Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfiguratio: Initializing worksiteServer nServer : WorkSite::WorkSite -- Adding attributes Sup: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg ervisor::createTas: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" k() - dropWeight Supervisor::createTask() - externalCommsServer Supervisor::crea: WorkSite::WorkSite -- Finished loading parameters te: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 Tas: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 k(): 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 nav: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 iga: WorkSite server: 0x21b6c tionServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor:: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() :: DynamicControlServer - Got event 1 from TailCone : SerialDevice: done... : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 createTask() - : TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts o: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts ct: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts an: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts sS: SerialDevice: done... erver Supervisor:: Preparing to fork :createTa: I'm the child...forking sk() - gpsServer : Preparing to fork S: I'm the child...forking uperv: SerialDevice: done... isor::cr: TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed eateTask() - : SerialDevice: done... parosciServer Supervisor::cr: SerialDevice: done... eat: TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed eTa: SerialDevice: done... sk() - : SerialDevice: done... psa9: SerialDeviceDriver::initialize() 1: Crossbow.cc: Setting polled mode 6Se: SerialDevice: done... rver : Crossbow.cc: Setting polled mode Sup: **** EventTriggers::add() - attaching proxy e: Crossbow.cc: In getSerialNumber() rvisor:: Crossbow.cc: _device->read failed with error :: Gps: initializing cre: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 ate: SerialDevice: done... Task(): PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : SerialDevice: done... - s: Gps: done initializing... eab: **** EventTriggers::add() - attaching proxy irdServer Supervisor::createTask: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 : SerialDevice: done... : octans::readRecord() - serial device timed out (): **** EventTriggers::add() - attaching proxy -: SerialDevice: done... me //1/home/dorado1/auv/altex/onboard/bin/octans terminated (SIGSEGV) at 0007:0000B903. : TaskServer::signalHandler() for task AhrsIFServer - exit() trab: PSA916: constructing... yt: **** SharedData destructor for object octansOutput **** eSe: PSA916: initializing... rve: Parosci::init() - mode set okay r: PSA916: trying to write data... S: PSA916: debug mode on... up: SerialDevice: done... e: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 rv: PSA916: confirming data stream... isor::crea: PSA916: data is streaming... t: **** EventTriggers::add() - attaching proxy : seabirdDriver RUNNING... eTask() - : SerialDevice: done... lblServer Supervisor: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado389/seabird.cfg ::createTask(: SerialDevice: done... ) : CTD.cc -- Calibration constants: T_a = 3.679997e-003 T_b = 6.026245e-004 T_c = 1.592950e-005 T_d = 2.062384e-006 T_f0 = 2798.583000 C_a = 2.805518e-004 C_b = 1.593498e+000 C_c = -10.937486 C_d = -8.484504e-005 C_m = 3.500 EPS = -9.570000e-008 - sc: Seabird::Seabird() - create interface to depth sensor... hed: Seabird.cc -- constructing Log... uler Superviso: CTDLog.cc -- beginning constructor... r:: CTDLog.cc -- constructor succeeded :cr: Seabird.cc -- constructor succeeded : SerialDevice: done... eat: seabirdDriver -- constructor succeeded eTas: SerialDevice: done... k: Seabird:initializing Seabird... : SerialDevice: done... () - d: SerialDevice: done... : Schedule Server : Subscribing to Layered Control. v: The beacon Array is: lSe: 2 r: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 ve: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 r : 4 : 5 : Task "octansServer" died? : 6 Su: 7 per: vi: 2 so: 4 r::: 5 cr: 6 ea: 7 te: Ta: 2 sk: 4 (): 5 -: 6 o: 7 ct: an: 2 sS: 4 er: 5 v: 6 er : 7 : : 2 : 4 : 5 : 6 : Supervisor::Supervisor() - task(s) died; exiting : 7 : Supervisor::shutdown() : : SerialDevice: done... : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : NavigationOutput::~NavigationOutput() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task LblIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object MetraByteOutput **** : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task CrossbowIFServer - exit()