Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConf: Initializing worksiteServer iguration: 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 450mLeg_SurfaceOctagon.cfg.pp -abort abortMplan.cfg Supervisor::createTask() -: WorkSite::WorkSite -- Finished loading parameters la: WorkSite::WorkSite -- Starting Depth is 0.000000 meters ye: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 re: Creating NavigationServer... d: *** NavigationServer::NavigationServer()... : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 Con: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 t: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 r: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 o: WorkSite server: 0x23168 l: *** NavigationServer::NavigationServer() - DONE Se: Done creating NavigationServer... r: Navigation::Navigation - Setting start depth to 0.0 meters. ver -pla: Navigation::Navigation _logOnly = 0 n: Navigation - Using only the Dvl to compute altitude. 4: Navigation/EchoSounder:: epoch = (1594067092,951312572) 5: Navigation: Opening Acoustic Modem Interface: 0mLeg_SurfaceOctagon.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 vn100Server -serial /dev/ser10,115200,8,n,1 -cfg vn100_1200kHzDVL.cfg Supervisor::createTask() -: SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts v: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts n: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts 1: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts 0: SerialDevice: done... 0S: Preparing to fork e: I'm the child...forking r: SerialDevice: done... v: SerialDevice: done... er -serial /dev/ser10,115: SerialDevice: done... 2: Crossbow.cc: In getSerialNumber() 00,8,n,1 -cfg vn100_1200kHzDVL.cfg : Supervisor::createTasks() - spawning gpsServer -r ashtech -serial /dev/ser12,4800,8,n,1 Supervisor::createTask() - gpsServer: Preparing to fork : SerialDevice: done... -: VN100 - opening interface to server r: VN100 - Interface opened to VN100Server OK : SerialDevice: done... ashtech -serial /dev/ser12,4800,8,n,1 : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser9 Supervisor::createTask() - parosciServer -dev /dev/ser9 : Supervisor::createTasks() - spawning fanServer Supervisor::createTask() - fan: SerialDevice: done... Se: SerialDevice: done... rver : Gps: initializing : Gps: done initializing... : Supervisor::createTasks() - spawning dvlServer -dev /dev/ser6 : **** EventTriggers::add() - attaching proxy Supervisor::createTask() - dvlServer -dev /dev/ser6 : Supervisor::createTasks() - spawning battServer -cfg inspEnergyBatts Supervisor::createTask() - battSer: SerialDevice: done... ve: SerialDevice: done... r -cfg inspEnergyBatts : Supervisor::createTasks() - spawning carlServer Supervisor::createTask() - car: InspEnergyBattServer: servicename=InspEnergyBattIFServer l: battListener starting... Server : Supervisor::createTasks() - spawning seabird25pServer -n seabird25p -dev udp:134.89.32.55:54125 Supervisor::createTask() - se: SerialDeviceDriver::initialize() a: Starting DVL Initialization. : carlServer - initializing... b: SerialDevice: done... ird25pServer -n seabird25p -dev udp:134.89.32.55:54125 : Supervisor::createTasks() - spawning nmeaNavServer Supervisor::createTask() : InspEnergyBattListener -- configuration parameters: b1Name: Batt1 b1IP: 134.89.32.148 b1Port: 20003 b2Name: Batt2 b2IP: 134.89.32.146 b2Port: 20003 b3Name: Batt3 b3IP: 134.89.32.138 b3Port: 20003 b4Name: 0 b4IP: 0 b4Port: 0 -: InspEnergyBattListener - configuring driver for 3 batteries nm: AshtechGps::processRecord() - 287,W,2,09,1.02,-2.4,M,-30.7,M,,0000*47 eaNavServer : seabird25pDriver RUNNING... : Seabird/seabird25p -- Loading CTD constants from /home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/seabird25p.cfg : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser13 Supervisor::createTask() - dro: nmeaNavServer - initializing! p: nmeaNavServer - running! W: PeriodicTask::run() (nmeaNavServer) - sampleInterval=1000, maxInterval=1000 eightServer -dev /dev/ser13 : carlServer - running... : CARLServer::initialize() - spawning aux tasks... : CARLServer::spawnAuxTasks() - modtronix -o -h 134.89.32.55 -p 54123 28.00 : modtronix ... : Modtronix - Host ip is now 134.89.32.55... : Modtronix - Host port is now 54123... : Modtronix - Period is 2000... : Modtronix - Using 28.00 for voltage limit... : Modtronix - Powering-up components... : modtronix host ip is 134.89.32.55... : AshtechGps::processRecord() - $GPGLL,3647.81231,N,12149.48287,W,202452.00,A,D*7C : modtronix host port is 54123... : modtronix host period is 2000... : Modtronix - Opening Interface to servers... : Modtronix - Interface opened to CARLServer OK : Modtronix - Interface opened to LayeredControlServer OK : Modtronix - Interface opened to DVL OK : SerialDevice: done... : InspEnergyBattListener - UDP bind sucessful on port 20003. : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : CTD/seabird25p -- Calibration constants: Temp Sensor T_coefs= G T_a = 3.681213e-003 T_b = 6.042327e-004 T_c = 1.655279e-005 T_d = 2.244365e-006 T_f0 = 3304.265000 T_g = 4.370614e-003 T_h = 6.440439e-004 T_i = 2.277248e-005 T_j = 2.064405e-006 T_gf0 = 1000.000000 Conductivity Sensor T_coefs= G C_a = 1.220927e-006 C_b = 4.572136e-001 C_c = -4.124703 C_d = -7.815561e-005 C_m = 5.200 EPS = -9.570000e-008 C_g = -3.926335e+000 C_h = 4.211061e-001 C_i = 0.000006 C_j = 1.887958e-005 C_pcor = 0.000 C_tcor = 0.000 Oxygen Sensor SOc = 4.466000e-001 BOc = 0.000000e+000 Voff = -5.070000e-001 TCor = 0.000000e+000 PCor = 1.350000e-004 Pressure Sensor P_A0 = 3.858592e+000 P_A1 = 5.549117e-004 P_A2 = -6.304879e-013 PT_A0 = -6.313844e+001 PT_A1 = 5.355101e+001 PT_A2 = -5.212054e-001 PTC_A0 = 8.409078e+006 PTC_A1 = 5.389669e+002 PTC_A2 = -9.456861e+000 PTC_B0 = 2.525163e+001 PTC_B1 = 2.125000e-003 PTC_B2 = 0.000000e+000 : Seabird/seabird25p::Seabird() - create interface to depth sensor... : Seabird/seabird25p -- DepthSensor server is not running. Using default pres of 10.100000 : Seabird/seabird25p::Seabird() - create interface to worksite... : Seabird25p.cc -- Worksite server is not running. Using default lat of 45.000000 : Seabird/seabird25p -- constructing Log... : Seabird25Log.cc -- beginning constructor... : Seabird25Log.cc -- constructor succeeded : Seabird/seabird25p -- constructor succeeded : seabird25pDriver -- constructor succeeded : Seabird/seabird25p:initializing Seabird... : Seabird/seabird25p: sending CRLF... : AshtechGps::processRecord() - $GPZDA,202452.00,06,07,2020,00,00*64 : SerialDevice: done... : PeriodicTask::run() (fanDriver) - sampleInterval=10000, maxInterval=10000 : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : Caught conversion error for value "450.1" : MissionPlan::load() error: Line 45: Invalid attribute for behavior waypoint: "duration" : *** LayeredControl::initialize() - couldn't load NORMAL plan "/home/dorado1/auv-qnx-dev/auv/altex/onboard/missions/450mLeg_SurfaceOctagon.cfg.pp" : ****LayeredControl::initiateShutdown - enter : ****LayeredControl::initiateShutdown - exit to system : **** 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 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6548 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : AshtechGps::processRecord() - $GPRMC,202453.00,A,3647.81204,N,12149.48279,W,1.134,170.48,060720,,,D*73 : AshtechGps::processRecord() - $GPGGA,202453.00,3647.81204,N,12149.48279,W,2,09,1.02,-2.7,M,-30.7,M,,0000*42 : SerialDevice: done... : AshtechGps::processRecord() - $GPGLL,3647.81204,N,12149.48279,W,202453.00,A,D*7A : AshtechGps::processRecord() - $GPZDA,202453.00,06,07,2020,00,00*65 : CR1 [Parameters set to FACTORY defaults] > : PD0 > : BK1 > : BK1 > : CL0 > : TP00:00.60 > : 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 : AshtechGps::processRecord() - $GPRMC,202454.00,A,3647.81191,N,12149.48309,W,1.330,216.84,060720,,,D*78 : AshtechGps::processRecord() - $GPGGA,202454.00,3647.81191,N,12149.48309,W,2,09,1.02,-3.1,M,-30.7,M,,0000*4B : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer -plan 450mLeg_SurfaceOctagon.cfg.pp -abort abortMplan.cfg : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/newTailConeDriver terminated (SIGSEGV) at 0007:0000A64F. : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - 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 AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VN100IFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : Fan Destructor Executing. : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task InspEnergyBattIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CARL_IFServer - exit() on signal 2 : TaskServer::signalHandler() for task seabird25p - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : **** SharedData destructor for object GpsOutput_ShmemName **** : DropWeight Destructor Executing. : **** SharedData destructor for object seabird25pSeabirdOutput_ShmemName **** : **** SharedData destructor for object inspEnergyOutput **** : destroying segment ParosciOutput_ShmemName : Supervisor::signalHandler - caught signal 2 : 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 : NavigationOutput::~NavigationOutput() : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is 0.00, at t=0.00. : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object vn100Output **** : **** SharedData destructor for object inspEnergyOutput **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object seabird25pSeabirdOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : destroying segment GpsOutput_ShmemName : destroying segment seabird25pSeabirdOutput_ShmemName : destroying segment inspEnergyOutput : destroying prot sem ParosciOutput_ShmemName_prot : Supervisor::signalHandler - setting exit flag [1] : Supervisor::signalHandler - setting exit flag [1] : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : destroying segment m3dmgx1 : destroying segment vn100Output : destroying segment inspEnergyOutput : destroying segment TailConeInput_ShmemName : destroying segment ParosciOutput_ShmemName : destroying segment fanOutput : destroying segment DvlOutput_ShmemName : destroying segment seabird25pSeabirdOutput_ShmemName : destroying segment dropWeightOutput : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem seabird25pSeabirdOutput_ShmemName_prot : destroying prot sem inspEnergyOutput_prot : destroying notify sem ParosciOutput_ShmemName_notify : Supervisor::shutdown - cleaning up : destroying segment navigationOutput : destroying prot sem m3dmgx1_prot : destroying prot sem vn100Output_prot : destroying prot sem inspEnergyOutput_prot : destroying segment GpsOutput_ShmemName : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem fanOutput_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem seabird25pSeabirdOutput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem seabird25pSeabirdOutput_ShmemName_notify : destroying notify sem inspEnergyOutput_notify : Supervisor::shutdown - deleting output : destroying prot sem navigationOutput_prot : destroying notify sem m3dmgx1_notify : destroying notify sem vn100Output_notify : destroying notify sem inspEnergyOutput_notify : destroying notify sem TailConeInput_ShmemName_notify : destroying prot sem GpsOutput_ShmemName_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying notify sem fanOutput_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem seabird25pSeabirdOutput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem navigationOutput_notify : **** SharedData destructor for object SupervisorOutout **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object vn100RawMeasOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying notify sem GpsOutput_ShmemName_notify : destroying segment m3dmgx1Cmd : destroying segment vn100RawMeasOutput : destroying segment TailConeOutput_ShmemName : destroying segment SupervisorOutout : destroying prot sem m3dmgx1Cmd_prot : destroying prot sem vn100RawMeasOutput_prot : failed to unlink queue GpsCommand : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem m3dmgx1Cmd_notify : destroying prot sem SupervisorOutout_prot : destroying notify sem vn100RawMeasOutput_notify : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem SupervisorOutout_notify : Supervisor::shutdown - done : Supervisor::~Supervisor - dtor : failed to unlink queue NavigationInput : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : destroying segment navigationOutput : destroying prot sem navigationOutput_prot : destroying notify sem navigationOutput_notify //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00024CEF. : **** SharedData destructor for object fanOutput **** : destroying segment fanOutput : destroying prot sem fanOutput_prot : destroying notify sem fanOutput_notify : **** SharedData destructor for object m3dmgx1Cmd **** : destroying segment m3dmgx1Cmd : destroying prot sem m3dmgx1Cmd_prot : destroying notify sem m3dmgx1Cmd_notify : **** SharedData destructor for object m3dmgx1 **** : destroying segment m3dmgx1 : destroying prot sem m3dmgx1_prot : destroying notify sem m3dmgx1_notify : failed to unlink queue VN100Command : **** SharedData destructor for object vn100Output **** : destroying segment vn100Output : destroying prot sem vn100Output_prot : destroying notify sem vn100Output_notify : **** SharedData destructor for object vn100RawMeasOutput **** : destroying segment vn100RawMeasOutput : **** SharedData destructor for object dropWeightOutput **** : destroying prot sem vn100RawMeasOutput_prot : destroying segment dropWeightOutput : destroying notify sem vn100RawMeasOutput_notify : destroying prot sem dropWeightOutput_prot : destroying notify sem dropWeightOutput_notify : layeredControlServer - creating non dynamic version : Illegal option: -restart : usage: layeredControl [-plan file][-abort file] : 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