Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/workSite.cfg createTask() - navigationServer : Using default vehicle config file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/vehicle.cfg" : starting LC: layeredControlServer -plan Deimos_Transect.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - layeredControlServer -plan Deimos_Transect.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - dynamicControlServer : Creating NavigationServer... S: *** NavigationServer::NavigationServer()... upervisor::createTask() - simulator : layeredControlServer - creating non dynamic version Supervisor::createTask() - simDepthSensor : Supervisor: configDirPath = /home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1 Supervisor::createTask() - simKearfott Supervisor::createTask() - simAhrs : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters Supe: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 rvis: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 or::c: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 reat: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 eTask: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 () -: WorkSite server: 0x231c4 sim: *** NavigationServer::NavigationServer() - DONE TailCo: Done creating NavigationServer... ne : Navigation::Navigation - Setting start depth to 0.0 meters. Supervisor::createTask() - simGps S: Create simulator... upervisor::createTask() - simDvl : SimulatedDepthSensor - connecting... : SimulatedDepthSensor - connected OK Supervi: SimulatedKearfott:: Constructor. sor::c: SimulatedKearfott::Setting utm zone to 10 reateTask() - simDvlSide : Running SimulatedKearfott now Super: Navigation::Navigation _logOnly = 0 v: Navigation - Using only the Dvl to compute altitude. is: **** FastTime ctor [0007e508] **** or::: ****Time::gettime using FastTime instance [0007e508] crea: Navigation/EchoSounder:: epoch = (1570440736,707915275) te: Navigation: Opening Acoustic Modem Interface: Task() - simDeltaT Supervisor::createTask() - simCtd Supervisor::createTask() - simBluefinBatt Supervisor::createTask() - simHydroscat : **** FastTime ctor [0007eed8] **** : ****Time::gettime using FastTime instance [0007eed8] : Create VehicleConfigurationIF... : Okay... : Create attributes... : **** FastTime ctor [000a4a74] **** : Simulator::Simulator() - msSimDelay = 0 : ****Time::gettime using FastTime instance [000a4a74] Super: Simulator:: initPsi = 0.000000 vi: Done creating attributes. Parse 'em... sor::createTas: Running SimDvl now k() - simIsus : Running SimDvlSide now Supervisor::creat: **** FastTime ctor [0002d5f4] **** eTa: ****Time::gettime using FastTime instance [0002d5f4] sk: SimulatedDeltaT::Constructor starting at t = 0 () -: SimulatedDeltaT::minGrazing = 0.00 deg. simGulper Supervisor::createTask() - simReson Supervisor::createTask() - simModem Supervisor::createTask() - simUsbl S: Begin simGulper. upervisor: Begin SimulatedGulperServer constructor. ::createTask() - simCathx Supervisor::crea: gulperLog:: Constructor completed. te: End SimulatedGulperServer constructor. Task() - : Simulator:: initPsi = 225.000000 si: Simulator:: zMax = 210.000000 mCarl : The utm zone is 10 : Simulator: The lat/long in workSite.cfg is 0.640585, -2.13257 : Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06221e+006, 572619 : Simulator: _nydepths = 10 : Simulator: 0 _depth=1500.0, _ydepth-_position0[2]=-450.0 : Simulator: 1 _depth=1500.0, _ydepth-_position0[2]=-390.0 : Simulator: 2 _depth=1500.0, _ydepth-_position0[2]=-312.0 : Simulator: 3 _depth=1500.0, _ydepth-_position0[2]=-310.0 : Simulator: 4 _depth=1500.0, _ydepth-_position0[2]=-230.0 : Simulator: 5 _depth=1500.0, _ydepth-_position0[2]=-220.0 : Simulator: 6 _depth=1500.0, _ydepth-_position0[2]=-140.0 : Simulator: 7 _depth=1500.0, _ydepth-_position0[2]=-130.0 : Simulator: 8 _depth=1500.0, _ydepth-_position0[2]=-50.0 : Simulator: 9 _depth=1500.0, _ydepth-_position0[2]=0.0 : Simulator: _nydepths = 10 : Simulator: 0 _depth=1500.0, _ydepth-_position0[2]=-450.0, _slope=0.00e+000, _yinter=1.50e+003 : Simulator: 1 _depth=1500.0, _ydepth-_position0[2]=-390.0, _slope=0.00e+000, _yinter=1.50e+003 : Simulator: 2 _depth=1500.0, _ydepth-_position0[2]=-312.0, _slope=0.00e+000, _yinter=1.50e+003 S: Simulator: 3 _depth=1500.0, _ydepth-_position0[2]=-310.0, _slope=0.00e+000, _yinter=1.50e+003 upe: Simulator: 4 _depth=1500.0, _ydepth-_position0[2]=-230.0, _slope=0.00e+000, _yinter=1.50e+003 rvis: Simulator: 5 _depth=1500.0, _ydepth-_position0[2]=-220.0, _slope=0.00e+000, _yinter=1.50e+003 or:: Simulator: 6 _depth=1500.0, _ydepth-_position0[2]=-140.0, _slope=0.00e+000, _yinter=1.50e+003 :cr: Simulator: 7 _depth=1500.0, _ydepth-_position0[2]=-130.0, _slope=0.00e+000, _yinter=1.50e+003 eat: Simulator: 8 _depth=1500.0, _ydepth-_position0[2]=-50.0, _slope=0.00e+000, _yinter=1.50e+003 eTa: Simulator: 9 _depth=1500.0, _ydepth-_position0[2]=0.0, _slope=0.00e+000, _yinter=0.00e+000 sk() : Not using Octrees. - simMbTrnRe: **** FastTime ctor [00087858] **** cv: ****Simulator::init_simulation [0006edb8] using FastTime instance [00087858] : Invoke simulator->run()... : SimulatedDeltaT:: _verticalMount = 1, _fwdEnabled = 1 : SimulatedDeltaT:: _tbeams = 210, _nbeams = 120 Supervi: SimulatedUsbl:: Initial beacon interrogation address is V7_7 sor::createTask() - cameraServer -dev tcp:172.20.64.214:10002 -sim : cathxServer - initializing... S: cathxServer - running... upervisor::createTask() - sim: SimulatedUsbl:: There are 5 beacons in the table. Ec: SimulatedUsbl:: beacon 27 V11_2 lat=36.81249 lon=-121.97346 SimulatedUsbl:: northing = 4074563.1 easting=591562.4 hoS: SimulatedUsbl:: beacon 50 V4_5 lat=36.81611 lon=-121.98352 SimulatedUsbl:: northing = 4074955.6 easting=590661.2 ounde: SimulatedUsbl:: beacon 28 V12_2 lat=36.81249 lon=-121.97346 SimulatedUsbl:: northing = 4074563.1 easting=591562.4 r : SimulatedUsbl:: beacon 29 V13_2 lat=36.81349 lon=-121.97746 SimulatedUsbl:: northing = 4074670.2 easting=591204.4 : SimulatedUsbl:: beacon 0 V7_7 lat=36.60682 lon=-121.87457 SimulatedUsbl:: northing = 4051846.5 easting=600651.5 : SimulatedUsbl:: Changing to beacon 0 at (4051846.5, 600651.5) : Simulating Usbl with Gaussian noise. : Running SimUsbl now Superviso: SimulatedCarl - Interface opened to DVL OK r::crea: SimulatedDeltaT:: epoch = (1570440736,707915275) teT: SimulatedDeltaT::Constructor finished at t = 0 ask() - sysDataDriver -f5 : **** FastTime ctor [00046c18] **** : ****Time::gettime using FastTime instance [00046c18] : SimulatedMbTrnRecv::Constructor starting at t = 0 : SimulatedMbTrnRecv::minGrazing = 0.00 deg. : SimulatedMbTrnRecv:: _nbeams = 11 : SimulatedMbTrnRecv:: epoch = (1570440736,707915275) : SimulatedMbTrnRecv::Constructor finished at t = 0 : SimulatedMBTrnRecv::SimulatedMBTrnRecv() - Utm zone = 10 : **** FastTime ctor [0003bfd8] **** : ****Time::gettime using FastTime instance [0003bfd8] : SimulatedEchoSounder::Constructor starting at t = 0 : SimulatedEchoSounder::minGrazing = 0.00 deg. : CameraDriver:: Before navigation IF. : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SimulatedEchoSounder - sector = 0. : SimulatedEchoSounder:: epoch = (1570440736,707915275) : SimulatedEchoSounder::Constructor finished at t = 0 : Running SimEchoSounder now : sysDataDriver: Frequency is 5 : sysDataDriver - frequency = 5 : PeriodicTask::run() (sysdata) - sampleInterval=200, maxInterval=200 : Navigation: acommsIF = 0x82518 : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 0. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 0. : Navigation::connectSensors core - connecting to Nav->Ahrs at t = 0. : ahrs if is Nav->Ahrs : Navigation::connectSensors core - connecting to Nav->Dvl at t = 0. : Navigation::connectSensors aux - connecting to Nav->Gps at t = 0. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 0. : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 0. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 0. : Navigation: Setting simulator callback : Navigation::Navigation(). _es->valid() = 0 at t = 0. : PeriodicTask::run() (navigation) - sampleInterval=2000, maxInterval=0 : ============== Navigation giving simulation a push start in 2... : **** FastTime ctor [00021458] **** : ****Time::gettime using FastTime instance [00021458] : **** FastTime ctor [000201dc] **** : ****Time::gettime using FastTime instance [000201dc] : **** FastTime ctor [00022844] **** : ****Time::gettime using FastTime instance [00022844] : **** FastTime ctor [000313b8] **** : ****Time::gettime using FastTime instance [000313b8] : **** FastTime ctor [0004aee0] **** : ****Time::gettime using FastTime instance [0004aee0] : Navigation:: deltaT = 0.00 is impermissible. : **** EventTriggers::add() - attaching proxy : DropTheWeight:: -- Failed to initialize connection to DropWeightIF : Caught conversion error for value "NW_END_LAT" : MissionPlan::load() error: Line 533: Invalid attribute for behavior waypoint: "latitude" : *** LayeredControl::initialize() - couldn't load NORMAL plan "/home/dorado1/auv-qnx-dev/auv/altex/onboard/missions/Deimos_Transect.cfg.pp" : ****LayeredControl::initiateShutdown - enter : ****LayeredControl::initiateShutdown - exit to system : ****Time::cleanup FastTime instance[000a4a74]] : **** FastTime dtor [000a4a74] **** : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer -plan Deimos_Transect.cfg.pp -abort abortMplan.cfg : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : ****Time::cleanup FastTime instance[0007e508]] : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task SimulatorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CathxIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : CameraDestructor Executing. : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task DvlSideIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DeltaTIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ctdDriver - exit() on signal 2 : TaskServer::signalHandler() for task BluefinBatteryIFServer - exit() on signal 2 : TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 2 : TaskServer::signalHandler() for task IsusIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GulperIFServer - exit() on signal 2 : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 2 : TaskServer::signalHandler() for task CARL_IFServer - exit() on signal 2 : TaskServer::signalHandler() for task MbTrnRecvIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task InsIFServer - exit() on signal 2 : **** FastTime dtor [0007e508] **** : ****Time::cleanup FastTime instance[000201dc]] : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : ****Time::cleanup FastTime instance[0004aee0]] : ****Time::cleanup FastTime instance[000313b8]] : SerialDeviceExt::closeSD() - closed : ****Time::cleanup FastTime instance[0003bfd8]] : ****Time::cleanup FastTime instance[0007eed8]] : ****Time::cleanup FastTime instance[00021458]] : ****Time::cleanup FastTime instance[00022844]] : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object CameraOutput **** : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is 0.00, at t=0.00. : Supervisor::signalHandler - setting exit flag [1] : Supervisor::signalHandler - setting exit flag [1] : ****Time::cleanup FastTime instance[0002d5f4]] : **** SharedData destructor for object GulperOutput **** : ****Time::cleanup FastTime instance[00046c18]] : **** SharedData destructor for object FastTime **** : **** FastTime dtor [000201dc] **** : **** FastTime dtor [0004aee0] **** : **** FastTime dtor [000313b8] **** : **** FastTime dtor [0003bfd8] **** : **** SharedData destructor for object CameraOutput **** : **** FastTime dtor [0007eed8] **** : **** FastTime dtor [00021458] **** : **** FastTime dtor [00022844] **** : **** SharedData destructor for object navigationOutput **** : destroying segment CameraOutput : Supervisor::shutdown - cleaning up : **** FastTime dtor [0002d5f4] **** : **** FastTime dtor [00046c18] **** : destroying segment GulperOutput : destroying segment FastTime : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : destroying segment CameraOutput : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : destroying segment navigationOutput : layeredControlServer - creating non dynamic version : destroying prot sem CameraOutput_prot : Supervisor::shutdown - deleting FastTime [0001d218] : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : destroying prot sem FastTime_prot : destroying prot sem GulperOutput_prot : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying prot sem CameraOutput_prot : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying prot sem navigationOutput_prot : Illegal option: -restart : destroying notify sem CameraOutput_notify : **** FastTime dtor [0001d218] **** : destroying notify sem FastTime_notify : destroying segment FastTime : destroying segment FastTime : destroying notify sem GulperOutput_notify : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying notify sem CameraOutput_notify : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying notify sem navigationOutput_notify : usage: layeredControl [-plan file][-abort file] : **** SharedData destructor for object FastTime **** : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : destroying notify sem FastTime_notify : destroying segment FastTime : destroying notify sem FastTime_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : SysData Destructor Executing. : failed to unlink queue NavigationInput : destroying prot sem FastTime_prot : **** FastTime dtor [00087858] **** : destroying segment LayeredControlInput_ShmemName : NavigationOutput::~NavigationOutput() : destroying notify sem FastTime_notify : **** SharedData destructor for object FastTime **** : destroying prot sem LayeredControlInput_ShmemName_prot : **** SharedData destructor for object navigationOutput **** : Supervisor::shutdown - deleting output : destroying segment FastTime : destroying notify sem LayeredControlInput_ShmemName_notify : destroying segment navigationOutput : destroying prot sem FastTime_prot : **** SharedData destructor for object SupervisorOutout **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying prot sem navigationOutput_prot : destroying notify sem FastTime_notify : destroying segment LayeredControlOutput_ShmemName : destroying notify sem navigationOutput_notify : destroying segment SupervisorOutout : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying prot sem SupervisorOutout_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying notify sem SupervisorOutout_notify : Supervisor::shutdown - done : Supervisor::~Supervisor - dtor : Supervisor::~Supervisor - deleting FastTime [0001d218] : **** FastTime dtor [0001d218] **** : **** SharedData destructor for object È **** : destroying segment È : destroying prot sem < : destroying notify sem FastTime_notify : ****Time::cleanup FastTime instance[0001d310]] : **** FastTime dtor [0001d310] **** : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify