Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::c: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/workSite.cfg reateTask() - externalCommsServer : Using default vehicle config file "/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/vehicle.cfg" Supervisor::createTask() - navigationServer : starting LC: layeredControlServer -plan 20200622PatchTest_1v2.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - layeredControlServer -plan 20200622PatchTest_1v2.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - dynamicControlServer : Creating NavigationServer... : *** NavigationServer::NavigationServer()... : 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: 0x23204 : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : Navigation::Navigation - Setting start depth to 0.0 meters. : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser4 Supervisor:: Navigation::Navigation _logOnly = 0 :: Navigation - Using the Imagenex multibeam to compute altitude. cre: Navigation/Multibeam:: epoch = (1592855340,882061537) ate: Navigation/EchoSounder:: epoch = (1592855340,882061537) Tas: Navigation: Opening Acoustic Modem Interface: k() - dropWeightServer -dev /dev/ser4 : Supervisor::createTasks() - spawning newTailConeServer -dev /dev/ser13 Supervisor::createTask() - newTailConeServer -dev /dev/ser13 : Supervisor::createTasks() - spawning kearfottServer -dev /dev/ser10 -7khost 134.89.32.111 Supervisor::createTask() - kearfottServer -dev /dev/ser10 -7khost 134.89.32.111 : SerialDevice: done... : Supervisor::createTasks() - spawning kearfottDvlServer Supervisor::createT: DropWeight::initialize - Resetting counters. a: **** EventTriggers::add() - attaching proxy sk() - kearfottDvlServer : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser1 -7khost 134.89.32.111 Supervisor::createTask() - parosciServer -dev /dev/ser1 -7khost 134.89.32.111 : creating if InsIFServer : dop aid flag is 1 : Supervisor::createTasks() - spawning fanServer : Preparing to fork Su: I'm the child...forking pervisor::createTask() - fanServer : SerialDevice: done... : Supervisor::createTasks() - spawning fastcatServer -dev /dev/ser7 Supervisor::createTask() - fastcatServer -dev /dev/ser7 : Supervisor::createTasks() - spawning svpDriver -dev tcp:134.89.32.136:10002 Supervisor::createTask() - svpDriver -dev tcp:134.89.32.136:10002 : SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts : SerialDevice: done... : ParosciServer:: reson host is 134.89.32.111 : Supervisor::createTasks() - spawning reson6046Server Supervisor::createTask() - reson6046Server : SerialDevice: done... : Parosci: insIF is 0x3ffc4 : Supervisor::createTasks() - spawning edgetechFSDWServer : Parosci::reson host is 134.89.32.111 Supervisor::createTask() - edgetechFSDWS: SerialDevice: done... erver : Supervisor::createTasks() - spawning gpsServer -r ashtech -dev udp:localhost:5050 Supe: SerialDevice: done... rvisor::createTask() - gpsServer -r ashtech -dev udp:localhost:5050 : SerialDevice: done... : fastcatDriver RUNNING... : SerialDevice: done... : Supervisor::createTasks() - spawning benthosWithAvtrakServer -dev /dev/ser12 : FastCat: constructing... Supervisor::createTask() - benthosWithAvtrakServer -dev /dev/ser12 : Supervisor::createTasks() - spawning atsServer 9009 Supervisor::createTask() - atsServer 9009 : FastCatLog.cc -- beginning constructor... : FastCatLog.cc -- constructor succeeded : fastcatDriver -- constructor succeeded : FastCat: initializing... : Launching Reson6046Server... : Supervisor::createTasks() - spawning newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 S: SVP::reson host is null up: Setting name... erviso: Creating server... r::: Command constructor... cr: Run server... eateTask() - newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 : Launching EdgetechFSDWServer... : Supervisor::createTasks() - spawning newBattDriver -n newBatt2 -dev tcp:134.89.32.136:10003 Supe: Setting name... rvis: Creating server... or: Starting EdgeTech Handler.. ::c: --> Starting Edgetech FSDW Driver.... reateTask() - new: SerialDevice: done... BattDriver -n newBatt2 -dev tcp:134.89.32.136:10003 : -------EdgetechFSDW Configuration------- : Debug Level = 1. : Init Error Count Limit = 10. : Error Count Limit = 10. : Callback Period = 100 milliseconds. : Edgetech FSDW IP Address = 127.000.000.001. : EdgeTech Visible on Network = False. : EdgeTech IP Address = 134.89.32.113. : EdgeTech Command Port = 1700. : EdgeTech Data Port = 0. : EdgeTech Shutdown Port = 0. : SBP Pulse Filename = 216Pulse_9k_14k_20ms.spf. : SBP Ping Rate = 4.00Hz. : SBP Pulse Power = 0.00%. : SSL Pulse Filename = ss75_5k_9k_20ms.spf. : SSL Ping Range = 100.00m. : SSL Pulse Power = 0.00%. : SSH Pulse Filename = ss75_5k_9k_20ms.spf. : SSH Ping Rate = 100.00m. : SSH Pulse Power = 0.00%. : ------------------------------------------- : Command constructor... : Initializing Edgetech Configuration... : Launching Reson6046Driver... : Setting name to 'reson6046'... : Creating Reson6046Driver instance... : --> Starting Reson 6046 Driver.... : Command constructor... : reson6046: fastcatIF is 0x442dc : reson6046: navIF is 0x44434 : reson6046: insIF is 0x44674 : reson6046: DepthSensorIF is 0x447bc : SerialDevice: done... : SerialDevice: done... : BenthosModem::commandMode() - confirming... : Set verbose level : Battery newBatt1 initializing. : AtsDriver: Socket created on fd 6 : Battery newBatt2 initializing. : Gps: initializing : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : PeriodicTask::run() (newBatt2) - sampleInterval=10000, maxInterval=10000 : Set write delay : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : Navigation: acommsIF = 0x808f8 : PeriodicTask::run() (fanDriver) - sampleInterval=10000, maxInterval=10000 : AshtechGps::processRecord() - $GPGGA,194902.00,3648.73017,N,12204.07474,W,1,09,0.9,-3.59,M,-32.92,M,,*72 : AshtechGps::processRecord() - $GPZDA,194902.00,22,06,2020,+00,00 : Set remote response waiting time : Parosci:: edgetechIF is 0x40124 : parosci:: reson host is 134.89.32.111 : parosci:: reson interface successfully created : Parosci.cc -- parsed PR (100) and TempInterval (100) : Kearfott:: depthif is 0x7300c : Kearfott:: ctdIF is 0x73124 : Kearfott:: edgetechIF is 0x7327c : Reson7K Center Socket connection ready! : FastCat: data is streaming (400)... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : FastCat::resync'ing : Behavior edgetech: Finished Constructor : Behavior edgetech: Finished Constructor matherr(); DOMAIN error from log(), process "//1/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/bin/fastcatDriver" matherr(); OVERFLOW error from pow(), process "//1/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/bin/fastcatDriver" matherr(); OVERFLOW error from pow(), process "//1/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/bin/fastcatDriver" matherr(); DOMAIN error from sqrt(), process "//1/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/bin/fastcatDriver" : SerialDevice: done... : Behavior edgetech: Finished Constructor : Turn on doppler correction : reson6046: atsIF is 0x448e4 : Behavior edgetech: Finished Constructor : Running Reson6046Driver... : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : PeriodicTask::run() (reson6046) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,194903.00,3648.73044,N,12204.07486,W,1,09,0.9,-3.20,M,-32.92,M,,*76 : AshtechGps::processRecord() - $GPZDA,194903.00,22,06,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,194904.00,3648.73045,N,12204.07497,W,1,09,0.9,-3.03,M,-32.92,M,,*71 : AshtechGps::processRecord() - $GPZDA,194904.00,22,06,2020,+00,00 : Parosci.cc - mode set to standard resolution : Parosci.cc -- Serial # is 123089 : Parosci::init() - mode set okay : Parosci.cc -- PI reply = 100 : Parosci.cc -- units = 3 : Run server... : ParosciServer::depth() - data is stale : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194905.00,3648.73037,N,12204.07472,W,1,09,0.9,-2.24,M,-32.92,M,,*7A : AshtechGps::processRecord() - $GPZDA,194905.00,22,06,2020,+00,00 : Parosci.cc -- Initial pressure = 0.091201 : Parosci.cc -- Parosci initial pressure period = 30.214831 : Parosci.cc -- Parosci initial temp period = 5.823431 : initial pressure is 1.320046 : Parosci.cc -- Paroscientific configured. : AshtechGps::processRecord() - $GPGGA,194906.00,3648.73029,N,12204.07457,W,1,09,0.9,-2.60,M,-32.92,M,,*71 : AshtechGps::processRecord() - $GPZDA,194906.00,22,06,2020,+00,00 : ParosciServer::depth() - data is stale : op input mode is 0xd : Could not read device type //1/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/bin/newTailConeDriver terminated (SIGSEGV) at 0007:00011D50. : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 18 : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying segment TailConeInput_ShmemName : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem TailConeInput_ShmemName_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment TailConeOutput_ShmemName : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem TailConeOutput_ShmemName_notify : Parosci.cc - mode set to nano resolution : Parosci.cc - mode set to streaming : AshtechGps::processRecord() - $GPGGA,194907.00,3648.73046,N,12204.07430,W,1,09,0.9,-2.99,M,-32.92,M,,*7E : AshtechGps::processRecord() - $GPZDA,194907.00,22,06,2020,+00,00 : Task "newTailConeServer" died? Supervisor::createTask() - newTailConeServer -dev /dev/ser13 : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object FastCat **** : **** SharedData destructor for object kearfottOutput **** : TaskServer::signalHandler() for task WorkSiteIFServer - 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 FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FastCat - exit() on signal 2 : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 2 : Fan Destructor Executing. : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task InsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object AtsOutout **** : Command destructor... : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : **** SharedData destructor for object newBatt1 **** : **** SharedData destructor for object newBatt2 **** : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : destroying segment ParosciOutput_ShmemName : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : destroying segment FastCat : destroying segment kearfottOutput : NavigationOutput::~NavigationOutput() : NavigationOutput::~NavigationOutput() : destroying segment LayeredControlOutput_ShmemName : Reson6046Server - killing driver : **** SharedData destructor for object LayeredControlInput_ShmemName **** : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is 0.00, at t=0.00. : **** SharedData destructor for object kearfottOutput **** : **** SharedData destructor for object fanOutput **** : destroying segment GpsOutput_ShmemName : destroying segment AtsOutout : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object FastCat **** : **** SharedData destructor for object AtsOutout **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object BenthosModemOutout **** : Supervisor::signalHandler - setting exit flag [1] : Supervisor::signalHandler - setting exit flag [1] : destroying segment newBatt1 : **** SharedData destructor for object GpsOutput_ShmemName **** : destroying segment newBatt2 : destroying segment ParosciOutput_ShmemName : destroying prot sem ParosciOutput_ShmemName_prot : **** SharedData destructor for object dropWeightOutput **** : destroying prot sem FastCat_prot : **** SharedData destructor for object reson6046Output **** : destroying prot sem kearfottOutput_prot : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object navigationOutput **** : destroying prot sem LayeredControlOutput_ShmemName_prot : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 18 : destroying segment LayeredControlInput_ShmemName : destroying segment kearfottOutput : destroying segment fanOutput : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem AtsOutout_prot : destroying segment fanOutput : destroying segment FastCat : destroying segment AtsOutout : destroying segment dropWeightOutput : destroying segment DvlOutput_ShmemName : destroying segment BenthosModemOutout : Supervisor::shutdown - cleaning up : destroying prot sem newBatt1_prot : destroying prot sem newBatt2_prot : destroying segment GpsOutput_ShmemName : destroying prot sem ParosciOutput_ShmemName_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying segment dropWeightOutput : destroying notify sem FastCat_notify : destroying notify sem kearfottOutput_notify : destroying segment navigationOutput : destroying segment navigationOutput : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying prot sem LayeredControlInput_ShmemName_prot : destroying prot sem kearfottOutput_prot : destroying prot sem fanOutput_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem AtsOutout_notify : destroying prot sem fanOutput_prot : destroying prot sem FastCat_prot : destroying prot sem AtsOutout_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem BenthosModemOutout_prot : Supervisor::shutdown - deleting output : destroying notify sem newBatt1_notify : destroying notify sem newBatt2_notify : destroying notify sem ParosciOutput_ShmemName_notify : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object DvlOutput_ShmemName **** : destroying prot sem navigationOutput_prot : destroying prot sem navigationOutput_prot : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying notify sem LayeredControlInput_ShmemName_notify : destroying notify sem kearfottOutput_notify : TaskServer::signalHandler() for task FastCat - exit() on signal 18 : destroying notify sem fanOutput_notify : SerialDevice: done... : destroying notify sem fanOutput_notify : destroying notify sem AtsOutout_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem DvlOutput_ShmemName_notify : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : destroying notify sem BenthosModemOutout_notify : **** SharedData destructor for object SupervisorOutout **** : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 18 : destroying notify sem dropWeightOutput_notify : destroying segment DvlOutput_ShmemName : destroying notify sem navigationOutput_notify : destroying notify sem navigationOutput_notify : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task FanIFServer - exit() on signal 18 : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts : destroying segment SupervisorOutout : destroying prot sem DvlOutput_ShmemName_prot : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment LayeredControlOutput_ShmemName : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts : destroying prot sem SupervisorOutout_prot : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem LayeredControlOutput_ShmemName_prot : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : destroying notify sem SupervisorOutout_notify : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts : Supervisor::shutdown - done : SerialDevice: done... : Supervisor::~Supervisor - dtor : SerialDevice: done... : SerialDevice: done... : Command destructor... : EdgetechFSDWServer - killing driver