : StepGetStat(2): checksum error : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object dropWeightOutput **** : Supervisor::signalHandler possible duplicate signal[2] : destroying segment newBatt1 : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment m3dmgx1 : **** SharedData destructor for object m3dmgx1Cmd **** : destroying segment GpsOutput_ShmemName : destroying segment ParosciOutput_ShmemName : destroying segment DvlOutput_ShmemName : **** SharedData destructor for object navigationOutput **** : destroying prot sem LayeredControlOutput_ShmemName_prot : NavigationOutput::~NavigationOutput() : destroying segment TailConeInput_ShmemName : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object dropWeightOutput **** : destroying prot sem GpsOutput_ShmemName_prot : destroying segment dropWeightOutput : Supervisor::signalHandler - setting exit flag [2] : destroying prot sem newBatt1_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying prot sem m3dmgx1_prot : destroying segment m3dmgx1Cmd : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying segment navigationOutput : destroying notify sem LayeredControlOutput_ShmemName_notify : **** SharedData destructor for object navigationOutput **** : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment dropWeightOutput : destroying notify sem GpsOutput_ShmemName_notify : destroying prot sem dropWeightOutput_prot : Supervisor::shutdown - cleaning up : destroying notify sem newBatt1_notify : destroying notify sem m3dmgx1_notify : destroying prot sem m3dmgx1Cmd_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem ParosciOutput_ShmemName_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying prot sem navigationOutput_prot : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment navigationOutput : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem dropWeightOutput_prot : destroying notify sem dropWeightOutput_notify : Supervisor::shutdown - deleting output : **** SharedData destructor for object m3dmgx1Cmd **** : destroying notify sem m3dmgx1Cmd_notify //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00024CEF. : **** SharedData destructor for object m3dmgx1 **** : destroying prot sem navigationOutput_prot : destroying notify sem navigationOutput_notify : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying notify sem dropWeightOutput_notify : **** SharedData destructor for object SupervisorOutout **** : destroying segment m3dmgx1Cmd //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/newBattServer terminated (SIGSEGV) at 0007:000201F7. : destroying segment m3dmgx1 : destroying notify sem navigationOutput_notify : failed to unlink queue NavigationInput : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment TailConeInput_ShmemName : destroying segment TailConeOutput_ShmemName : destroying segment LayeredControlOutput_ShmemName : destroying prot sem m3dmgx1Cmd_prot : destroying segment SupervisorOutout : destroying prot sem m3dmgx1_prot : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem TailConeOutput_ShmemName_prot : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem m3dmgx1Cmd_notify : destroying notify sem m3dmgx1_notify : destroying prot sem SupervisorOutout_prot : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem SupervisorOutout_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown - done : destroying segment TailConeOutput_ShmemName : Supervisor::~Supervisor - dtor : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem TailConeOutput_ShmemName_notify