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2008-04-21 07:41:49.843 2008-07-14 17:42:08.023 3637442 3309670 3113885 2008-04-01 16:09:54.583 2008-04-01 16:11:05.027 7244 2 5832788 5865552 86 2008-03-07 10:11:52.387 2008-07-09 16:41:33.397 3113885 3309671 3113885 2008-04-01 16:09:54.583 2008-04-01 16:11:05.027 7244 1 3309670 10453426 9797697 2009-05-29 09:51:45.753 2009-05-29 09:51:45.753 10453427 9797697 2009-05-29 09:51:45.753 2009-05-29 09:51:45.753 5832791 5865555 87 2008-03-07 10:11:52.387 2008-07-17 08:37:54.893 3113885 5832792 5865556 88 2008-03-07 10:11:52.387 2008-07-17 08:39:09.827 3113885 5832786 5865550 10 2008-03-21 16:35:05.490 2008-06-13 20:51:11.687 3114074 3637558 3670313 82 2008-03-07 10:11:52.387 2008-04-23 13:35:25.840 3113885 3637557 3670312 81 2008-03-07 10:11:52.387 2008-04-21 09:41:14.843 3113885 3309667 3113885 2008-03-25 16:26:02.247 2008-03-25 16:26:02.247 41807 1 11206658 11173889 8912901 2009-12-09 13:49:51.643 2009-12-09 13:49:51.643 11206659 11173889 10912189 2009-12-09 13:49:58.467 2009-12-09 13:49:58.467 14188557 14221325 18 2009-01-20 08:20:32.983 2010-08-09 13:10:27.853 8912903 14188555 14221323 17 2009-01-20 08:20:32.983 2010-08-09 13:09:59.200 8912903 5832841 5865603 12 2008-03-21 16:35:05.490 2008-07-17 08:37:54.973 3114074 11796808 11829565 2 2010-04-13 14:54:41.987 2010-04-13 14:57:31.077 11796734 13926455 13959220 20 2007-02-05 11:17:34.830 2009-04-13 13:30:50.427 751 14188552 14221320 15 2009-01-20 08:20:32.983 2010-08-09 12:59:45.293 8912903 14188554 14221322 16 2009-01-20 08:20:32.983 2010-08-09 13:06:15.967 8912903 14188550 14221318 14 2009-01-20 08:20:32.983 2010-06-14 16:20:13.517 8912903 13926460 13959225 1 2010-07-12 22:30:06.847 2010-07-12 22:30:06.847 13926458 13926462 13959226 2 2010-07-12 22:30:06.847 2010-07-12 22:31:32.687 13926458 5832876 5865637 13 2008-03-21 16:35:05.490 2008-07-23 14:36:41.303 3114074 9896066 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896067 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896065 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 11796730 11829487 36 2009-01-20 07:54:29.753 2010-01-20 10:17:55.947 8912901 11796736 11829493 1 2010-04-13 14:54:41.987 2010-04-13 14:54:41.987 11796734 9896079 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896078 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896077 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 21004294 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} h4. TREX version {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services h4. Current tick {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "2656", "date": "2013-06-04T15:29:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Next tick {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "2658", "date": "2013-06-04T15:31:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Initial tick {panel:title=Initial tick} * *format:* GET http:///rest/tick/initial * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/initial {code:javascript} { "value": "0", "date": "2013-06-02T19:13:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Final tick {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "1000000", "date": "2015-04-28T05:53:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick info {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/2658 {code:javascript} { "value": "2658", "date": "2013-06-04T15:31:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick at a date {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-01-01 {code:javascript} { "value": "305566", "date": "2013-12-31T23:59:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick rate/duration {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} h4. Wait for new tick {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services h4. List of trex existing timelines {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/timelines ** GET http:///rest/timelines/timline_a/timeline_b ... * *options:* ** full=(0|1) set it to 1 in order to see all the timelines (including timelines with name starting with an underscore). Useful only when no timeline names are appended to the URL ** format=(tick|date) indicate whether data of from and to option are expressed as trex _tick_ or ISO _date_. Default is _date_ ** from= give a lower bound for the time window of interest. the value format depends on _format_ option ** to= give a upper bound for the he time window of interest. the value format depends on _format_ option ** example GET http:///timelines?full=1&format=tick&from=10 * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for *** "total_obs" Number of tokens for this token that overlaps [from, to] *** "obs_period" Average duration of tokens for this token that overlaps [from, to] ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). ** Only total_obs and obs_period are affected by the from and to options ** It is possible to restrict the set of timeline to a known subset by specifying them on the URI. For example get http:///rest/a/b/c will give information of only a, b and c {panel} h4. Contents of a timeline {panel:title=Contents of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{date\} ** GET http:///rest/timeline/\{name\}?from=\{date\}&to=\{date\} ** GET http:///rest/timeline/\{name\}?to=\{date\}&format=date ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\}&format=tick * *input:* ** \{name\} the name of the timeline ** _format_ the format used to specify _from_ and _to_ . Possible formats are: *** *date* : _from_ and _to_ are specified as date (eg 2013-06-03T16:04:57.330-07:00) *** *tick* : _from_ and _to_ are given as integer which are directly trex tick values *** If not specified the default format is *date* ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ ** when _to_ is not specified it is set to +infinity, when _from_ is not specified it is set to the current tick of -infinity if the specified _to_ is in the past. * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. Meaning all the token which *** can end after _from_ (ie their largest possible end time is >= to _from_) *** can start before _to_ (ie their smallest possible start time is <= to _to_) ** While the json format id still underwork here's an example of what I have now : (the request: http:///rest/timeline/dorado_survey?from=2013-06-03T16:04:57.330-07:00&to=2013-06-13T16:10:29.449-07:00) {code:javascript} { "name": "dorado_survey" "requested_tick_range": { "int": { "max": "16077", "min": "1671" } }, "tokens": [ { "pred": "None", "on": "dorado_survey" "Variable": [ { "name": "start", "type": "date", "date": { "value": "2013-06-02T19:13:04.923976" } }, { "name": "end", "type": "date", "date": { "min": "2013-06-04T15:36:04.923976" } }, { "name": "duration", "type": "duration", "duration": { "min": "44:23:00" } } ] } ] } {code} ** In this example the result has the following attributes : *** "name" : The name of the timeline *** "alive" : Indicates if this timeline is currently still managed *** "requested_tick_range" : an interval giving the range \[_from_, _to_\] into ticks *** "token" : A table with all the tokens that match this range. Tokens are sorted by occurrence order * *error:* ** 400: invalid request. The timeline name is either missing or non existent ** 400: parsing error from the optionals fields * *example:* ** GET http:///rest/timeline/dorado?from=2013-05-23&to=2013-05-31T12:00:00 ** GET http:///rest/timeline/dorado?from=0&to=100&format=tick {panel} h4. Post a new goal {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-05-16T15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-05-16T16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-05-16T16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} h4. Modify an existing goal {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} h4. Cancel a goal {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20971526 9896076 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896083 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896082 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896081 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896080 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896071 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896070 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896069 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896068 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896075 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 5832903 5865664 89 2008-03-07 10:11:52.387 2008-07-17 08:39:57.050 3113885 9896074 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896073 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 5832905 5865666 90 2008-03-07 10:11:52.387 2008-07-29 09:42:28.107 3113885 9896072 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896092 9797667 2009-04-13 13:25:12.733 2009-04-13 13:25:12.733 9896093 9797667 2009-04-13 13:25:12.733 2009-04-13 13:25:12.733 14188595 14221362 2 2010-07-12 22:29:00.377 2010-08-11 10:49:28.550 13926456 10388176 10355444 9896094 9797667 2009-04-13 13:25:12.733 2009-04-13 13:25:12.733 9896095 9797667 2009-04-13 13:25:12.733 2009-04-13 13:25:12.733 5832907 5865668 13 2008-04-21 07:41:49.843 2008-07-17 08:37:54.743 3637442 14188597 14221364 3 2010-07-12 22:29:00.377 2010-08-11 10:50:02.623 13926456 9896096 9797667 2009-04-13 13:25:12.733 2009-04-13 13:25:12.733 9896097 9797667 2009-04-13 13:25:12.733 2009-04-13 13:25:12.733 9896098 9797667 2009-04-13 13:25:12.733 2009-04-13 13:25:12.733 9896099 9797667 2009-04-13 13:25:12.733 2009-04-13 13:25:12.733 9896084 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896085 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896086 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896087 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896088 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896089 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896090 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 9896091 3113885 2009-04-13 09:43:36.283 2009-04-13 09:43:36.283 14188593 14221360 1 2010-07-12 22:29:00.377 2010-07-12 22:29:00.377 13926456 14188614 14221381 4 2010-07-12 22:29:00.377 2010-08-11 10:52:08.327 13926456 8159310 3114074 2008-12-14 12:37:43.633 2008-12-14 12:38:49.997 5178 1 1212601 1179834 3637262 3670030 71 2008-03-07 10:11:52.387 2008-04-10 16:16:50.973 3113885 3604646 1 3113885 2008-05-06 16:29:15.047 2008-05-06 16:29:15.047 18776501 18579613 2012-01-25 09:04:34.507 2012-01-25 09:04:34.507 18776502 18579613 2012-01-25 09:04:34.507 2012-01-25 09:04:34.507 16351237 8912901 2011-03-02 18:09:54.383 2011-03-02 18:09:54.383 56320 1 10911875 10944639 28 2009-01-20 07:54:29.753 2009-07-18 07:55:44.930 8912901 10911877 10944641 29 2009-01-20 07:54:29.753 2009-11-02 15:42:48.487 8912901 10911878 10944642 30 2009-01-20 07:54:29.753 2009-11-02 15:53:50.883 8912901 18776483 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776482 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776481 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 3637354 3670113 72 2008-03-07 10:11:52.387 2008-04-14 09:04:41.863 3113885 18776480 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776479 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776478 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776490 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776491 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776488 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776489 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776486 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776487 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776484 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776485 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 1343548 3 763 2007-08-03 13:55:15.047 2008-03-04 11:23:15.023 1343549 7 763 2007-08-03 13:55:15.097 2008-04-22 16:23:15.037 1343546 1 875 2007-07-24 09:01:15.090 2007-07-24 09:01:15.090 18776494 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 1343550 1 589871 2007-08-03 13:56:15.037 2007-08-03 13:56:15.037 18776492 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 18776493 8912901 2012-01-25 01:26:36.903 2012-01-25 01:26:36.903 9502773 8912901 2009-03-06 14:28:13.383 2009-03-06 14:28:13.383 4944097 1 14319617 8912903 2010-08-09 12:36:14.183 2010-08-09 12:36:14.183 81144 1 10457460 10355444 2009-07-22 15:05:30.070 2009-07-22 15:05:30.070 10457450 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457451 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457448 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457449 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457446 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457447 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457444 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457445 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457458 10355444 2009-07-22 15:05:30.070 2009-07-22 15:05:30.070 10457459 10355444 2009-07-22 15:05:30.070 2009-07-22 15:05:30.070 10457456 10355444 2009-07-22 15:05:30.070 2009-07-22 15:05:30.070 10457457 10355444 2009-07-22 15:05:30.070 2009-07-22 15:05:30.070 10457454 10355444 2009-07-22 15:05:30.070 2009-07-22 15:05:30.070 3604527 1 751 2008-04-18 10:57:15.050 2008-04-18 10:57:15.050 10457455 10355444 2009-07-22 15:05:30.070 2009-07-22 15:05:30.070 10457452 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457453 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457435 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457434 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 3113889 3179374 2 2008-03-07 10:11:52.387 2008-03-07 14:40:10.997 3113885 10457433 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457432 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 3113887 3179372 1 2008-03-07 10:11:52.387 2008-03-07 10:11:52.387 3113885 10457431 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457443 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457442 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 3113897 3179382 6 2008-03-07 10:11:52.387 2008-03-07 15:05:47.120 3113885 10457441 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457440 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 3113895 3179380 5 2008-03-07 10:11:52.387 2008-03-07 14:56:23.243 3113885 10457439 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457438 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 3113893 3179378 4 2008-03-07 10:11:52.387 2008-03-07 14:46:49.217 3113885 10457437 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 10457436 10355444 2009-07-22 15:05:30.067 2009-07-22 15:05:30.067 20971528 21004296 1 2013-04-09 13:20:29.733 2013-04-09 13:20:29.733 20971526 3113891 3179376 3 2008-03-07 10:11:52.387 2008-03-07 14:41:11.707 3113885 5374753 5407483 5 2008-04-21 07:41:49.843 2008-04-21 08:00:41.813 3637442 20971536 21004304 2 2013-04-09 13:20:29.733 2013-04-09 13:42:13.540 20971526 17498188 17465421 5374738 5407468 84 2008-03-07 10:11:52.387 2008-05-02 15:16:30.330 3113885 3637358 3670117 74 2008-03-07 10:11:52.387 2008-04-18 11:57:52.993 3113885 3637356 3670115 73 2008-03-07 10:11:52.387 2008-04-18 10:59:35.407 3113885 3604545 6 3637442 2008-04-21 07:55:15.030 2008-04-28 08:06:15.027 3604544 4 3637442 2008-04-21 07:51:15.017 2008-04-28 08:05:15.103 5374740 5407470 85 2008-03-07 10:11:52.387 2008-07-09 16:19:34.417 3113885 3604543 5 3113885 2008-04-21 07:42:15.043 2008-04-21 08:30:15.020 3637360 3670119 75 2008-03-07 10:11:52.387 2008-04-18 12:55:23.187 3113885 3604542 1 3637442 2008-04-21 07:42:15.017 2008-04-21 07:42:15.017 5374779 5407509 9 2008-04-21 07:41:49.843 2008-07-11 14:45:34.167 3637442 20971569 21004337 4 2013-04-09 13:20:29.733 2013-04-12 15:25:01.560 20971526 5374781 5407511 10 2008-04-21 07:41:49.843 2008-07-11 15:00:55.797 3637442 20971567 21004335 3 2013-04-09 13:20:29.733 2013-04-09 13:49:28.737 20971526 3113938 3179423 19 2008-03-07 10:11:52.387 2008-03-12 08:56:16.257 3113885 3113936 3179421 18 2008-03-07 10:11:52.387 2008-03-11 11:19:42.357 3113885 3113942 3179427 21 2008-03-07 10:11:52.387 2008-03-12 12:59:04.253 3113885 3113940 3179425 20 2008-03-07 10:11:52.387 2008-03-12 09:40:16.360 3113885 20971574 21004342 7 2013-04-09 13:20:29.733 2013-04-12 16:25:50.300 20971526 20971573 21004341 6 2013-04-09 13:20:29.733 2013-04-12 15:41:08.430 20971526 20971571 21004339 5 2013-04-09 13:20:29.733 2013-04-12 15:28:25.857 20971526 3113944 3179429 22 2008-03-07 10:11:52.387 2008-03-12 13:04:34.737 3113885 917513 950281 3 2007-02-13 08:40:08.137 2007-05-02 15:58:17.300 875 11763714 11239490 2010-01-20 10:08:06.060 2010-01-20 10:14:33.620 876119 2 11403267 917512 950280 2 2007-02-13 08:40:08.137 2007-02-13 08:40:39.597 875 3113953 3179438 24 2008-03-07 10:11:52.387 2008-03-13 08:49:11.123 3113885 3637461 3670216 80 2008-03-07 10:11:52.387 2008-04-21 07:55:52.207 3113885 3113952 3179437 23 2008-03-07 10:11:52.387 2008-03-12 13:07:04.447 3113885 3604580 3 751 2008-04-22 16:22:15.040 2008-04-22 16:23:15.040 3113958 3179443 27 2008-03-07 10:11:52.387 2008-03-13 15:43:47.280 3113885 3113956 3179441 26 2008-03-07 10:11:52.387 2008-03-13 11:18:14.453 3113885 3113955 3179440 25 2008-03-07 10:11:52.387 2008-03-13 09:01:03.437 3113885 5374773 5407503 6 2008-04-21 07:41:49.843 2008-07-10 17:44:54.910 3637442 3113962 3179447 29 2008-03-07 10:11:52.387 2008-03-17 11:50:04.773 3113885 3637452 3670207 3 2008-04-21 07:41:49.843 2008-04-21 07:55:29.257 3637442 5374775 5407505 7 2008-04-21 07:41:49.843 2008-07-11 14:00:17.243 3637442 3113960 3179445 28 2008-03-07 10:11:52.387 2008-03-17 11:45:23.250 3113885 3637453 3670208 4 2008-04-21 07:41:49.843 2008-04-21 07:57:06.313 3637442 5374777 5407507 8 2008-04-21 07:41:49.843 2008-07-11 14:17:34.940 3637442 3637450 3670205 79 2008-03-07 10:11:52.387 2008-04-21 07:51:01.050 3113885 3113899 3179384 7 2008-03-07 10:11:52.387 2008-03-10 08:34:50.797 3113885 5734413 1 3113885 2008-06-25 11:42:15.090 2008-06-25 11:42:15.090 3637449 3670204 2 2008-04-21 07:41:49.843 2008-04-21 07:54:21.580 3637442 5734412 1 1179834 2008-06-25 09:09:15.033 2008-06-25 09:09:15.033 3113901 3179386 8 2008-03-07 10:11:52.387 2008-03-10 08:48:15.787 3113885 5734411 2 1179834 2008-06-25 08:53:15.077 2008-06-25 08:54:15.027 3637447 3670202 1 2008-04-21 07:41:49.843 2008-04-21 07:41:49.843 3637442 3113903 3179388 9 2008-03-07 10:11:52.387 2008-03-10 09:09:36.833 3113885 3604628 1 3637442 2008-04-28 08:05:15.067 2008-04-28 08:05:15.067 3637445 3670200 78 2008-03-07 10:11:52.387 2008-04-21 07:50:07.620 3113885 3637444 3670199 77 2008-03-07 10:11:52.387 2008-04-21 07:40:52.897 3113885 3113905 3179390 10 2008-03-07 10:11:52.387 2008-03-10 09:16:10.717 3113885 3113907 3179392 11 2008-03-07 10:11:52.387 2008-03-10 09:33:04.493 3113885 3637440 3670196 76 2008-03-07 10:11:52.387 2008-04-18 12:58:41.080 3113885 3113911 3179396 12 2008-03-07 10:11:52.387 2008-03-10 11:08:49.290 3113885 3113913 3179398 13 2008-03-07 10:11:52.387 2008-03-10 13:17:16.597 3113885 3113915 3179400 14 2008-03-07 10:11:52.387 2008-03-10 14:55:45.703 3113885 3113917 3179402 15 2008-03-07 10:11:52.387 2008-03-10 15:36:18.743 3113885 3113919 3179404 16 2008-03-07 10:11:52.387 2008-03-10 15:56:08.487 3113885 5734401 1 589871 2008-06-12 22:50:15.083 2008-06-12 22:50:15.083 3113921 3179406 17 2008-03-07 10:11:52.387 2008-03-11 08:21:23.003 3113885 5734404 1 763 2008-06-17 09:02:15.073 2008-06-17 09:02:15.073 5734403 1 589871 2008-06-17 08:32:15.083 2008-06-17 08:32:15.083 5734409 1 1179834 2008-06-23 03:28:15.040 2008-06-23 03:28:15.040 5734406 1 3113885 2008-06-19 10:41:15.090 2008-06-19 10:41:15.090 5734407 1 3637442 2008-06-19 13:59:15.047 2008-06-19 13:59:15.047 3113990 3179475 32 2008-03-07 10:11:52.387 2008-03-17 13:50:19.227 3113885 9797831 9830599 18 2009-04-15 10:23:13.850 2009-04-28 13:18:38.820 9797697 3113993 3179478 34 2008-03-07 10:11:52.387 2008-03-18 08:34:45.340 3113885 3113992 3179477 33 2008-03-07 10:11:52.387 2008-03-17 15:44:10.033 3113885 9797826 9830594 17 2009-04-15 10:23:13.850 2009-04-27 10:54:17.657 9797697 3113979 3179464 31 2008-03-07 10:11:52.387 2008-03-17 13:44:50.320 3113885 9797819 9830587 5 2009-04-17 15:16:21.417 2009-04-27 09:16:07.240 9797756 9797820 9830588 6 2009-04-17 15:16:21.417 2009-04-27 22:03:53.103 9797756 9797813 9830581 12 2009-01-20 07:54:29.753 2009-04-27 15:43:57.227 8912901 3113977 3179462 30 2008-03-07 10:11:52.387 2008-03-17 11:53:20.817 3113885 9797812 9830580 11 2009-01-20 07:54:29.753 2009-04-27 15:43:13.133 8912901 9797811 9830579 10 2009-01-20 07:54:29.753 2009-04-27 15:41:38.440 8912901 9797809 9830577 9 2009-01-20 07:54:29.753 2009-04-27 14:23:30.007 8912901 9797806 9830574 8 2009-01-20 07:54:29.753 2009-04-27 14:20:18.097 8912901 9797805 9830573 7 2009-01-20 07:54:29.753 2009-04-27 14:19:56.873 8912901 9797804 9830572 6 2009-01-20 07:54:29.753 2009-04-27 14:19:26.117 8912901 15663111 15630343 9797803 9830571 5 2009-01-20 07:54:29.753 2009-04-15 11:49:08.337 8912901 9797864 9830632 19 2009-04-15 10:23:13.850 2009-04-28 16:13:05.587 9797697 30 21 919 2007-02-20 13:11:29.503 2007-02-20 13:11:29.503 3114005 3179490 35 2008-03-07 10:11:52.387 2008-03-18 08:34:56.470 3113885 8913396 8946137 2 2009-01-20 08:20:32.983 2009-01-22 15:06:32.507 8912903 5865558 5832794 3114057 3179541 38 2008-03-07 10:11:52.387 2008-03-20 14:39:52.580 3113885 3114055 3179538 37 2008-03-07 10:11:52.387 2008-03-19 16:19:00.293 3113885 17661957 17465421 2011-06-07 16:18:58.090 2011-06-07 16:18:58.090 133 1 17661961 8912901 2011-06-07 16:26:53.657 2011-06-07 16:26:53.657 500362 1 3114034 3179517 36 2008-03-07 10:11:52.387 2008-03-18 15:39:41.990 3113885 9797742 9830511 15 2009-04-15 10:23:13.850 2009-04-15 17:06:14.803 9797697 9797740 9830509 14 2009-04-15 10:23:13.850 2009-04-15 16:30:23.943 9797697 9797796 9830565 3 2009-04-17 15:16:21.417 2009-04-23 12:27:11.927 9797756 9797797 9830566 4 2009-04-17 15:16:21.417 2009-04-27 09:14:46.047 9797756 3114090 3179572 46 2008-03-07 10:11:52.387 2008-03-21 16:44:58.267 3113885 9797798 9830567 16 2009-04-15 10:23:13.850 2009-04-16 10:20:10.263 9797697 3114084 3179566 5 2008-03-21 16:35:05.490 2008-03-21 16:42:11.733 3114074 3114086 3179568 45 2008-03-07 10:11:52.387 2008-03-21 16:37:34.903 3113885 3114079 3179561 3 2008-03-21 16:35:05.490 2008-03-21 16:37:08.947 3114074 3114080 3179562 44 2008-03-07 10:11:52.387 2008-03-21 16:32:56.627 3113885 9797788 9830557 1 2009-04-17 15:16:21.417 2009-04-17 15:16:21.417 9797756 9797790 9830559 2 2009-04-17 15:16:21.417 2009-04-23 09:44:01.267 9797756 3114082 3179564 4 2008-03-21 16:35:05.490 2008-03-21 16:37:34.883 3114074 3114076 3179558 1 2008-03-21 16:35:05.490 2008-03-21 16:35:05.490 3114074 3114078 3179560 2 2008-03-21 16:35:05.490 2008-03-21 16:36:04.797 3114074 3114072 3179554 43 2008-03-07 10:11:52.387 2008-03-21 16:16:58.227 3113885 3114068 3179550 41 2008-03-07 10:11:52.387 2008-03-21 10:51:29.273 3113885 3114069 3179551 42 2008-03-07 10:11:52.387 2008-03-21 16:14:52.660 3113885 3114059 3179543 39 2008-03-07 10:11:52.387 2008-03-21 10:47:55.497 3113885 3114061 3179545 40 2008-03-07 10:11:52.387 2008-03-21 10:49:16.973 3113885 3114108 3179590 16 2007-02-05 11:17:34.830 2007-07-16 09:24:40.977 751 9797705 9830474 3 2009-04-15 10:23:13.850 2009-04-15 10:42:35.510 9797697 9797703 9830472 2 2009-04-15 10:23:13.850 2009-04-15 10:28:15.407 9797697 9797701 9830470 1 2009-04-15 10:23:13.850 2009-04-15 10:23:13.850 9797697 3114095 3179577 47 2008-03-07 10:11:52.387 2008-03-21 16:48:05.400 3113885 10355138 10387875 8 2009-01-20 08:20:32.983 2009-02-25 11:54:19.860 8912903 3114099 3179581 48 2008-03-07 10:11:52.387 2008-03-21 16:49:49.290 3113885 9797724 9830493 11 2009-04-15 10:23:13.850 2009-04-15 11:47:07.807 9797697 9797726 9830495 12 2009-04-15 10:23:13.850 2009-04-15 12:48:47.570 9797697 9797738 9830507 13 2009-04-15 10:23:13.850 2009-04-15 12:49:43.420 9797697 9797711 9830480 6 2009-04-15 10:23:13.850 2009-04-15 11:11:47.527 9797697 9797713 9830482 7 2009-04-15 10:23:13.850 2009-04-15 11:14:54.877 9797697 9797707 9830476 4 2009-04-15 10:23:13.850 2009-04-15 10:59:38.290 9797697 9797709 9830478 5 2009-04-15 10:23:13.850 2009-04-15 11:04:34.107 9797697 9797719 9830488 10 2009-04-15 10:23:13.850 2009-04-15 11:44:40.333 9797697 9797721 9830490 4 2009-01-20 07:54:29.753 2009-03-06 14:29:51.903 8912901 9797715 9830484 8 2009-04-15 10:23:13.850 2009-04-15 11:26:44.140 9797697 9797717 9830486 9 2009-04-15 10:23:13.850 2009-04-15 11:37:19.287 9797697 28 753 2007-02-05 11:42:37.187 2007-02-05 11:42:37.187 17332 1 1179846 1212612 8 2007-07-16 09:26:04.537 2007-07-16 15:40:05.177 1179834 1179845 1212611 7 2007-07-16 09:26:04.537 2007-07-16 15:39:49.997 1179834 1179844 1212610 6 2007-07-16 09:26:04.537 2007-07-16 15:39:10.767 1179834 1179843 1212609 5 2007-07-16 09:26:04.537 2007-07-16 15:38:04.117 1179834 9797666 9830434 91 2008-03-07 10:11:52.387 2008-07-29 10:30:50.383 3113885 33 857 2007-02-12 13:47:49.480 2007-02-12 13:48:10.300 176374 1 15728705 8912901 2011-01-10 12:26:21.030 2011-01-10 12:26:21.030 961467 1 32 753 2007-02-12 08:50:10.660 2007-02-12 08:50:10.660 17036 1 1179847 1212613 9 2007-07-16 09:26:04.537 2007-07-16 15:40:21.550 1179834 1179837 1212603 2 2007-07-16 09:26:04.537 2007-07-16 09:28:41.473 1179834 1179836 1212602 1 2007-07-16 09:26:04.537 2007-07-16 09:26:04.537 1179834 9797669 9830438 19 2007-02-05 11:17:34.830 2009-01-20 08:27:25.680 751 1179842 1212608 4 2007-07-16 09:26:04.537 2007-07-16 15:37:34.907 1179834 1179841 1212607 3 2007-07-16 09:26:04.537 2007-07-16 09:29:37.533 1179834 1179833 1212600 15 2007-02-05 11:17:34.830 2007-03-28 14:17:41.667 751 764 761 1 2007-02-05 13:40:04.233 2007-02-05 13:40:04.233 763 766 763 3 2007-02-05 13:40:04.233 2007-02-05 13:40:47.480 763 765 762 2 2007-02-05 13:40:04.233 2007-02-05 13:40:19.730 763 13664264 13697029 12 2009-01-20 08:20:32.983 2010-01-20 22:41:18.867 8912903 11403265 8912901 2010-01-20 10:00:02.047 2010-01-20 10:00:02.047 69983 1 11403267 11239490 2010-01-20 10:08:06.060 2010-03-30 08:56:50.327 535224 3 752 749 1 2007-02-05 11:17:34.830 2007-02-05 11:17:34.830 751 11403266 11239490 2010-01-20 10:04:52.167 2010-01-20 10:10:37.230 69983 1 11403269 8912903 2010-01-20 22:33:14.770 2010-01-20 22:33:14.770 1699 1 11403268 11239490 2010-01-20 10:08:06.060 2010-01-20 10:10:37.223 2410707 1 11403267 754 751 1 2007-02-05 11:25:44.040 2007-02-05 11:25:44.040 753 755 752 2 2007-02-05 11:25:44.040 2007-02-05 11:30:11.190 753 21431166 20971526 2013-06-05 13:05:46.333 2013-06-05 13:05:46.333 756 753 3 2007-02-05 11:25:44.040 2007-02-05 11:41:26.460 753 21431167 20971526 2013-06-05 13:05:46.333 2013-06-05 13:05:46.333 757 754 4 2007-02-05 11:25:44.040 2007-02-05 11:43:19.683 753 21431164 20971526 2013-06-05 13:05:46.333 2013-06-05 13:05:46.333 758 755 5 2007-02-05 11:25:44.040 2007-02-05 11:43:30.400 753 21431165 20971526 2013-06-05 13:05:46.333 2013-06-05 13:05:46.333 759 756 6 2007-02-05 11:25:44.040 2007-02-05 11:47:40.427 753 760 757 7 2007-02-05 11:25:44.040 2007-02-05 11:50:29.780 753 761 758 8 2007-02-05 11:25:44.040 2007-02-05 11:50:45.593 753 21431168 20971526 2013-06-05 13:05:46.333 2013-06-05 13:05:46.333 762 759 2 2007-02-05 11:17:34.830 2007-02-05 11:24:43.847 751 9798105 9830861 28 2009-04-15 10:23:13.850 2009-05-01 13:46:01.470 9797697 9798103 9830859 27 2009-04-15 10:23:13.850 2009-05-01 13:40:58.063 9797697 9798101 9830857 26 2009-04-15 10:23:13.850 2009-04-29 17:51:24.660 9797697 983103 875 2007-05-02 16:00:52.887 2007-05-02 16:00:52.887 983102 875 2007-05-02 16:00:52.887 2007-05-02 16:00:52.887 983101 875 2007-05-02 16:00:52.887 2007-05-02 16:00:52.887 9371957 9404706 13 2009-01-13 10:03:06.753 2009-02-09 14:22:32.030 8356111 9371959 9404708 17 2008-03-21 16:35:05.490 2008-12-14 12:39:57.257 3114074 13664268 13697033 13 2009-01-20 08:20:32.983 2010-06-14 16:04:20.407 8912903 9798114 9830869 30 2009-04-15 10:23:13.850 2009-05-02 14:22:50.260 9797697 10354778 10387545 33 2009-04-15 10:23:13.850 2009-05-06 10:05:27.557 9797697 9798112 9830867 29 2009-04-15 10:23:13.850 2009-05-01 14:00:25.733 9797697 557059 589839 2007-03-19 12:53:46.160 2007-03-19 12:54:03.477 264871 1 750 20 747 1 2007-02-05 11:17:34.827 2007-02-05 11:17:34.827 9011204 11206657 13828101 30867461 9440023 3114074 2009-03-25 10:42:01.280 2009-03-25 10:42:01.280 9440022 \]]> 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 9440021 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 842 839 5 2007-02-05 13:40:04.233 2007-02-08 10:47:34.307 763 9440020 \]]> 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 557064 589901 2007-04-02 21:50:52.637 2007-04-02 21:51:14.680 286365 1 836 833 4 2007-02-05 13:40:04.233 2007-02-05 13:41:01.083 763 9440026 3114074 2009-03-25 10:42:01.280 2009-03-25 10:42:01.280 9440025 3114074 2009-03-25 10:42:01.280 2009-03-25 10:42:01.280 838 835 1 2007-02-08 10:48:23.677 2007-02-08 10:48:23.677 837 9440024 3114074 2009-03-25 10:42:01.280 2009-03-25 10:42:01.280 8060983 8093749 14 2008-03-21 16:35:05.490 2008-07-25 14:48:55.057 3114074 874 871 8 2007-02-05 11:17:34.830 2007-02-13 08:38:34.580 751 873 870 7 2007-02-05 11:17:34.830 2007-02-13 08:38:20.630 751 8060985 8093751 15 2008-03-21 16:35:05.490 2008-12-14 12:33:56.640 3114074 872 869 6 2007-02-05 11:17:34.830 2007-02-13 08:38:08.507 751 3114320 3179795 49 2008-03-07 10:11:52.387 2008-03-21 16:51:19.293 3113885 871 868 5 2007-02-05 11:17:34.830 2007-02-13 08:37:52.980 751 870 867 4 2007-02-05 11:17:34.830 2007-02-13 08:35:08.323 751 9371891 9404640 3 2009-01-20 08:20:32.983 2009-02-11 10:45:31.493 8912903 868 865 3 2007-02-05 11:17:34.830 2007-02-05 13:38:01.790 751 9371893 9404642 4 2009-01-20 08:20:32.983 2009-02-25 09:44:58.327 8912903 9440012 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 9371903 9404652 6 2009-01-20 08:20:32.983 2009-02-25 11:43:31.893 8912903 9440013 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 9440014 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 9371905 9404654 7 2009-01-20 08:20:32.983 2009-02-25 11:49:29.557 8912903 9440015 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 9440016 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 8060987 8093752 16 2008-03-21 16:35:05.490 2008-12-14 12:35:37.727 3114074 9440017 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 9440018 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 843 840 6 2007-02-05 13:40:04.233 2007-02-08 13:57:48.617 763 9371901 9404650 5 2009-01-20 08:20:32.983 2009-02-25 09:45:49.753 8912903 9440019 8356111 2009-03-25 10:27:42.173 2009-03-25 10:27:42.173 858 855 1 2007-02-12 13:41:13.823 2007-02-12 13:41:13.823 857 856 853 9 2007-02-05 11:25:44.040 2007-02-05 11:51:25.787 753 9372118 9404863 19 2008-03-21 16:35:05.490 2009-03-04 09:01:11.503 3114074 8388867 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa Europa/PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ svn+ssh:// Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 8356111 9797934 9830701 20 2009-04-15 10:23:13.850 2009-04-29 10:12:03.737 9797697 15695890 15630343 2010-11-18 20:06:03.190 2010-11-18 20:06:03.190 15695889 15630343 2010-11-18 20:06:03.190 2010-11-18 20:06:03.190 9797952 9830719 22 2009-04-15 10:23:13.850 2009-04-29 15:55:26.637 9797697 9797954 9830721 23 2009-04-15 10:23:13.850 2009-04-29 17:37:34.737 9797697 9797950 9830717 21 2009-04-15 10:23:13.850 2009-04-29 14:35:22.047 9797697 876 873 1 2007-02-13 08:40:08.137 2007-02-13 08:40:08.137 875 21102595 21135362 20971526 2013-04-09 13:22:09.600 2013-04-09 13:22:09.600 21102594 21135361 20971526 2013-04-09 13:22:04.217 2013-04-09 13:22:04.217 21102593 21 20971526 2013-04-09 13:21:55.577 2013-04-09 13:21:55.577 9797956 9830723 24 2009-04-15 10:23:13.850 2009-04-29 17:42:28.820 9797697 9797958 9830725 25 2009-04-15 10:23:13.850 2009-04-29 17:47:33.997 9797697 3114378 3179851 6 2008-03-21 16:35:05.490 2008-03-21 16:44:10.023 3114074 3114382 3179855 51 2008-03-07 10:11:52.387 2008-03-25 14:00:08.343 3113885 3114380 3179853 50 2008-03-07 10:11:52.387 2008-03-24 09:43:06.180 3113885 3114386 3179859 53 2008-03-07 10:11:52.387 2008-03-25 16:12:52.967 3113885 3114384 3179857 52 2008-03-07 10:11:52.387 2008-03-25 15:30:02.870 3113885 923 920 11 2007-02-05 11:17:34.830 2007-02-20 14:19:01.517 751 3114387 3179860 54 2008-03-07 10:11:52.387 2008-03-25 16:22:34.050 3113885 922 919 10 2007-02-05 11:17:34.830 2007-02-20 14:18:48.267 751 921 918 9 2007-02-05 11:17:34.830 2007-02-13 08:39:24.500 751 920 917 1 2007-02-20 13:10:43.733 2007-02-20 13:10:43.733 919 9372094 9404840 3 2009-01-20 07:54:29.753 2009-01-21 14:18:31.970 8912901 17465423 17498190 1 2011-06-07 16:15:43.807 2011-06-07 16:15:43.807 17465421 11829491    (to turn on TREX2 cpu, you'll see GulperSolenoidFB = 1) ## ctrl-a x   (to exit) # cd $AUV/bin # < pause> and follow procedure in Terminal 2 below # nohup ./vcsServer \-v & # ps \-a  # Go to terminal 2 and launch amc_o_rt # ps-a (after amc_o_rt starts, you should see the processes of auv-qnx spawned. # to terminate by force:   slay supervisor   slay vcsServer \\ In Terminal 2 # slogin dorado1@trex2 # cd amc # . config.amc # cd mission # cat init.cfg (check depth envelop, check mission time in seconds) # # nohup ../exec/amc_o_rt science4.cfg & # cd \~/amc/log/latest # tail \-f TREX.log   ( it takes about 30 seconds or so to start and then lots of activity, should be no error or 'relax' in the stream of log messages) # go to terminal 1 # to terminate by force:   killall amc_o_rt when the vehicle has surfaced, to check for gulpers (not required, but if you are bored and want to see) # slogin dorado1@trex2 # cd amc # . config.amc  # ./bin/signal_process.hsh  (returns how many gulpers have fired, how far it is in transect, if signal is below 0.045 then it will be low res transect of 1Km, if above 0.12 it is high res 500m separation, if in between 750m) \\]]> 11796734 9797873 9830641 13 2009-01-20 07:54:29.753 2009-04-27 15:44:26.990 8912901 15630872 15663626 37 2009-01-20 07:54:29.753 2010-04-13 14:24:52.947 8912901 9797874 9830642 14 2009-01-20 07:54:29.753 2009-04-29 10:34:34.340 8912901 3114423 3179895 55 2008-03-07 10:11:52.387 2008-03-26 12:48:17.843 3113885 9797875 9830643 15 2009-01-20 07:54:29.753 2009-04-29 10:35:25.567 8912901 15630861 15663615 8 2010-07-12 22:29:00.377 2010-12-01 17:00:13.417 13926456 9797876 9830644 16 2009-01-20 07:54:29.753 2009-04-29 10:37:43.150 8912901 9797877 9830645 17 2009-01-20 07:54:29.753 2009-04-29 10:38:10.787 8912901 9797878 9830646 18 2009-01-20 07:54:29.753 2009-04-29 10:38:45.577 8912901 9797880 9830648 19 2009-01-20 07:54:29.753 2009-04-29 10:39:17.717 8912901 17465430 17498197 42 2009-01-20 07:54:29.753 2011-06-07 16:28:33.590 8912901 17465429 17498196 41 2009-01-20 07:54:29.753 2011-03-02 08:47:35.437 8912901 9797884 9830652 20 2009-01-20 07:54:29.753 2009-04-29 10:40:01.090 8912901 9797886 9830654 21 2009-01-20 07:54:29.753 2009-04-29 10:41:03.777 8912901 9797888 9830656 22 2009-01-20 07:54:29.753 2009-04-29 10:41:47.263 8912901 1048577 875 2007-05-02 15:56:15.393 2007-05-02 15:56:15.393 38912 1 9797889 9830657 23 2009-01-20 07:54:29.753 2009-04-29 10:49:24.873 8912901 3114458 3179930 58 2008-03-07 10:11:52.387 2008-04-01 11:43:14.373 3113885 3114456 3179928 57 2008-03-07 10:11:52.387 2008-04-01 10:45:30.257 3113885 3114454 3179926 56 2008-03-07 10:11:52.387 2008-03-27 15:33:57.390 3113885 987 984 2 2007-02-12 13:41:13.823 2007-02-12 13:48:10.270 857 3114466 3179938 3 2008-04-01 11:50:27.647 2008-04-01 14:17:46.963 3114460 3114465 3179937 2 2008-04-01 11:50:27.647 2008-04-01 11:51:25.860 3114460 9372039 9404785 18 2008-03-21 16:35:05.490 2009-03-02 14:17:32.757 3114074 3114462 3179934 1 2008-04-01 11:50:27.647 2008-04-01 11:50:27.647 3114460 3114473 3179945 59 2008-03-07 10:11:52.387 2008-04-01 11:44:14.547 3113885 21364771 21397539 23 2013-04-09 13:20:29.733 2013-05-21 14:07:31.077 20971526 21364774 21397541 24 2013-04-09 13:20:29.733 2013-05-23 13:15:02.713 20971526 21364776 21397543 25 2013-04-09 13:20:29.733 2013-05-23 13:16:39.320 20971526 3114593 3180061 7 2008-03-21 16:35:05.490 2008-03-25 13:51:36.887 3114074 21364778 21397545 26 2013-04-09 13:20:29.733 2013-05-23 13:30:41.057 20971526 8981112 763 2009-02-07 18:51:42.947 2009-02-07 18:51:42.947 8981113 763 2009-02-07 18:51:42.947 2009-02-07 18:51:42.947 3114597 3180064 8 2008-03-21 16:35:05.490 2008-04-08 15:14:03.297 3114074 8981114 763 2009-02-07 18:51:42.950 2009-02-07 18:51:42.950 8981108 763 2009-02-07 18:51:42.947 2009-02-07 18:51:42.947 8981109 763 2009-02-07 18:51:42.947 2009-02-07 18:51:42.947 8981110 763 2009-02-07 18:51:42.947 2009-02-07 18:51:42.947 3114601 3180068 62 2008-03-07 10:11:52.387 2008-04-04 10:53:45.147 3113885 8981111 763 2009-02-07 18:51:42.947 2009-02-07 18:51:42.947 3114602 3180069 63 2008-03-07 10:11:52.387 2008-04-10 08:05:27.753 3113885 16220230 16252996 21 2007-02-05 11:17:34.830 2010-07-12 22:27:20.683 751 21364756 21397524 21 2013-04-09 13:20:29.733 2013-05-21 10:20:45.907 20971526 21364755 21397523 20 2013-04-09 13:20:29.733 2013-05-21 10:14:48.220 20971526 21364758 21397526 22 2013-04-09 13:20:29.733 2013-05-21 10:21:40.077 20971526 16220233 16252999 40 2009-01-20 07:54:29.753 2011-03-02 08:44:21.923 8912901 16220231 16252997 39 2009-01-20 07:54:29.753 2011-02-18 09:27:28.437 8912901 21364752 21397520 18 2013-04-09 13:20:29.733 2013-05-16 09:28:09.683 20971526 21364753 21397521 19 2013-04-09 13:20:29.733 2013-05-21 10:12:31.880 20971526 9928720 8912901 2009-04-29 10:47:38.280 2009-04-29 10:47:38.280 103936 1 9928712 9797697 2009-04-15 08:53:16.990 2009-04-15 10:23:14.057 243252 1 9928711 9928711 9797697 2009-04-15 08:53:16.990 2009-04-15 12:48:35.593 243252 2 8913008 8945771 1 2009-01-20 08:20:32.983 2009-01-20 08:20:32.983 8912903 9405092 Character devices #** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) #** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) #** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) #** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) #** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) #** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. #* make-kpkg clean #* fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) #** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). #* dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb #* _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. #* serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. #* To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: #**  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname #**   #** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp #*** iface eth0 inet dhcp     hostname mybox.mydomain.com #*** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; #* To auto start omniNames and omniNotify services at bootup: #** create a file called 'startCorba.sh' #*** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. #*** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify #*** \# Start name service echo "Start name service" /usr/local/bin/omniNames & #*** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & #** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  #** Create a symbolic link using update-rc.d (Debian command)  #*** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ #* TODO: #** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ # Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) #* Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    #** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result #** ifup eth0 will also show the error \\ #* Network Settings (/etc/network/interfaces) #** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) #*** edit /etc/hosts and change mvc-debian4 to mvc-debian #*** edit */etc/dhcp3/dhclient.conf* to add the following line: #**** send host-name "foce2.shore.mbari.org" #*** 127.0.0.1 localhost.localdomain localhost #*** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian #*** hostname mvc-debian.shore.mbari.org #*** copy the interfaces (see attachment to this wiki) file to /etc/network #**** address 134.89.32.16 #**** netmask 255.255.254.0 #**** gateway 134.89.32.1 #**** broadcast 134.89.32.255 #*** to check the hostname is set properly #**** uname \-n #**** hostname \-a #**** hostname \-s #**** hostname \-d #**** hostname \-f #**** hostname #** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj ** Debian Packages required to build auv-linux and TREX: **# apt-get install ant **# apt-get install ant-optional **# apt-get install autoconf **# apt-get install autogen **# apt-get install automake **# apt-get install binutils **# apt-get install bison **# apt-get install cvs **# apt-get install doxygen **# apt-get install flex **# apt-get install g+\+ **# apt-get install libtool **# apt-get install make **# apt-get install subversion **# apt-get install libtool **# apt-get install gdb **# apt-get install openssl **# apt-get install ssh **# apt-get install minicom **# apt-get install python-all **# apt-get install python-all-dev **# apt-get install lirc setserial **# apt-get install linux-source-2.6.18 **# apt-get install kernel-package libncurses5-dev fakeroot wget build-essential **# apt-get install xutils-dev **# apt-get install linux-doc-2.6.18 **# apt-get install linux-manual-2.6.18 **# apt-get install manpages-dev **# apt-get install xutils-dev **# apt-get install jam **# apt-get install swig **# apt-get install libboost-regex-dev  \\]]> 9372360 9372361 9405093 1 2009-03-25 10:42:24.673 2009-03-25 10:42:24.673 9372360 9372358 9405091 20 2008-03-21 16:35:05.490 2009-03-09 11:26:36.763 3114074 9372356 9405089 15 2009-01-13 10:03:06.753 2009-03-25 10:27:19.640 8356111 9372355 9405088 14 2009-01-13 10:03:06.753 2009-03-02 11:14:10.163 8356111 3114497 3179967 5 2008-04-01 11:50:27.647 2008-04-03 09:04:04.677 3114460 5899879 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899878 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 3114495 3179965 4 2008-04-01 11:50:27.647 2008-04-01 14:19:31.657 3114460 5899877 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899876 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 9306172 1 8912901 2009-04-07 23:27:15.027 2009-04-07 23:27:15.027 5899883 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 9372363 9405095 2 2009-03-25 10:42:24.673 2009-03-25 10:43:25.517 9372360 5899882 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899881 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899880 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899887 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899886 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899885 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899884 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899891 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899890 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899889 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 3114499 3179969 61 2008-03-07 10:11:52.387 2008-04-02 11:24:25.190 3113885 5899888 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 3114481 3179953 60 2008-03-07 10:11:52.387 2008-04-02 08:59:34.457 3113885 21364787 21397554 27 2013-04-09 13:20:29.733 2013-05-23 13:40:21.383 20971526 753669 29 751 2007-03-23 16:34:15.057 2009-10-08 08:20:15.067 9372393 9405125 3 2009-03-25 10:42:24.673 2009-03-25 11:05:54.177 9372360 5899874 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899875 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 753670 47 751 2007-03-26 10:00:15.127 2008-06-18 10:14:15.067 5899920 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899921 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899922 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899923 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899916 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899917 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 748 751 5899918 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899919 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 750 753 5899912 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899913 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355490 10388221 12 2009-07-18 07:52:32.680 2009-07-20 16:00:52.430 10355444 5899914 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355487 10388219 11 2009-07-18 07:52:32.680 2009-07-20 15:34:18.877 10355444 5899915 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899908 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355485 10388217 10 2009-07-18 07:52:32.680 2009-07-20 15:09:34.477 10355444 5899909 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899910 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355483 10388215 9 2009-07-18 07:52:32.680 2009-07-20 14:12:47.187 10355444 5899911 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899905 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406556 20 2026-02-04 08:03:49.065 2026-02-04 08:03:49.065 5899904 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406555 20 2026-02-04 08:03:49.065 2026-02-04 08:03:49.065 10355481 10388213 8 2009-07-18 07:52:32.680 2009-07-20 14:02:08.933 10355444 5899907 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406554 20 2026-02-04 08:03:49.065 2026-02-04 08:03:49.065 5899906 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406553 20 2026-02-04 08:03:49.064 2026-02-04 08:03:49.064 10355479 10388211 7 2009-07-18 07:52:32.680 2009-07-20 12:20:18.640 10355444 5899901 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406552 20 2026-02-04 08:03:49.064 2026-02-04 08:03:49.064 5899900 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406551 20 2026-02-04 08:03:49.064 2026-02-04 08:03:49.064 10355477 10388209 6 2009-07-18 07:52:32.680 2009-07-20 12:01:52.433 10355444 5899903 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406550 20 2026-02-04 08:03:49.064 2026-02-04 08:03:49.064 19300460 20 2012-05-23 14:06:23.853 2012-05-23 14:06:23.853 5899902 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406549 20 2026-02-04 08:03:49.064 2026-02-04 08:03:49.064 5899897 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 760 763 10355474 10388206 5 2009-07-18 07:52:32.680 2009-07-20 11:36:12.397 10355444 5899896 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899899 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355472 10388204 4 2009-07-18 07:52:32.680 2009-07-20 11:27:17.477 10355444 5899898 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899893 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355470 10388202 3 2009-07-18 07:52:32.680 2009-07-18 08:03:22.417 10355444 5899892 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 3114704 3180169 70 2008-03-07 10:11:52.387 2008-04-10 13:52:41.907 3113885 5899895 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899894 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 21364890 21397657 30 2013-04-09 13:20:29.733 2013-06-04 08:49:32.867 20971526 5899954 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 21364862 21397629 29 2013-04-09 13:20:29.733 2013-06-04 08:43:09.450 20971526 5899955 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899952 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899953 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 19234832 20 18579613 2012-09-26 13:03:16.637 2012-09-26 13:03:16.637 21364859 21397626 28 2013-04-09 13:20:29.733 2013-05-28 20:33:52.417 20971526 5899950 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899951 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899948 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 1540107 1179753 2007-06-22 16:22:34.497 2007-06-22 16:22:34.497 42496 1 5899949 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899946 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406545 20 2026-02-04 08:03:49.063 2026-02-04 08:03:49.063 9798266 9831019 25 2009-01-20 07:54:29.753 2009-05-06 09:55:17.757 8912901 5899947 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406546 20 2026-02-04 08:03:49.063 2026-02-04 08:03:49.063 9798265 9831018 24 2009-01-20 07:54:29.753 2009-04-29 10:51:23.347 8912901 5899944 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406547 20 2026-02-04 08:03:49.063 2026-02-04 08:03:49.063 5899945 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406548 20 2026-02-04 08:03:49.064 2026-02-04 08:03:49.064 5899942 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355451 10388183 2 2009-07-18 07:52:32.680 2009-07-18 08:01:28.943 10355444 5899943 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899940 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406543 20 2026-02-04 08:02:59.501 2026-02-04 08:02:59.501 5899941 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 34406544 20 2026-02-04 08:03:49.063 2026-02-04 08:03:49.063 1540120 1179834 2007-07-16 15:39:29.683 2007-07-16 15:39:29.683 21043 1 5899939 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899938 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355447 10388179 27 2009-01-20 07:54:29.753 2009-07-18 07:55:12.600 8912901 5899937 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 1540119 1179834 2007-07-16 09:27:40.590 2007-07-16 09:27:40.590 46592 1 5899936 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355449 10388181 1 2009-07-18 07:52:32.680 2009-07-18 07:52:32.680 10355444 5899935 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 9798269 9831022 32 2009-04-15 10:23:13.850 2009-05-06 10:04:26.987 9797697 5899934 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899933 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 9798267 9831020 31 2009-04-15 10:23:13.850 2009-05-02 14:59:58.043 9797697 10355446 10388178 26 2009-01-20 07:54:29.753 2009-05-06 09:56:10.060 8912901 5899932 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899931 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899930 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899929 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899928 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899927 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899926 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899925 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899924 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899980 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899981 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 1867820 1835056 5899982 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899983 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899984 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899985 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899986 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899987 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899972 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899973 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899974 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899975 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899976 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899977 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899978 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899979 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899965 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 10355542 10388270 13 2009-07-18 07:52:32.680 2009-07-21 08:57:36.230 10355444 5899964 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899967 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 8912905 8945673 1 2009-01-20 07:54:29.753 2009-01-20 07:54:29.753 8912901 5899966 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 8912906 8945674 18 2007-02-05 11:17:34.830 2009-01-13 09:36:59.530 751 5899969 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899968 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899971 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899970 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899957 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899956 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899959 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899958 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899961 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899960 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899963 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5899962 3637442 2008-07-29 10:44:43.437 2008-07-29 10:44:43.437 5900014 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900015 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900012 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8912920 8945687 2 2009-01-21 11:24:32.257 2009-01-21 11:25:29.793 8912916 5900013 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900018 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900019 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8912917 8945684 1 2009-01-21 11:24:32.257 2009-01-21 11:24:32.257 8912916 5900016 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900017 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900006 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900007 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900004 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900005 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900010 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900011 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900008 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900009 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899999 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899998 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899997 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899996 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900003 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 3114613 3180080 69 2008-03-07 10:11:52.387 2008-04-10 09:43:01.483 3113885 5900002 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900001 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900000 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 3114612 3180079 68 2008-03-07 10:11:52.387 2008-04-10 09:22:16.030 3113885 5899991 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899990 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 3114610 3180077 67 2008-03-07 10:11:52.387 2008-04-10 08:53:25.720 3113885 5899989 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8912927 8945694 2 2009-01-20 07:54:29.753 2009-01-20 08:24:35.850 8912901 5899988 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 3114608 3180075 66 2008-03-07 10:11:52.387 2008-04-10 08:47:31.830 3113885 5899995 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899994 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 3114606 3180073 65 2008-03-07 10:11:52.387 2008-04-10 08:27:53.873 3113885 5899993 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5899992 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8912924 8945691 3 2009-01-21 11:24:32.257 2009-01-21 13:13:50.267 8912916 3114604 3180071 64 2008-03-07 10:11:52.387 2008-04-10 08:07:11.250 3113885 5900026 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900027 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900024 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8913340 8946088 11 2007-02-05 13:40:04.233 2009-02-07 18:50:02.367 763 5900025 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900022 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900023 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900020 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900021 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900034 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900035 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900032 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900033 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900030 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8913353 8946099 12 2009-01-13 10:03:06.753 2009-02-06 09:48:14.753 8356111 5900031 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900028 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900029 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900043 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900042 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 872 875 5900041 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900040 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8356167 8388920 4 2009-01-13 10:03:06.753 2009-01-13 14:32:00.143 8356111 5900039 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900038 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900037 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900036 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900051 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8913334 8946083 8 2007-02-05 13:40:04.233 2008-02-02 15:08:30.830 763 5900050 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8356157 8388910 2 2009-01-13 10:03:06.753 2009-01-13 10:41:01.530 8356111 5900049 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8356158 8388911 3 2009-01-13 10:03:06.753 2009-01-13 14:27:49.560 8356111 5900048 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900047 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8913338 8946086 10 2007-02-05 13:40:04.233 2009-02-07 18:43:06.960 763 5900046 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900045 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8913336 8946084 9 2007-02-05 13:40:04.233 2009-02-07 18:42:04.647 763 5900044 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900056 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8945671 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa ** PLASMA * TREX We will assume on the rest of the document that this structure is respected. {warning:title=Important requirement} All TREX build system and execution assumes that important variables are defined. There's a file {{devConfig}} that defines them for *bash*. More details about this are given on the section [#env] {warning} h1. Mac specific : installing development tools \\ You need to have administration rights on this computer  on the Finder : select menu Go > Connect to Server ... on the invite type : cifs://tornado.shore.mbari.org and enter your login and password   select AppsAND under the directory Macs/DevelopperTools/XcodeTools select the version of xcode for the OS version of your computer (10.6 = Snow Leopard) and get the xcode*.dmg file you can then eject tornado disk double click on the xcode*.dmg to mount the file and then on Xcode.mpkg to start the installation  h2. Building our old version of Europa/Plasma  To apply the patch and build Europa/Plasma with GCC 4.3: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch #i.e. the attached patch file % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Finally, if you use the Monte-Carlo controller you need to compile {{batcher}} and {{samp}} {code:none} % cd ctd2007 % jam batcher samp {code} The {{trunk}} branch now assumes that {{batcher}} depends on {{samp}} so the compilation of {{samp}} is now done automatically. Still older versions (or other branches) did not enforce this dependency so it may be better to explicitly compile {{samp}} h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 8912903 5900057 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900058 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900059 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900052 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900053 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900054 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 8945669 8912901 854 857 5900055 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900064 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900065 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900066 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 866 869 5900067 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900060 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900061 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900062 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900063 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286903 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900073 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286902 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900072 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286901 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900075 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286900 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900074 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286907 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 8945683 */ class VCSAdapter: public Adapter { public: /** @brief Constructor * * This consdtructor is usually called by the factory that manages * configuration parsing * * @param agentName Name of the agent that will execute this reactor. * @param confgData CXonfiguration data for this reactor */ VCSAdapter(LabelStr const &agentName, TiXmlElement const &configData); /** @brief Destructor */ ~VCSAdapter(); /** @brief handle agent initialization signal. * * This callback is called to indicate to reactors that the agent wait for * them to initialize. * In this case this is where TREX is initailizing the connections to * VCS and wait for feedback from the VCS to be ready to start the misssion. * * @param initialTick value of the initial tick (usually 0) * @param serversByTimeline mapping from timeline name to the connection to its owner * @param observer reference to the place where observation of thi reactor should be sent to */ void handleInit(TICK initialTick, std::map const &serversByTimeline, ObserverId const &observer); /** @brief Obsservation production * * For uch a reactor this method is called while the agent ex-pect the reactort to produce its new * observations. In this case this is whaen the reactor collect all the informations sent from VCS and convert it in * @c Observations * * @retval true if no specific problem * @retval false in case of a critical issue */ bool synchronize(); /** @brief Signal sent by the agent to indicate that a new tick has been started */ void handleTickStart(); /** @brief Notification of a new observation coming from an external agent * * @note This hould never happen with this reactor as it does not obsserve anything in the agent */ void notify(Observation const &obs); /** @brief Notification of a goal request * * This method indicate a new objective received fromn anopther reactor. In the case of this reactor * this goal is generally reflecting the execution of a new behavior. * * @param goal The objective as requested by the reactor */ void handleRequest(GoalId const &goal); /** @brief Notification of a goal recall * * This method indicate to the reactor that a previously requested objective * is not part of the plan anymore and should -- if possible -- canceled. * * @param goal The objective as requested by the reactor */ void handleRecall(GoalId const &goal); private: /* Internal things specific to this reactor */ }; // TREX::VCSAdapter } // TREX #endif // H_VCSAdapter {code} h2. Declare a new reactor type to the factory At the beginning of VCSAdapter.cc one can see {code} namespace TREX { namespace { DeclareReactor decl("VCSAdapter"); } } {code} This static variable generate a new factory producer that will call the VCSAdapter constructor when it will identify a "VCSAdapter" configuration in the XZML file. For example the following xml file will trigger this : {code:xml|name=amc.vcs.new.xml} {code} What is passed as argument to the constructor is the name of the agent (not showed here) and a C++ representation of the XML field that triggered the creation. In this case: {code:xml} {code} ]]> 8912916 5900069 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286906 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900068 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286905 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900071 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286904 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900070 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900081 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900080 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286909 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900083 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 14286908 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900082 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900077 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900076 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900079 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900078 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900086 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 15990834 16023601 38 2009-01-20 07:54:29.753 2011-01-10 12:27:44.003 8912901 5900087 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900084 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900085 3637442 2008-07-29 10:44:43.440 2008-07-29 10:44:43.440 5900090 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 8913277 8946030 11 2009-01-13 10:03:06.753 2009-02-05 15:53:51.313 8356111 5900091 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900088 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900089 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900094 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900095 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 14286898 8912903 2010-08-09 13:14:37.200 2010-08-09 13:14:37.200 5900092 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 14286899 8912903 2010-08-09 13:14:37.203 2010-08-09 13:14:37.203 5900093 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900098 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 834 837 5900099 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900096 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900097 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900103 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 15630379 15663144 7 2010-07-12 22:29:00.377 2010-08-24 10:40:28.823 13926456 5900102 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900101 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900100 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900107 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900106 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900105 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900104 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900111 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 8356096 8388852 17 2007-02-05 11:17:34.830 2008-03-21 17:00:54.157 751 5900110 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 18645131 18579613 5900109 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900108 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900115 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900114 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 18645135 18579617 5900113 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900112 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900116 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900117 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900118 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 8356119 8388876 1 2009-01-13 10:03:06.753 2009-01-13 10:03:06.753 8356111 5900119 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 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10:44:43.447 2008-07-29 10:44:43.447 5900179 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900176 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 9372405 9405137 9 2009-03-25 10:42:24.673 2009-03-30 17:07:13.687 9372360 5900177 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900174 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900175 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900172 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900173 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900170 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 9372395 9405127 4 2009-03-25 10:42:24.673 2009-03-30 09:47:15.357 9372360 5900171 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900168 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 9372397 9405129 5 2009-03-25 10:42:24.673 2009-03-30 11:14:13.467 9372360 5900169 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900166 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 9372399 9405131 6 2009-03-25 10:42:24.673 2009-03-30 13:43:07.090 9372360 5900167 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900164 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 9372401 9405133 7 2009-03-25 10:42:24.673 2009-03-30 13:46:17.983 9372360 5900165 3637442 2008-07-29 10:44:43.443 2008-07-29 10:44:43.443 5900193 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 8913252 8946005 8 2009-01-13 10:03:06.753 2009-02-05 14:37:23.860 8356111 5900192 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900195 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 8913254 8946007 9 2009-01-13 10:03:06.753 2009-02-05 14:58:31.670 8356111 5900194 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 11272257 11239490 5900189 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900188 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 8913257 8946010 10 2009-01-13 10:03:06.753 2009-02-05 15:42:20.547 8356111 5900191 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900190 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900185 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900184 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900187 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900186 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900181 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900180 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900183 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 8913250 8946003 7 2009-01-13 10:03:06.753 2009-02-05 06:03:55.767 8356111 5900182 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 8913236 8945989 6 2009-01-13 10:03:06.753 2009-01-15 13:15:30.223 8356111 5900208 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900209 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900210 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900211 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900204 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900205 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900206 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900207 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900200 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5505103 3114460 2008-06-13 20:44:56.830 2008-06-13 20:44:56.830 5900201 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5505102 3114460 2008-06-13 20:44:56.830 2008-06-13 20:44:56.830 5900202 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900203 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900196 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900197 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900198 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900199 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5505104 3114460 2008-06-13 20:44:56.830 2008-06-13 20:44:56.830 5900223 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900222 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900221 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900220 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 8913157 8945915 2 2009-02-02 11:40:17.867 2009-02-02 11:42:20.247 8913153 5900227 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900226 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 8913155 8945913 1 2009-02-02 11:40:17.867 2009-02-02 11:40:17.867 8913153 5900225 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900224 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900215 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900214 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 3179370 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.   \\ \\ \\   h4. \\ h3. Thom's Notes: Time on AUV was 1999.    Fresh checkout from cvs, build failed. gcc \-o uplinkQserver uplinkQueuerServer.o  /home/auv/prj/auv-linux/onboard//utils/auvUtils.a /home/auv/prj/auv-shared/lib/libAuvShared.a \-L/opt/omniOrb/omniORB-4.1.0/build/lib/ \-L/usr/local/apr/lib \-lgctpc \-lpthread \-llog4cxx \-lnetcdf \-lnewmat  \-lapr-1 \-laprutil-1 \-lrt uplinkQueuerServer.o: In function `main': /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:9: undefined reference to `mbari::Logger::configure(char const*)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:17: undefined reference to `MsgQueuerServer::MsgQueuerServer(char const*, long, long, unsigned char, int)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:26: undefined reference to `MsgQueuerServer::run()' collect2: ld returned 1 exit status make\[1\]: \**\* \[uplinkQserver\] Error 1 make\[1\]: Leaving directory `/home/auv/prj/auv-linux/onboard/tools' make failed make: \**\* \[all\] Error 2 \\ The build got far enough to enable teledyne and crossbow builds.    Teledyne would not run without creating 'latest' directory in onboard/logs though I seem to remember there was a link involved (talk to Tom O.). \\  For Leak detection: [http://www.cprogramming.com/debugging/valgrind.html] http://www.tldp.org/HOWTO/Valgrind-HOWTO/\\]]> 3113885 5900213 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900212 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900219 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900218 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900217 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900216 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 5900228 3637442 2008-07-29 10:44:43.447 2008-07-29 10:44:43.447 8356230 8388976 5 2009-01-13 10:03:06.753 2009-01-14 10:04:40.390 8356111 8945911 8913153 3670197 /dev/ttyS6 * 9600 8N1 * Status (+)   ** ./ashtechapp \-dev /dev/ttyS6 ** 'Partial' Basic functional - tested with no statellite acquisition.     ** 'Soak Test' shows what looks like a memory leak.    Experimented (a day) with Duma and Valgrind in an effort to track down the leak.    Need more time to develop expertise with the tool. \\ h5. bluefinBatt * devices.cfg change: /dev/ser10 \-> /dev/ttyS9 * Status (-)   ** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ h5. 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  *** July 9:  Hans has made the docking vehicle available to finish the porting / validation.   The 3dmgx1 is not on the vehicle, but rather the Crossbow DMU **** The DMU baud rate can be changed per the following procedure: **** 1. Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. **** 2. Send the ASCII character "b" (0x62 hex) to the DMU. In a terminal program like minicom simply type the letter "b". The DMU is case sensitive. The DMU will respond "B" (0x42 hex). **** 3. Now change the baud rate of your terminal software.  **** 4. Send the ASCII character "a" (61 hex). The DMU will detect the character and automatically match the baud rate your software is using. Upon successful operation, the DMU will return the character "A" (0x41 hex) at the new baud rate. **** 5. You can now use the DMU at the new baud rate. The new baud rate setting is not permanent; therefore, this process must be repeated after any power reset. **** Sanity check the Crossbow\* *Command* *Query DMU Version,* *Character(s) Sent* v, *Response* ASCII string\*  *Command* Query DMU Serial Number, *Character(s) Sent S*, *Response* Binary serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. ** Fixed a bug in checkChecksum.   The struct overlay on the record was reading testPacket->Checksum as zero.   There were too many castings, so rewrote the routine to operate directly on the char record - BUG FIXED. \\ h5. parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 * wait 60sec (or so) for 'ping service worksite' to timeout * Actions: ** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 ** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed ** Have obtained manual - parosci is unresponsive to serial commands via minicom ** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent. ** Manual indicates commands should start with an asterisk (the request for serial number does not have this). ** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. *** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. *** No response to \*9900VR *** No response to \*0100SN ** Write a simple serial program to make sure the correct byte string is sent to parosci. *** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 ** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 ** \*0100P3<0x0d><0x0a> responds with \*000116.02 ** Minicom can be used - need to terminate the \*0100SN request with , (ctrl-m, ctrl-j is 0x0d, 0x0a in minicom) * Next step is to hook up the serial protocol analyzer.   ** Made a cable with grab leads, but it's too hard to get the connection.    Tom Marion made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer * With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. **   Fixed a bug in sscanf which was incorrectly parsing ** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. ** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) ** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ** Found a problem **  Protocol Notes: *** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | * Status (+) ** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  ** Fixed bug in baud set ** Fixed bug in read serial number (sscanf and retries) ** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). ** Soak test runs overnight.      *** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  *** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.   Fixed struct overlay bug which was causing data error. h5. sonardyne usbl * No test executable available h5. \\ h5. tailcone * changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 * ./tailcone \-dev /dev/ttyS2 * Cautions: ** Recommend running tailcone tests while observing the tailcone ** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) * Status (/) ** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ h5. Teledyne dvl - Doppler Velocity Log * changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 * Actions ** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) *** Have tried a sleep to allow the termio buffer to fill - does not help. *** In progress Reading up on termio and analyzing termio setup... *** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) *** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 * Status (/) ** Done   ** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) ** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios ** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. ** PD0 operation is passing basic functional test, but there is a bug blocking long term runs suspecting UART fifo depth.      ** Hans confirmed and fixed the UART setup using something like auto configure for the serial drivers at startup (Debian install issue). \\ \\ \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * \[9 July 2008\] Crossbow Table 4. CrossBow AHRS300CA Data Packet Format | Byte | VG Mode | Scaled Sensor Mode | Voltage Mode | | 0 | Header (255) | Header (255) | Header (255) | | 1 | Roll Angle (MSB) | Roll Angular Rate (MSB) | Roll Gyro Voltage (MSB) | | 2 | Roll Angle (LSB) | Roll Angular Rate (LSB) | Roll Gyro Voltage (LSB) | | 3 | Pitch Angle (MSB) | Pitch Angular Rate (MSB) | Pitch Gyro Voltage (MSB) | | 4 | Pitch Angle (LSB) | Pitch Angular Rate (LSB) | Pitch Gyro Voltage (LSB) | | 5 | Heading Angle (MSB) | Yaw Angular Rate (MSB) | Yaw Gyro Voltage (MSB) | | 6 | Heading Angle (LSB) | Yaw Angular Rate (LSB) | Yaw Gyro Voltage (LSB) | | 7 | Roll Angular Rate (MSB) | X-Axis Acceleration (MSB) | X-Axis Accel Voltage (MSB) | | 8 | Roll Angular Rate (LSB) | X-Axis Acceleration (LSB) | X-Axis Accel Voltage (LSB) | | 9 | Pitch Angular Rate (MSB) | Y-Axis Acceleration (MSB) | Y-Axis Accel Voltage (MSB) | | 10 | Pitch Angular Rate (LSB) | Y-Axis Acceleration (LSB) | Y-Axis Accel Voltage (LSB) | | 11 | Yaw Angular Rate (MSB) | Z-Axis Acceleration (MSB) | Z-Axis Accel Voltage (MSB) | | 12 | Yaw Angular Rate (LSB) | Z-Axis Acceleration (LSB) | Z-Axis Accel Voltage (LSB) | | 13 | X-Axis Acceleration (MSB) | X-Axis Magnetic Field (MSB) | X-Axis Mag Voltage (MSB) | | 14 | X-Axis Acceleration (LSB) | X-Axis Magnetic Field (LSB) | X-Axis Mag Voltage (LSB) | | 15 | Y-Axis Acceleration (MSB) | Y-Axis Magnetic Field (MSB) | Y-Axis Mag Voltage (MSB) | | 16 | Y-Axis Acceleration (LSB) | Y-Axis Magnetic Field (LSB) | Y-Axis Mag Voltage (LSB) | | 17 | Z-Axis Acceleration (MSB) | Z-Axis Magnetic Field (MSB) | Z-Axis Mag Voltage (MSB) | | 18 | Z-Axis Acceleration (LSB) | Z-Axis Magnetic Field (LSB) | Z-Axis Mag Voltage (LSB) | | 19 | X-Axis Magnetic Field (MSB) | Temp Sensor Voltage (MSB) | Temp Sensor Voltage (MSB) | | 20 | X-Axis Magnetic Field (LSB) | Temp Sensor Voltage (LSB) | Temp Sensor Voltage (LSB) | | 21 | Y-Axis Magnetic Field (MSB) | Time (MSB) | Time (MSB) | | 22 | Y-Axis Magnetic Field (LSB) | Time (LSB) | Time (LSB) | | 23 | Z-Axis Magnetic Field (MSB) | Checksum | Checksum | | 24 | Z-Axis Magnetic Field (LSB) | | | | 25 | Temp Sensor Voltage (MSB) | | | | 26 | Temp Sensor Voltage (LSB) | | | | 27 | Time (MSB) | | | | 28 | Time (LSB) | | | | 29 | Checksum | | | *** \[Bug - build\] Top level build fails, though enough is built to enable driver development *** \[Bug - blocking\] Fixed bug in 'checkChecksum that was blocking processRecord.   Due to unpacked data (code is not compiled to pack on byte boundary, pragma pack(1)) struct overly on serial byte stream (testPacket->checksum was zero, yet the proper checksum is in the 'record' byte buf).   Changed checkChecksum to operate on byte stream with fixed offset for checksum location. *** Output looks wrong after fixing checksum problem.    Confirmed to be the 'pack' problem.   Bug fixed by building the data structure from the bytes, rather than overlaying and byte swapping. *** Here's the output showing raw data stability but bad data (before bug fix). **** 13:40:00.467 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=047a, HdgA=1d89 13:40:00.469 INFO \[Crossbow\]    R =  171.58 : P = \-167.32 : Y =    7.19 13:40:01.471 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0472, HdgA=1d86 13:40:01.473 INFO \[Crossbow\]    R =  160.33 : P = \-171.54 : Y =    1.57 13:40:02.471 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0475, HdgA=1d94 13:40:02.473 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =  \-84.22 13:40:03.476 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0475, HdgA=1d94 13:40:03.477 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =    5.78 13:40:04.479 INFO \[Crossbow\] Hdr=ff, RolA=035d, PitA=0475, HdgA=1d89 13:40:04.481 INFO \[Crossbow\]    R =  164.55 : P = \-167.32 : Y =   \-5.47 13:40:05.483 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0475, HdgA=1d87 13:40:05.485 INFO \[Crossbow\]    R =  164.55 : P = \-170.13 : Y =   17.03 13:40:06.488 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0476, HdgA=1d86 13:40:06.489 INFO \[Crossbow\]    R =  165.95 : P = \-171.54 : Y =   \-5.47 13:40:07.492 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0477, HdgA=1d93 **** Here's the data after the bug fix. 14:16:37.203 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0478, HdgA=1d97 14:16:37.204 INFO \[Crossbow\]    R =    4.71 : P =    6.28 : Y =   41.61 14:16:38.206 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0479, HdgA=1d96 14:16:38.207 INFO \[Crossbow\]    R =    4.71 : P =    6.29 : Y =   41.61 14:16:39.210 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0476, HdgA=1d93 14:16:39.211 INFO \[Crossbow\]    R =    4.69 : P =    6.27 : Y =   41.59 14:16:40.214 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0478, HdgA=1d94 14:16:40.215 INFO \[Crossbow\]    R =    4.70 : P =    6.28 : Y =   41.59 14:16:41.218 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=047a, HdgA=1d94 14:16:41.219 INFO \[Crossbow\]    R =    4.72 : P =    6.30 : Y =   41.59 14:16:42.223 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0477, HdgA=1d96 14:16:42.223 INFO \[Crossbow\]    R =    4.69 : P =    6.28 : Y =   41.61 14:16:43.227 INFO \[Crossbow\] Hdr=ff, RolA=035f, PitA=0474, HdgA=1d96 14:16:43.227 INFO \[Crossbow\]    R =    4.74 : P =    6.26 : Y =   41.61 14:16:44.231 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0473, HdgA=1d96 14:16:44.232 INFO \[Crossbow\]    R =    4.70 : P =    6.26 : Y =   41.61 14:16:45.235 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0476, HdgA=1d96 14:16:45.235 INFO \[Crossbow\]    R =    4.72 : P =    6.27 : Y =   41.61 14:16:46.239 INFO \[Crossbow\] Hdr=ff, RolA=0360, PitA=0478, HdgA=1d96 14:16:46.240 INFO \[Crossbow\]    R =    4.75 : P =    6.28 : Y =   41.61 \\ ** \[Bug - minor\] Serial number is read incorrectly.   NOT FIXED as it does not block tank test on July 17  *** 12:54:51.390 INFO \[Crossbow\] Serial Number: ff000043 *** 12:54:51.393 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 4278190147 (ff000043)  <<-\- 4278190147 looks incorrect. *** According to the Manual:  \* The DMU will respond with a serial number datapacket that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte.  The serial number bytes should be interpreted as a 32-bit unsigned integer. For example, the serial number 9911750 would be sent as the four bytes 00 97 3D C6. ** \[Bug - minor\] termios set baud failure.   Port is operational at 38400, but attempts to set it fail.   This will be pushed off until after tank test. *** 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed ***   * \[11 July 2008\] Parosci on docking AUV ** \[Bug - Blocking with workaround\] Bad read of serial number is preventing the driver test from executing.    Looks like the Serial number is requested, but the Parosci is busy streaming pressure readings (*000130.13829) *** 15:05:42.226 DEBUG \[ParosciApp\] Leaving ParosciApp.initialize() 15:05:42.227 INFO \[AuvApplication\] run() - just sleeps by default 15:05:42.341 DEBUG \[Parosci\] writeCommand \*0100SN *** 15:05:42.358 DEBUG \[Parosci\] Serial Number response: \*000130.13829 15:05:42.358 ERROR \[Parosci\] sscanf ret 0, incorrect serial number format 15:05:42.360 ERROR \[AuvService\] Read incorrect serial number format *** Went into minicom and got the parosci to stop streaming (actually, just opening minicom showed a series of pressure readings with the last output being the serial number).   Maybe a flush in the right place is needed. ** Ran the test again, starting with a 'non-streaming' parosci. *** 15:15:58.779 INFO \[Parosci\] Paroscientific configured. 15:15:58.850 DEBUG \[StreamSerialDriver\] run() - start main loop 15:15:58.851 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:15:58.985 DEBUG \[Parosci\] reply with value is 30.13823^M 15:15:58.986 INFO \[Parosci\] depth is: 1146999941 *** Changed format character for depth from int to float *** 15:50:02.429 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.430 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.431 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.434 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.610 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.611 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.611 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.614 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.790 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.790 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.791 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.794 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.969 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.970 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.971 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.974 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.153 DEBUG \[Parosci\] reply with value is 30.13807 15:50:03.155 INFO \[Parosci\] depth is:  \-0.1513 15:50:03.155 DEBUG \[Parosci\] 1 bytes buffered now 15:50:03.158 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.244 DEBUG \[Parosci\] getting temp period 15:50:03.356 DEBUG \[Parosci\] writeCommand \*0100Q1 *** 15:50:03.484 DEBUG \[Parosci\] writeCommand \*0100Q1 *** 15:50:03.593 DEBUG \[Parosci\] reply with value is 5.840225 15:50:03.704 DEBUG \[Parosci\] writeCommand \*0100P2 *** 15:50:03.719 INFO \[Parosci\] tempPeriod is: \-247390116 15:50:03.720 DEBUG \[Parosci\] 0 bytes buffered now 15:50:03.723 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.925 DEBUG \[Parosci\] reply with value is 30.13809 15:50:03.926 INFO \[Parosci\] depth is:  \-0.1744 15:50:03.927 DEBUG \[Parosci\] 1 bytes buffered now 15:50:03.930 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:04.105 DEBUG \[Parosci\] reply with value is 30.13807 15:50:04.107 INFO \[Parosci\] depth is:  \-0.1513 15:50:04.107 DEBUG \[Parosci\] 1 bytes buffered now 15:50:04.110 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:04.285 DEBUG \[Parosci\] reply with value is 30.13809 15:50:04.286 INFO \[Parosci\] depth is:  \-0.1744 15:50:04.287 DEBUG \[Parosci\] 1 bytes buffered now * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D* \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ CrossBow Output auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 14:56:03.622 DEBUG \[CorbaUtils\] get ORB: 14:56:03.642 DEBUG \[CorbaUtils\] get POA: 14:56:03.664 DEBUG \[CorbaUtils\] Looking for event channel "EventChannel" in name service: 14:56:03.669 DEBUG \[CorbaUtils\] Found event channel "EventChannel" 14:56:03.675 DEBUG \[CorbaUtils\] Create provider servant 14:56:03.693 DEBUG \[CorbaUtils\] Create consumer servant 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word crossbowPeriod 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word 100 14:56:03.702 DEBUG \[parseComplex\] Parsing attribute crossbowPeriod = 100 14:56:03.703 DEBUG \[parseComplex\] No current item .. using the provided attributes CrossbowConstants 14:56:03.704 DEBUG \[Attributes\] Attributes::parse() - size=3 14:56:03.705 DEBUG \[Attributes\] Attributes::parse() - compare attribute name crossbowPeriod to input name crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- Found value for crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- crossbowPeriod is set 14:56:03.708 DEBUG \[Attributes\] Attribute crossbowPeriod is hasDefault = true, isSet = true 14:56:03.708 DEBUG \[Attributes\] Attribute debug is hasDefault = true, isSet = false 14:56:03.709 DEBUG \[Attributes\] Attribute dumpHex is hasDefault = true, isSet = false 14:56:03.710 DEBUG \[Attributes\] Attributes::verify() \-\- Attribute set CrossbowConstants is done 14:56:03.730 DEBUG \[CrossbowApp\] Launch instrument driver thread IOR:010000001300000049444c3a6175762f4168727349463a312e300000010000000000000064000000010102000d0000003133342e38392e33322e31360000750e0e000000fef3d6774800001553000000000200000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100 14:56:03.734 DEBUG \[CorbaUtils\] Ahrs already active... 14:56:03.737 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for Ahrs 14:56:03.746 DEBUG \[CorbaUtils\] context already bound 14:56:03.749 DEBUG \[CorbaUtils\] call bind() for Ahrs 14:56:03.759 DEBUG \[CorbaUtils\] call rebind() for Ahrs 14:56:03.763 DEBUG \[CorbaUtils\] invoke prepareToRun() 14:56:03.764 DEBUG \[CorbaUtils\] Activate POA manager 14:56:03.765 DEBUG \[CorbaUtils\] Run the ORB in a new thread 14:56:03.766 DEBUG \[CorbaUtils\] return from registerService() 14:56:03.767 DEBUG \[CrossbowApp\] Leaving CrossbowApp.initialize() 14:56:03.781 INFO \[AuvApplication\] run() - just sleeps by default 14:56:03.768 DEBUG \[Crossbow\] Crossbow::initialize : Initializing Crossbow driver 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed 14:56:03.786 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.789 DEBUG \[Crossbow\] Crossbow::initialize :     ...done\! 14:56:03.789 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.790 DEBUG \[Crossbow\] Crossbow.cc: In getSerialNumber() AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec14:56:03.816 INFO \[Crossbow\] Crossbow.cc: device->read succeeded 14:56:03.818 INFO \[Crossbow\] Crossbow.cc: The serial number is 4278190147 (ff000043) 14:56:03.821 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.860 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.16 14:56:04.852 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.13 14:56:05.856 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.12 14:56:06.860 DEBUG \[Crossbow\] R =    4.70 : P =    6.27 : Y =   43.11 14:56:07.864 DEBUG \[Crossbow\] R =    4.73 : P =    6.27 : Y =   43.12 14:56:08.868 DEBUG \[Crossbow\] R =    4.71 : P =    6.25 : Y =   43.21 14:56:09.872 DEBUG \[Crossbow\] R =    4.71 : P =    6.28 : Y =   43.19 14:56:10.876 DEBUG \[Crossbow\] R =    4.69 : P =    6.28 : Y =   43.13 14:56:11.880 DEBUG \[Crossbow\] R =    4.72 : P =    6.29 : Y =   43.11 14:56:12.884 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.11 14:56:13.888 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.10 14:56:14.893 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.23 14:56:15.896 DEBUG \[Crossbow\] R =    4.69 : P =    6.27 : Y =   43.17   \\   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100 \\]]> 3637442 916 919 9798646 9831386 7 2009-04-17 15:16:21.417 2009-04-27 22:04:51.020 9797756 9798648 9831388 8 2009-04-17 15:16:21.417 2009-05-21 15:02:17.373 9797756 14516232 14549000 6 2010-07-12 22:29:00.377 2010-08-18 08:28:54.800 13926456 18579625 18645143 5 2012-01-25 00:40:17.360 2012-01-25 01:10:56.643 18579613 18579624 18645142 4 2012-01-25 00:40:17.360 2012-01-25 01:10:16.000 18579613 18579623 18645141 3 2012-01-25 00:40:17.360 2012-01-25 01:09:31.317 18579613 18579622 18645140 2 2012-01-25 00:40:17.360 2012-01-25 00:55:18.327 18579613 18579621 18645139 3 2012-01-25 01:06:33.030 2012-01-25 01:08:05.540 18579617 18579620 18645138 2 2012-01-25 01:06:33.030 2012-01-25 01:07:22.370 18579617 18579618 18645136 1 2012-01-25 01:06:33.030 2012-01-25 01:06:33.030 18579617 5374032 5406791 6 2008-04-01 11:50:27.647 2008-04-03 09:05:33.890 3114460 5374034 5406793 9 2008-03-21 16:35:05.490 2008-04-09 12:26:43.703 3114074 18579615 18645133 1 2012-01-25 00:40:17.360 2012-01-25 00:40:17.360 18579613 11042900 8912901 2010-01-05 11:37:24.600 2010-01-05 11:37:24.600 1224418 1 11239519 8356111 11272286 1 2010-01-21 23:06:31.653 2010-01-21 23:06:31.653 11042892 8912901 2010-01-04 12:29:42.573 2010-01-04 12:29:42.573 1009310 1 15706753 13926456 2011-01-07 17:42:00.637 2011-01-07 17:42:00.637 15706754 13926456 2011-01-07 17:42:00.637 2011-01-07 17:42:00.637 15706755 13926456 2011-01-07 17:42:00.637 2011-01-07 17:42:00.637 11042866 8912901 2009-11-02 15:54:35.163 2009-11-02 15:54:35.163 75178 1 11042865 8912901 2009-11-02 15:41:06.847 2009-11-02 15:41:06.847 72634 1 15706757 13926456 2011-01-07 17:42:00.637 2011-01-07 17:42:00.637 15706756 13926456 2011-01-07 17:42:00.637 2011-01-07 17:42:00.637 15706759 13926456 2011-01-07 17:42:00.637 2011-01-07 17:42:00.637 15706758 13926456 2011-01-07 17:42:00.637 2011-01-07 17:42:00.637 15706760 13926456 2011-01-07 17:42:00.637 2011-01-07 17:42:00.637 18579635 18645153 11 2012-01-25 00:40:17.360 2012-01-25 09:02:18.360 18579613 1060 1063 18579627 18645145 6 2012-01-25 00:40:17.360 2012-01-25 01:17:50.013 18579613 18579628 18645146 7 2012-01-25 00:40:17.360 2012-01-25 01:24:21.277 18579613 18579629 18645147 43 2009-01-20 07:54:29.753 2011-06-07 16:29:07.603 8912901 18579631 18645149 8 2012-01-25 00:40:17.360 2012-01-25 01:25:31.907 18579613 18579633 18645151 9 2012-01-25 00:40:17.360 2012-01-25 08:46:04.097 18579613 18579634 18645152 10 2012-01-25 00:40:17.360 2012-01-25 08:50:32.523 18579613 10944946 10912189 3277005 1 3113885 2008-03-21 10:45:15.100 2008-03-21 10:45:15.100 16285912 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 3276988 72 3113885 2008-03-12 08:57:15.017 2008-05-02 15:17:15.027 3276987 28 3113885 2008-03-12 08:49:15.023 2008-04-17 08:23:15.070 16285908 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285909 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285910 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 3276990 4 3113885 2008-03-13 09:02:15.027 2008-03-19 09:34:15.053 16285911 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285907 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 3276978 1 763 2008-03-04 11:24:15.027 2008-03-04 11:24:15.027 16285906 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285905 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285904 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285903 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285902 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285901 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285900 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 16285899 751 2011-03-02 08:44:21.917 2011-03-02 08:44:21.917 3276976 1 751 2008-03-04 11:21:15.053 2008-03-04 11:21:15.053 3276977 1 763 2008-03-04 11:22:15.040 2008-03-04 11:22:15.040 3179556 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba.sh' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  **** Create a symbolic link using update-rc.d (Debian command)  ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** edit */etc/dhcp3/dhclient.conf* to add the following line: ****** send host-name "foce2.shore.mbari.org" ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} Base baud for CTI boards. Default Max Baud = 115200 bps define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS{color} {color:black}UARTCLKPORT{color}{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } ttyS0 { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } ttyS1 { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } ttyS2 { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } ttyS3 { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS } ttyS4 { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS } ttyS5 { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS } ttyS6 { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS } ttyS7 \\ If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \\ \\ \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available. \\ More stream of consciousness ramblings: *OmniNotify v2.1 will not compile with the latest C+\+ offerings from GNU and Microsoft.* Why?  Because support for the header has been removed. It is replaced by (without the .h) and requires use of namespaces to access. A patch to v2.1 that fixes this is attached \\]]> 3114074 9441008 9372360 2009-03-31 08:47:26.383 2009-03-31 08:47:26.383 1179838 1179834 1212604 1 2007-07-16 12:57:35.260 2007-07-16 12:57:35.260 1835068 1867832 12 2007-09-18 09:00:02.313 2007-09-19 13:38:57.467 1835056 1835067 1867831 11 2007-09-18 09:00:02.313 2007-09-18 22:56:45.420 1835056 1835069 1867833 13 2007-09-18 09:00:02.313 2007-09-19 13:42:52.450 1835056 1835059 1867823 3 2007-09-18 09:00:02.313 2007-09-18 16:55:09.680 1835056 1835060 1867824 4 2007-09-18 09:00:02.313 2007-09-18 22:18:08.843 1835056 1835061 1867825 5 2007-09-18 09:00:02.313 2007-09-18 22:20:59.603 1835056 1835062 1867826 6 2007-09-18 09:00:02.313 2007-09-18 22:27:04.530 1835056 1835063 1867827 7 2007-09-18 09:00:02.313 2007-09-18 22:36:39.853 1835056 1835064 1867828 8 2007-09-18 09:00:02.313 2007-09-18 22:40:39.957 1835056 1835065 1867829 9 2007-09-18 09:00:02.313 2007-09-18 22:41:14.567 1835056 1835066 1867830 10 2007-09-18 09:00:02.313 2007-09-18 22:47:48.767 1835056 3277051 2 751 2008-03-21 17:03:15.190 2008-03-21 17:03:15.190 1835057 1867821 1 2007-09-18 09:00:02.313 2007-09-18 09:00:02.313 1835056 3277050 2 763 2008-03-21 17:03:15.177 2008-03-21 17:03:15.177 1835058 1867822 2 2007-09-18 09:00:02.313 2007-09-18 16:10:13.350 1835056 824 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 3277047 1 3113885 2008-03-21 17:00:15.047 2008-03-21 17:00:15.047 823 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 3277048 2 751 2008-03-21 17:01:15.023 2008-03-21 17:02:15.017 822 20 2007-02-05 13:32:58.357 2007-02-05 13:32:58.357 3277049 16 3113885 2008-03-21 17:01:15.030 2008-06-03 07:35:15.123 821 20 2007-02-05 13:32:58.353 2007-02-05 13:32:58.353 1343495 2 875 2007-06-08 14:27:15.087 2008-04-22 16:22:15.030 3277042 1 3113885 2008-03-21 16:50:15.030 2008-03-21 16:50:15.030 828 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 1343494 27 751 2007-06-08 14:27:15.053 2008-06-03 07:35:15.077 827 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 826 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 825 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 3277038 17 3114074 2008-03-21 16:38:15.020 2008-06-02 13:02:15.073 831 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 830 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 829 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 836 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 3277034 1 3114074 2008-03-21 16:35:15.017 2008-03-21 16:35:15.017 835 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 3277035 2 3114074 2008-03-21 16:36:15.020 2008-03-25 13:52:15.050 834 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 3277036 8 3114074 2008-03-21 16:36:15.023 2008-04-10 15:56:15.070 3277037 10 3113885 2008-03-21 16:37:15.017 2008-04-10 15:57:15.027 833 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 839 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 840 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 838 20 2007-02-05 13:33:38.907 2007-02-05 13:33:38.907 3277026 1 3113885 2008-03-21 16:20:15.030 2008-03-21 16:20:15.030 3277025 4 751 2008-03-21 16:18:15.020 2008-03-21 17:00:15.037 3277021 1 753 2008-03-21 16:03:15.070 2008-03-21 16:03:15.070 3277020 2 869 2008-03-21 16:03:15.067 2008-03-21 16:04:15.040 4882484 20 2008-06-03 12:45:31.183 2008-06-03 12:45:31.183 4882483 20 2008-06-03 12:45:18.017 2008-06-03 12:45:18.017 656041 589901 2007-04-03 08:15:38.107 2007-04-03 08:15:38.107 3277117 6 3113885 2008-03-24 08:08:15.020 2008-05-01 13:02:15.027 10912267 10945022 32 2009-01-20 07:54:29.753 2009-12-09 13:25:09.200 8912901 589903 622670 1 2007-04-02 21:49:41.917 2007-04-02 21:49:41.917 589901 3179932 0This is a pure timed read. If data are available in the input queue, it's transferred to the caller's buffer up to a maximum of nbytes, and returned immediately to the caller. Otherwise the driver blocks until data arrives, or when VTIME tenths expire from the start of the call. If the timer expires without data, zero is returned. A single byte is sufficient to satisfy this read call, but if more is available in the input queue, it's returned to the caller. Note that this is anoveralltimer, not anintercharacterone.VMIN > 0 and VTIME > 0Aread()is satisfied when either VMIN characters have been transferred to the caller's buffer, or when VTIME tenths expire between characters. Since this timer is not started until the first character arrives, this call can block indefinitely if the serial line is idle. This is the most common mode of operation, and we consider VTIME to be anintercharactertimeout, not anoverallone. This call should never return zero bytes read.VMIN > 0 and VTIME = 0This is a counted read that is satisfied only when at least VMIN characters have been transferred to the caller's buffer - there is no timing component involved. This read can be satisfied from the driver's input queue (where the call could return immediately), or by waiting for new data to arrive: in this respect the call could block indefinitely. We believe that it's undefined behavior if nbytes is less then VMIN. \\ \\ \\ \\ \--------------------------------------\-  http://www.gnu.org/software/libc/manual/html_mono/libc.html\\ h4. 17.4.4 Input Modes This section describes the terminal attribute flags that control fairly low-level aspects of input processing: handling of parity errors, break signals, flow control, and and characters. All of these flags are bits in the c_iflag member of the struct termios structure. The member is an integer, and you change flags using the operators &, \| and \^. Don't try to specify the entire value for c_iflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *INPCK* If this bit is set, input parity checking is enabled. If it is not set, no checking at all is done for parity errors on input; the characters are simply passed through to the application. Parity checking on input processing is independent of whether parity detection and generation on the underlying terminal hardware is enabled; see Control Modes. For example, you could clear the INPCK input mode flag and set the PARENB control mode flag to ignore parity errors on input, but still generate parity on output. If this bit is set, what happens when a parity error is detected depends on whether the IGNPAR or PARMRK bits are set. If neither of these bits are set, a byte with a parity error is passed to the application as a '\0' character. --- Macro: tcflag_t *IGNPAR* If this bit is set, any byte with a framing or parity error is ignored. This is only useful if INPCK is also set. --- Macro: tcflag_t *PARMRK* If this bit is set, input bytes with parity or framing errors are marked when passed to the program. This bit is meaningful only when INPCK is set and IGNPAR is not set. The way erroneous bytes are marked is with two preceding bytes, 377 and 0. Thus, the program actually reads three bytes for one erroneous byte received from the terminal. If a valid byte has the value 0377, and ISTRIP (see below) is not set, the program might confuse it with the prefix that marks a parity error. So a valid byte 0377 is passed to the program as two bytes, 0377 0377, in this case. --- Macro: tcflag_t *ISTRIP* If this bit is set, valid input bytes are stripped to seven bits; otherwise, all eight bits are available for programs to read. --- Macro: tcflag_t *IGNBRK* If this bit is set, break conditions are ignored. A break condition is defined in the context of asynchronous serial data transmission as a series of zero-value bits longer than a single byte. --- Macro: tcflag_t *BRKINT* If this bit is set and IGNBRK is not set, a break condition clears the terminal input and output queues and raises a SIGINT signal for the foreground process group associated with the terminal. If neither BRKINT nor IGNBRK are set, a break condition is passed to the application as a single '\0' character if PARMRK is not set, or otherwise as a three-character sequence '\377', '\0', '\0'. --- Macro: tcflag_t *IGNCR* If this bit is set, carriage return characters ('\r') are discarded on input. Discarding carriage return may be useful on terminals that send both carriage return and linefeed when you type the key. --- Macro: tcflag_t *ICRNL* If this bit is set and IGNCR is not set, carriage return characters ('\r') received as input are passed to the application as newline characters ('\n'). --- Macro: tcflag_t *INLCR* If this bit is set, newline characters ('\n') received as input are passed to the application as carriage return characters ('\r'). --- Macro: tcflag_t *IXOFF* If this bit is set, start/stop control on input is enabled. In other words, the computer sends STOP and START characters as necessary to prevent input from coming in faster than programs are reading it. The idea is that the actual terminal hardware that is generating the input data responds to a STOP character by suspending transmission, and to a START character by resuming transmission. See Start/Stop Characters. --- Macro: tcflag_t *IXON* If this bit is set, start/stop control on output is enabled. In other words, if the computer receives a STOP character, it suspends output until a START character is received. In this case, the STOP and START characters are never passed to the application program. If this bit is not set, then START and STOP can be read as ordinary characters. See Start/Stop Characters. --- Macro: tcflag_t *IXANY* If this bit is set, any input character restarts output when output has been suspended with the STOP character. Otherwise, only the START character restarts output. This is a BSD extension; it exists only on BSD systems and the GNU system. --- Macro: tcflag_t *IMAXBEL* If this bit is set, then filling up the terminal input buffer sends a BEL character (code 007) to the terminal to ring the bell. This is a BSD extension. \\ h4. 17.4.5 Output Modes This section describes the terminal flags and fields that control how output characters are translated and padded for display. All of these are contained in the c_oflag member of the struct termios structure. The c_oflag member itself is an integer, and you change the flags and fields using the operators &, \|, and \^. Don't try to specify the entire value for c_oflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *OPOST* If this bit is set, output data is processed in some unspecified way so that it is displayed appropriately on the terminal device. This typically includes mapping newline characters ('\n') onto carriage return and linefeed pairs. If this bit isn't set, the characters are transmitted as-is. The following three bits are BSD features, and they exist only BSD systems and the GNU system. They are effective only if OPOST is set. --- Macro: tcflag_t *ONLCR* If this bit is set, convert the newline character on output into a pair of characters, carriage return followed by linefeed. --- Macro: tcflag_t *OXTABS* If this bit is set, convert tab characters on output into the appropriate number of spaces to emulate a tab stop every eight columns. --- Macro: tcflag_t *ONOEOT* If this bit is set, discard C-d characters (code 004) on output. These characters cause many dial-up terminals to disconnect. \\ h4. 17.4.6 Control Modes This section describes the terminal flags and fields that control parameters usually associated with asynchronous serial data transmission. These flags may not make sense for other kinds of terminal ports (such as a network connection pseudo-terminal). All of these are contained in the c_cflag member of the struct termios structure. The c_cflag member itself is an integer, and you change the flags and fields using the operators &, \|, and \^. Don't try to specify the entire value for c_cflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *CLOCAL* If this bit is set, it indicates that the terminal is connected "locally" and that the modem status lines (such as carrier detect) should be ignored. On many systems if this bit is not set and you call open without the O_NONBLOCK flag set, open blocks until a modem connection is established. If this bit is not set and a modem disconnect is detected, a SIGHUP signal is sent to the controlling process group for the terminal (if it has one). Normally, this causes the process to exit; see Signal Handling. Reading from the terminal after a disconnect causes an end-of-file condition, and writing causes an EIO error to be returned. The terminal device must be closed and reopened to clear the condition. --- Macro: tcflag_t *HUPCL* If this bit is set, a modem disconnect is generated when all processes that have the terminal device open have either closed the file or exited. --- Macro: tcflag_t *CREAD* If this bit is set, input can be read from the terminal. Otherwise, input is discarded when it arrives. --- Macro: tcflag_t *CSTOPB* If this bit is set, two stop bits are used. Otherwise, only one stop bit is used. --- Macro: tcflag_t *PARENB* If this bit is set, generation and detection of a parity bit are enabled. See Input Modes, for information on how input parity errors are handled. If this bit is not set, no parity bit is added to output characters, and input characters are not checked for correct parity. --- Macro: tcflag_t *PARODD* This bit is only useful if PARENB is set. If PARODD is set, odd parity is used, otherwise even parity is used. The control mode flags also includes a field for the number of bits per character. You can use the CSIZE macro as a mask to extract the value, like this: settings.c_cflag & CSIZE. --- Macro: tcflag_t *CSIZE* This is a mask for the number of bits per character. --- Macro: tcflag_t *CS5* This specifies five bits per byte. --- Macro: tcflag_t *CS6* This specifies six bits per byte. --- Macro: tcflag_t *CS7* This specifies seven bits per byte. --- Macro: tcflag_t *CS8* This specifies eight bits per byte. The following four bits are BSD extensions; this exist only on BSD systems and the GNU system. --- Macro: tcflag_t *CCTS_OFLOW* If this bit is set, enable flow control of output based on the CTS wire (RS232 protocol). --- Macro: tcflag_t *CRTS_IFLOW* If this bit is set, enable flow control of input based on the RTS wire (RS232 protocol). --- Macro: tcflag_t *MDMBUF* If this bit is set, enable carrier-based flow control of output. --- Macro: tcflag_t *CIGNORE* If this bit is set, it says to ignore the control modes and line speed values entirely. This is only meaningful in a call to tcsetattr. The c_cflag member and the line speed values returned by cfgetispeed and cfgetospeed will be unaffected by the call. CIGNORE is useful if you want to set all the software modes in the other members, but leave the hardware details in c_cflag unchanged. (This is how the TCSASOFT flag to tcsettattr works.) This bit is never set in the structure filled in by tcgetattr. \\ \\ h4. 17.4.7 Local Modes This section describes the flags for the c_lflag member of the struct termios structure. These flags generally control higher-level aspects of input processing than the input modes flags described in Input Modes, such as echoing, signals, and the choice of canonical or noncanonical input. The c_lflag member itself is an integer, and you change the flags and fields using the operators &, \|, and \^. Don't try to specify the entire value for c_lflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *ICANON* This bit, if set, enables canonical input processing mode. Otherwise, input is processed in noncanonical mode. See Canonical or Not. --- Macro: tcflag_t *ECHO* If this bit is set, echoing of input characters back to the terminal is enabled. --- Macro: tcflag_t *ECHOE* If this bit is set, echoing indicates erasure of input with the ERASE character by erasing the last character in the current line from the screen. Otherwise, the character erased is re-echoed to show what has happened (suitable for a printing terminal). This bit only controls the display behavior; the ICANON bit by itself controls actual recognition of the ERASE character and erasure of input, without which ECHOE is simply irrelevant. --- Macro: tcflag_t *ECHOPRT* This bit is like ECHOE, enables display of the ERASE character in a way that is geared to a hardcopy terminal. When you type the ERASE character, a `\' character is printed followed by the first character erased. Typing the ERASE character again just prints the next character erased. Then, the next time you type a normal character, a `/' character is printed before the character echoes. This is a BSD extension, and exists only in BSD systems and the GNU system. --- Macro: tcflag_t *ECHOK* This bit enables special display of the KILL character by moving to a new line after echoing the KILL character normally. The behavior of ECHOKE (below) is nicer to look at. If this bit is not set, the KILL character echoes just as it would if it were not the KILL character. Then it is up to the user to remember that the KILL character has erased the preceding input; there is no indication of this on the screen. This bit only controls the display behavior; the ICANON bit by itself controls actual recognition of the KILL character and erasure of input, without which ECHOK is simply irrelevant. --- Macro: tcflag_t *ECHOKE* This bit is similar to ECHOK. It enables special display of the KILL character by erasing on the screen the entire line that has been killed. This is a BSD extension, and exists only in BSD systems and the GNU system. --- Macro: tcflag_t *ECHONL* If this bit is set and the ICANON bit is also set, then the newline ('\n') character is echoed even if the ECHO bit is not set. --- Macro: tcflag_t *ECHOCTL* If this bit is set and the ECHO bit is also set, echo control characters with `^' followed by the corresponding text character. Thus, control-A echoes as `^A'. This is usually the preferred mode for interactive input, because echoing a control character back to the terminal could have some undesired effect on the terminal. This is a BSD extension, and exists only in BSD systems and the GNU system. --- Macro: tcflag_t *ISIG* This bit controls whether the INTR, QUIT, and SUSP characters are recognized. The functions associated with these characters are performed if and only if this bit is set. Being in canonical or noncanonical input mode has no affect on the interpretation of these characters. You should use caution when disabling recognition of these characters. Programs that cannot be interrupted interactively are very user-unfriendly. If you clear this bit, your program should provide some alternate interface that allows the user to interactively send the signals associated with these characters, or to escape from the program. See Signal Characters. --- Macro: tcflag_t *IEXTEN* POSIX.1 gives IEXTEN implementation-defined meaning, so you cannot rely on this interpretation on all systems. On BSD systems and the GNU system, it enables the LNEXT and DISCARD characters. See Other Special. --- Macro: tcflag_t *NOFLSH* Normally, the INTR, QUIT, and SUSP characters cause input and output queues for the terminal to be cleared. If this bit is set, the queues are not cleared. --- Macro: tcflag_t *TOSTOP* If this bit is set and the system supports job control, then SIGTTOU signals are generated by background processes that attempt to write to the terminal. See Access to the Terminal. The following bits are BSD extensions; they exist only in BSD systems and the GNU system. --- Macro: tcflag_t *ALTWERASE* This bit determines how far the WERASE character should erase. The WERASE character erases back to the beginning of a word; the question is, where do words begin? If this bit is clear, then the beginning of a word is a nonwhitespace character following a whitespace character. If the bit is set, then the beginning of a word is an alphanumeric character or underscore following a character which is none of those. See Editing Characters, for more information about the WERASE character. --- Macro: tcflag_t *FLUSHO* This is the bit that toggles when the user types the DISCARD character. While this bit is set, all output is discarded. See Other Special. --- Macro: tcflag_t *NOKERNINFO* Setting this bit disables handling of the STATUS character. See Other Special. --- Macro: tcflag_t *PENDIN* If this bit is set, it indicates that there is a line of input that needs to be reprinted. Typing the REPRINT character sets this bit; the bit remains set until reprinting is finished. See Editing Characters. \\ \\ h4. 17.4.10 Noncanonical Input In noncanonical input mode, the special editing characters such as ERASE and KILL are ignored. The system facilities for the user to edit input are disabled in noncanonical mode, so that all input characters (unless they are special for signal or flow-control purposes) are passed to the application program exactly as typed. It is up to the application program to give the user ways to edit the input, if appropriate. Noncanonical mode offers special parameters called MIN and TIME for controlling whether and how long to wait for input to be available. You can even use them to avoid ever waiting---to return immediately with whatever input is available, or with no input. The MIN and TIME are stored in elements of the c_cc array, which is a member of the struct termios structure. Each element of this array has a particular role, and each element has a symbolic constant that stands for the index of that element. VMIN and VMAX are the names for the indices in the array of the MIN and TIME slots. --- Macro: int *VMIN* This is the subscript for the MIN slot in the c_cc array. Thus, termios.c_cc[VMIN] is the value itself. The MIN slot is only meaningful in noncanonical input mode; it specifies the minimum number of bytes that must be available in the input queue in order for read to return. --- Macro: int *VTIME* This is the subscript for the TIME slot in the c_cc array. Thus, termios.c_cc[VTIME] is the value itself. The TIME slot is only meaningful in noncanonical input mode; it specifies how long to wait for input before returning, in units of 0.1 seconds. The MIN and TIME values interact to determine the criterion for when read should return; their precise meanings depend on which of them are nonzero. There are four possible cases: * Both TIME and MIN are nonzero. In this case, TIME specifies how long to wait after each input character to see if more input arrives. After the first character received, read keeps waiting until either MIN bytes have arrived in all, or TIME elapses with no further input. read always blocks until the first character arrives, even if TIME elapses first. read can return more than MIN characters if more than MIN happen to be in the queue. Both MIN and TIME are zero. In this case, read always returns immediately with as many characters as are available in the queue, up to the number requested. If no input is immediately available, read returns a value of zero. MIN is zero but TIME has a nonzero value. In this case, read waits for time TIME for input to become available; the availability of a single byte is enough to satisfy the read request and cause read to return. When it returns, it returns as many characters as are available, up to the number requested. If no input is available before the timer expires, read returns a value of zero. TIME is zero but MIN has a nonzero value. In this case, read waits until at least MIN bytes are available in the queue. At that time, read returns as many characters as are available, up to the number requested. read can return more than MIN characters if more than MIN happen to be in the queue. What happens if MIN is 50 and you ask to read just 10 bytes? Normally, read waits until there are 50 bytes in the buffer (or, more generally, the wait condition described above is satisfied), and then reads 10 of them, leaving the other 40 buffered in the operating system for a subsequent call to read. *Portability note:* On some systems, the MIN and TIME slots are actually the same as the EOF and EOL slots. This causes no serious problem because the MIN and TIME slots are used only in noncanonical input and the EOF and EOL slots are used only in canonical input, but it isn't very clean. The GNU library allocates separate slots for these uses. --- Function: void *cfmakeraw* (struct termios \*termios-p) This function provides an easy way to set up \*termios-p for what has traditionally been called "raw mode" in BSD. This uses noncanonical input, and turns off most processing to give an unmodified channel to the terminal. It does exactly this: termios-p->c_iflag &= \~(IGNBRK\|BRKINT\|PARMRK\|ISTRIP | INLCR | IGNCR | ICRNL | IXON); \\ termios-p->c_oflag &= \~OPOST; \\ termios-p->c_lflag &= \~(ECHO | ECHONL | ICANON | ISIG | IEXTEN); \\ termios-p->c_cflag &= \~(CSIZE | PARENB); \\ termios-p->c_cflag | = CS8; \\   \\   \\ | \\ \--------------------------------------------------------------------------------\- \\ h3. IOCTL's: Buffer count and flushing FIONREAD int \*argpGetthenumber ofbytesintheinput buffer.TIOCINQ int \*argpSame as FIONREAD.TIOCOUTQ int \*argpGetthenumber ofbytesintheoutput buffer.TCFLSH intargEquivalenttotcflush(fd, arg). Seetcflush(3)fortheargument values TCIFLUSH, TCOFLUSH, TCIOFLUSH.]]> 3114460 3113441 3178948 7 2007-02-05 13:40:04.233 2007-02-08 13:59:04.643 763 20972086 21004849 17 2013-04-09 13:20:29.733 2013-05-15 17:25:47.403 20971526 855 753 852 1 2007-02-12 08:49:04.123 2007-02-12 08:49:04.123 589872 622639 14 2007-02-05 11:17:34.830 2007-03-19 13:20:33.960 751 20972081 21004844 16 2013-04-09 13:20:29.733 2013-05-13 15:07:58.770 20971526 11239508 11272275 11 2009-01-20 08:20:32.983 2010-01-20 22:40:03.437 8912903 3277178 2 3113885 2008-04-01 16:10:15.057 2008-04-09 10:52:15.053 3277179 1 3113885 2008-04-01 16:13:15.027 2008-04-01 16:13:15.027 839 837 836 1 2007-02-08 11:05:47.427 2007-02-08 11:05:47.427 1246243 1179834 2007-07-16 15:42:54.937 2007-07-16 15:42:54.937 10912344 10945091 33 2009-01-20 07:54:29.753 2010-01-04 12:30:54.917 8912901 3277181 8 3114460 2008-04-02 11:25:15.097 2008-04-24 10:01:15.063 3824 869 2007-02-13 08:35:49.407 2007-02-13 08:35:49.407 11239504 11272271 9 2009-01-20 08:20:32.983 2009-06-25 09:15:20.770 8912903 3277188 1 3113885 2008-04-04 10:43:15.077 2008-04-04 10:43:15.077 11239506 11272273 10 2009-01-20 08:20:32.983 2010-01-20 22:30:46.520 8912903 20972056 21004819 14 2013-04-09 13:20:29.733 2013-05-13 14:38:19.383 20971526 589841 622609 13 2007-02-05 11:17:34.830 2007-03-06 08:26:23.257 751 589840 622608 1 2007-03-19 12:52:33.537 2007-03-19 12:52:33.537 589839 20972057 21004820 15 2013-04-09 13:20:29.733 2013-05-13 14:42:43.663 20971526 20972051 21004814 11 2013-04-09 13:20:29.733 2013-05-13 11:12:57.557 20971526 20972054 21004817 13 2013-04-09 13:20:29.733 2013-05-13 14:37:31.140 20971526 20972053 21004816 12 2013-04-09 13:20:29.733 2013-05-13 14:23:05.477 20971526 18841641 18579613 2012-01-25 01:16:26.457 2012-01-25 01:16:26.457 805620 1 1246244 1179834 2007-07-16 15:42:54.937 2007-07-16 15:42:54.937 18841640 18579613 2012-01-25 01:10:15.977 2012-01-25 01:10:15.977 133 1 1246245 1179834 2007-07-16 15:42:54.937 2007-07-16 15:42:54.937 20972044 21004807 10 2013-04-09 13:20:29.733 2013-05-13 08:25:27.867 20971526 18841644 18579613 2012-01-25 09:01:51.457 2012-01-25 09:01:51.457 439777 1 18841643 18579613 2012-01-25 01:25:10.347 2012-01-25 01:25:10.347 747035 1 18841642 18579613 2012-01-25 01:16:50.467 2012-01-25 01:16:50.467 525992 1 20972040 21004803 9 2013-04-09 13:20:29.733 2013-05-13 08:22:57.647 20971526 20972038 21004801 8 2013-04-09 13:20:29.733 2013-04-12 16:26:16.850 20971526 10485893 10355444 2009-07-18 07:53:47.167 2009-07-18 07:53:47.167 45999 1 11239494 11272261 2 2010-01-20 10:10:26.367 2010-01-20 10:14:44.837 11239490 11239492 11272259 1 2010-01-20 10:10:26.367 2010-01-20 10:10:26.367 11239490 11239495 11272262 35 2009-01-20 07:54:29.753 2010-01-20 10:00:55.163 8912901 3277175 5 3114460 2008-04-01 11:52:15.020 2008-04-03 09:06:15.027 3277174 1 3114460 2008-04-01 11:51:15.267 2008-04-01 11:51:15.267 11239489 11272255 34 2009-01-20 07:54:29.753 2010-01-05 11:38:12.110 8912901 622638 589871 5767169 3637442 2008-07-14 09:55:12.277 2008-07-14 09:55:12.277 191467 1 3637828 3670578 83 2008-03-07 10:11:52.387 2008-04-23 13:35:43.350 3113885 9830525 nal -9601 -dev tcp:iridium:2101 & A3LA is now on TREX3 (located in building G) > nal -dev /dev/ttyS0 & {code} Note port number 2101, which is the "raw" TCP socket port. You can also telnet to it for verifying that you can connect to it and send basics commands like AT; for telnet, specify port 2001. {code} > telnet iridium 2001 {code} The serial number of this modem is h1. Use the A3LA modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1 {code} mvc-dmo1> $AUV/bin/reset_a3la {code} On trex2 you can then start {code} > nal -dev /dev/ttyS1 & {code} or check if everything is OK through minicom {code} {code} > minicom iridum]]> 9797756 622607 589839 3277228 1 3114074 2008-04-09 14:10:15.063 2008-04-09 14:10:15.063 3277226 1 3114074 2008-04-08 15:15:15.017 2008-04-08 15:15:15.017 3277227 1 3114460 2008-04-09 10:51:15.077 2008-04-09 10:51:15.077 4849684 1 751 2008-06-03 13:14:15.030 2008-06-03 13:14:15.030 9830436 9797667 622702 589937 9076790 763 2009-02-07 18:38:30.533 2009-02-07 18:38:30.533 78848 1 4849681 9 751 2008-06-03 13:10:15.057 2008-06-03 14:19:15.020 16154625 8912901 2011-02-18 09:25:40.843 2011-02-18 09:26:16.217 85318 1 9830466 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% cd home/dorado1/auv_autonomy* ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a x to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window (Term 2), login to trex2:    *% ssh* dorado1@trex2* *  # \[dorado1@trex2 \~\]$ *cd amc* # \[dorado1@trex2 amc\]$ *. config.amc* # Check the Iridium Modem ## *% minicom iridium*   (dev/ttyS0 9600 8N1) ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, switch back to Term1 (mvc-dmo1 qnx) ### bash-2.00$ *cd $AUV/bin* ### bash-2.00$ *reset_a3la*   (toggle modem power)  ## Switch back to Term2 (trex2) minicom session  ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In Term 3: ### \[dorado1@trex2 amc\]$ *nal \-dev /dev/ttyS0* ### should see startup, and then:   \[AuvApplication\] run() - just sleeps by default ## In Term 2: ### \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/devices/iridium/tests* ### \[dorado1@trex2 tests\]$ *storefwdclient \-f test-a3la.sbd* ### Observe the nal driver output in Term3 and also examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # in Term3 Start the nal driver for the vsim test ## \[dorado1@trex2 amc\]$ *nohup nal \-dev /dev/ttyS0 &* ## \[dorado1@trex2 amc\]$ *tail \-f nohup.out*    (check the nal driver is running - look for \[AuvApplication\] run() - just sleeps by default) # Test the modem with a text file ## \[dorado1@trex2 tests\]$ *storefwdclient  *   (enter a meaningful test message and then wait) ## tail \-f nohup.out in Term3 or tail \-f modem.log ## If the storefwdclient fails to send the message, start storefwdclient again with no messages (enter, enter) ## A successful message from Term2 (storefwdclient looks like: {code} "StoreAndForward.Downlink succeeded" payload: This is Thom running VSIM at 2:45 on 2 May 2009 Got StoreAndForward event: ConnectModem complete Done. terminate called after throwing an instance of 'omni_thread_fatal' {code} # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # In Term2 (trex2), make sure the config file is correct for vsim  ## % \[dorado1@trex2 tests\]$ *cd \~/amc/missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In Term1 (mvc-dmo1), startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # In Term2 Move back to the T-REX stack to fire up the T-REX client # \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt front.cfg  &*    (For the time being, mission file is front.cfg).   # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* ## in Term1, bash-2.00$ *ps \-a* {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)    22     7   0 10r  RECV     0  216K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)    87     7   0 10o  WAIT    -1   28K (//9/bin/tinit)    90     7   0 10o  RECV     0   20K (//9/bin/tinit)    91     7   0 14o  RECV     0   68K (//9/bin/Mqueue) 28928 28123   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno 28942 28123   2 10o REPLY    22   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog 28951 28123   2 10o  RECV     0   28K eventLogServer 28953 28123   2 18o  RECV     0   64K workSite 22812 28123   2 14o  RECV     0   72K vehicleConfigurationServer 28959 28123   2 10o  RECV     0   32K externalCommsServer 28963 28123   2 14o  RECV     0  112K navigationServer 22820 28123   2 10o  RECV 28983   32K externalComms 28968 28123   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort 28970 28123   2 18o  RECV     0  132K navigation 28972 28123   2 14o  RECV     0   56K dynamicControlServer 28973 28123   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg 28985 28123   2 14o  RECV     0  148K simulator 22331 28123   2 14o  RECV     0   28K simTailCone 22333 28123   2 18o  RECV     0   32K simAhrs 28991 28123   2 18o  RECV     0   72K simGps 28993 28123   2 18o  RECV     0   28K simDepthSensor  2375 28123   2 10o  RECV     0   60K seabirdServer -n CtdIFServer -dev tcp:sci1-dmo1:10001 22857 28123   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002 29003 28123   2 10o  RECV 29009   92K seabirdDriver -n CtdIFServer -serial tcp:sci1-dmo1:10001,9600,8,n,1 29004 28123   2 10o  RECV 29010   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1 22862 28123   2 18o  RECV     0   48K simDvl 29011 28123   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13 22869 28123   2 10o  RECV     0   64K statePublisher 22872 28123   2 10o REPLY    17   52K dropWeight -serial /dev/ser13,9600,8,n,1 28125 28123   2 10o  RECV 28926   64K ./vcsServer -v [1]+  Exit 221                nohup ./vcsServer -v {code} h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ping trex2* (waiting for the boot)  *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd missions* \[dorado1@trex2 missions\]$ *cat vcs.cfg* {code}                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out* \\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg* \\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ *cd ../logs* bash-2.00$ *tail \-f VcsServer.log.0* h5. In Term2: \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt msg.timing.1.cfg &* \[dorado1@trex2 missions\]$ *cd ../log/* \[dorado1@trex2 log\]$ *tail \-f latest/TREX.log* \\ bash-2.00$ *tail \-f VcsServer.log.0* \\ {code} 62940673.813, ######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer -- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer[t=0, delta=0]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer[t=1.86987, delta=1.86987]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer[t=184.167, delta=0.43997]: Grabbing data   62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) !!! 62941055.697, Received a NULL message : should no happen. {code}\\ \\ \\ \\ \\ \\ \\ bash-2.00$ ps \-a {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer -dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server -dev /dev/ser12 -useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver -dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer -r ashtech -dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 -serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer -dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver -serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver -dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci -serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver -serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer -dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer -dev /dev/ser6    94     7   0 10o  WAIT    -1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver -dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl -serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight -serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer -v  8658  8344   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno  8667  8344   2 10o REPLY    23   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort {code} bash-2.00$ *slay supervisor* bash-2.00$ *ps \-a  * h5. In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ *ps \-elf \| grep amc* 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ *grep relax latest/TREX.log* \[dorado1@trex2 log\]$ \\ Before turning off the power to the vehicle, shutdown the OS on TREX2 and mvc-dmo1 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b h4. Testing goal posting through iridium starts the mission msg.timing.1.cfg \[dorado1@trex2 missions\]$ *../exec/amc_o_rt msg.timing.1.cfg* look for the creation of the pipe on TREX.log \[dorado1@trex2 missions\]$ *tail \-f ../log/latest/TREX.log \| grep listening* \[downlink\] listening to "msg.timing.1.downlink" (fid=) The pipe msg.timing.1.downlink (naming convention is .downlink) has been created in the directory where TREX has been started (in this case \~/amc/missions). You can then send the goal through this pipe. Create a file goal.sbd with following content : {code} {code} And send it in the pipe : \[dorado1@trex2 missions\] \*cat goal.sbd > msg.timing.1.cfg{note} this has to be done relatively quickly to avoid to miss the only communication window in msg.timing.1{note} then check that the goal has been correctly collected and dispatched before the end of the mission. You should see a message similar to this in TREX.log \[downlink\]\[\]Dispatching Front.Info() \[exec\]\[\]Request received: ON front REQ Front.Info()...]]> 9797697 622668 589901 4882486 20 2008-06-03 12:45:31.183 2008-06-03 12:45:31.183 4882485 20 2008-06-03 12:45:31.183 2008-06-03 12:45:31.183 4882488 20 2008-06-03 12:45:31.183 2008-06-03 12:45:31.183 4882487 20 2008-06-03 12:45:31.183 2008-06-03 12:45:31.183 4882489 20 2008-06-03 12:45:31.187 2008-06-03 12:45:31.187 950280 917512 950281 917513 13959226 13926462 13959225 13926460 13959220 13926455 14221465 14188699 9831386 nal -9601 -dev tcp:iridium:2101 & {code} Note port number 2101, which is the "raw" TCP socket port. You can also telnet to it for verifying that you can connect to it and send basics commands like AT; for telnet, specify port 2001. {code} > telnet iridium 2001 {code} The serial number of this modem is h1. Use the A3LA modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1 {code} mvc-dmo1> $AUV/bin/reset_a3la {code} On trex2 you can then start {code} > nal -dev /dev/ttyS1 & {code} or check if everything is OK through minicom {code} > minicom iridum]]> 9798646 9831388 nal -9601 -dev tcp:iridium:2101 & A3LA is now on TREX3 (located in building G) > nal -dev /dev/ttyS0 &> nal -dev {code} Note port number 2101, which is the "raw" TCP socket port. You can also telnet to it for verifying that you can connect to it and send basics commands like AT; for telnet, specify port 2001. {code} > telnet iridium 2001 {code} The serial number of this modem is h1. Use the A3LA modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1 {code} mvc-dmo1> $AUV/bin/reset_a3la {code} On trex2 you can then start {code} > nal -dev /dev/ttyS1 & {code} or check if everything is OK through minicom {code} {code} > minicom iridum]]> 9798648 13697029 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Building our old version of Europa/Plasma  To apply the patch and build Europa/Plasma with GCC 4.3: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch #i.e. the attached patch file % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 13664264 8093751 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notificatino service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba)  **** Create a symbolic link using update-rc.d (Debian command) ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba\\ *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available.\\ More stream of consciousness ramblings: OmniNotify v2.1 will not compile with the latest C+\+ offerings from GNU and Microsoft. Why?  Because support for the header has been removed. It is replaced by (without the .h) and requires use of namespaces to access. A patch to v2.1 that fixes this can be found here\\]]> 8060985 8093752 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notificatino service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba)  **** Create a symbolic link using update-rc.d (Debian command) ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available. \\ More stream of consciousness ramblings: *OmniNotify v2.1 will not compile with the latest C+\+ offerings from GNU and Microsoft.* Why?  Because support for the header has been removed. It is replaced by (without the .h) and requires use of namespaces to access. A patch to v2.1 that fixes this can be found here \\]]> 8060987 13697033 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h1. Mac specific : installing development tools \\ You need to have administration rights on this computer  on the Finder : select menu Go > Connect to Server ... on the invite type : cifs://tornado.shore.mbari.org and enter your login and password   select AppsAND under the directory Macs/DevelopperTools/XcodeTools select the version of xcode for the OS version of your computer (10.6 = Snow Leopard) and get the xcode*.dmg file you can then eject tornado disk double click on the xcode*.dmg to mount the file and then on Xcode.mpkg to start the installation  h2. Building our old version of Europa/Plasma  To apply the patch and build Europa/Plasma with GCC 4.3: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch #i.e. the attached patch file % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 13664268 8093749 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notificatino service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba)  **** Create a symbolic link using update-rc.d (Debian command) ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba   *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available.]]> 8060983 11206657 11173889 750 2009-12-09 13:49:37.300 2009-12-09 13:49:37.300 1212611 1179845 1212612 1179846 1212613 1179847 14221381 14188614 11173889 2009-12-09 13:49:37.267 2009-12-09 13:49:58.467 10388209 10355477 16252999 16220233 16252997 16220231 10388206 10355474 16252996 16220230 10388204 10355472 10388202 10355470 14221325 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa ** PLASMA * TREX We will assume on the rest of the document that this structure is respected. {warning:title=Important requirement} All TREX build system and execution assumes that important variables are defined. There's a file {{devConfig}} that defines them for *bash*. More details about this are given on the section [#env] {warning} h1. Mac specific : installing development tools \\ You need to have administration rights on this computer  on the Finder : select menu Go > Connect to Server ... on the invite type : cifs://tornado.shore.mbari.org and enter your login and password   select AppsAND under the directory Macs/DevelopperTools/XcodeTools select the version of xcode for the OS version of your computer (10.6 = Snow Leopard) and get the xcode*.dmg file you can then eject tornado disk double click on the xcode*.dmg to mount the file and then on Xcode.mpkg to start the installation  h2. Building our old version of Europa/Plasma  To apply the patch and build Europa/Plasma with GCC 4.3: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch #i.e. the attached patch file % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 14188557 14221323 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa ** PLASMA * TREX We will assume on the rest of the document that this structure is respected. {warning:title=Important requirement} All TREX build system and execution assumes that important variables are defined. There's a file {{devConfig}} that defines them for *bash*. More details about this are given on the section #env {warning} h1. Mac specific : installing development tools \\ You need to have administration rights on this computer  on the Finder : select menu Go > Connect to Server ... on the invite type : cifs://tornado.shore.mbari.org and enter your login and password   select AppsAND under the directory Macs/DevelopperTools/XcodeTools select the version of xcode for the OS version of your computer (10.6 = Snow Leopard) and get the xcode*.dmg file you can then eject tornado disk double click on the xcode*.dmg to mount the file and then on Xcode.mpkg to start the installation  h2. Building our old version of Europa/Plasma  To apply the patch and build Europa/Plasma with GCC 4.3: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch #i.e. the attached patch file % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 14188555 21004296 20971528 10388221 10355490 10388219 10355487 14221318 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa ** PLASMA * TREX We will assume on the rest of the document that this structure is respected. h1. Mac specific : installing development tools \\ You need to have administration rights on this computer  on the Finder : select menu Go > Connect to Server ... on the invite type : cifs://tornado.shore.mbari.org and enter your login and password   select AppsAND under the directory Macs/DevelopperTools/XcodeTools select the version of xcode for the OS version of your computer (10.6 = Snow Leopard) and get the xcode*.dmg file you can then eject tornado disk double click on the xcode*.dmg to mount the file and then on Xcode.mpkg to start the installation  h2. Building our old version of Europa/Plasma  To apply the patch and build Europa/Plasma with GCC 4.3: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch #i.e. the attached patch file % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 14188550 10388217 10355485 10388215 10355483 14221322 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa ** PLASMA * TREX We will assume on the rest of the document that this structure is respected. {warning:title=Important requirement} All TREX build system and execution assumes that important variables are defined. There's a file {{devConfig}} that defines them for *bash*. To load it you need to source it on TREX root directory {code:none} % cd /TREX % source devConfig {code} The best thing is probably to do this on your {{.profile}} or {{.bashrc}} {warning} h1. Mac specific : installing development tools \\ You need to have administration rights on this computer  on the Finder : select menu Go > Connect to Server ... on the invite type : cifs://tornado.shore.mbari.org and enter your login and password   select AppsAND under the directory Macs/DevelopperTools/XcodeTools select the version of xcode for the OS version of your computer (10.6 = Snow Leopard) and get the xcode*.dmg file you can then eject tornado disk double click on the xcode*.dmg to mount the file and then on Xcode.mpkg to start the installation  h2. Building our old version of Europa/Plasma  To apply the patch and build Europa/Plasma with GCC 4.3: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch #i.e. the attached patch file % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 14188554 21004304 20971536 10388213 10355481 14221320 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa ** PLASMA * TREX We will assume on the rest of the document that this structure is respected. h1. Mac specific : installing development tools \\ You need to have administration rights on this computer  on the Finder : select menu Go > Connect to Server ... on the invite type : cifs://tornado.shore.mbari.org and enter your login and password   select AppsAND under the directory Macs/DevelopperTools/XcodeTools select the version of xcode for the OS version of your computer (10.6 = Snow Leopard) and get the xcode*.dmg file you can then eject tornado disk double click on the xcode*.dmg to mount the file and then on Xcode.mpkg to start the installation  h2. Building our old version of Europa/Plasma  To apply the patch and build Europa/Plasma with GCC 4.3: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch #i.e. the attached patch file % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 14188552 10388211 10355479 21004341 /timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=current tick} * *input:* none * *output:* The date (UTC) and value (an integer) of the current tick of trex This call may have a push based counterpart in the future. Indeed the current tick changes in trex as time advance. in my ODSS version I currently use a tick running at a 1 mn period {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}/\{from\} ** GET http:///timeline/\{name\}/\{from\}/\{to\} ** GET http:///timeline/\{name\}//\{to\} * *input:* ** \{name\} the name of the timeline ** \{from\} lower bound of the time window of interest _(optional)_ ** \{to\} upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado/0/100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20971573 21004342 /timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=current tick} * *input:* none * *output:* The date (UTC) and value (an integer) of the current tick of trex This call may have a push based counterpart in the future. Indeed the current tick changes in trex as time advance. in my ODSS version I currently use a tick running at a 1 mn period {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}?from=\{int\} ** GET http:///timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///timeline/\{name\}?from=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20971574 21004339 /timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=current tick} * *input:* none * *output:* The date (UTC) and value (an integer) of the current tick of trex This call may have a push based counterpart in the future. Indeed the current tick changes in trex as time advance. in my ODSS version I currently use a tick running at a 1 mn period {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}/\{from\} ** GET http:///timeline/\{name\}/\{from\}/\{to\} ** GET http:///timeline/\{name\}//\{to\} * *input:* ** \{name\} the name of the timeline ** \{from\} lower bound of the time window of interest _(optional)_ ** \{to\} upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado/0/100 {panel} {panel:title=Post a new goal} * *input:* ** The json format of the goal * *output:* ** A simple binary feedback (OK/Invalid) This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20971571 10388178 10355446 14221364 14188597 1212604 1179838 1212603 1179837 14221360 14188593 1212610 1179844 1212609 1179843 14221362 14188595 1212608 1179842 1212607 1179841 10388183 10355451 1212602 1179836 21004337 /timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=current tick} * *input:* none * *output:* The date (UTC) and value (an integer) of the current tick of trex This call may have a push based counterpart in the future. Indeed the current tick changes in trex as time advance. in my ODSS version I currently use a tick running at a 1 mn period {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/{name} ** GET http:///timeline/{name}/{from} ** GET http:///timeline/{name}/{from}/{to} ** GET http:///timeline/{name}//{to} * *input:* ** {name} the name of the timeline ** {from} lower bound of the time window of interest _(optional)_ ** {to} upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent {panel} {panel:title=Post a new goal} * *input:* ** The json format of the goal * *output:* ** A simple binary feedback (OK/Invalid) This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20971569 10388179 10355447 1212600 1179833 21004335 20971567 10388181 10355449 10388270 10355542 21004801 /timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=current tick} * *input:* none * *output:* The date (UTC) and value (an integer) of the current tick of trex This call may have a push based counterpart in the future. Indeed the current tick changes in trex as time advance. in my ODSS version I currently use a tick running at a 1 mn period {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}?from=\{int\} ** GET http:///timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972038 3180061 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj]]> 3114593 3180064 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj\\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card\\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color:black}{ 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS }, /\* ttyS0 \*/ \{color}{color:black}{ 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS }, /\* ttyS1 \*/ \{color}{color:black}{ 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS }, /\* ttyS2 \*/ \{color}{color:black}{ 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS }, /\* ttyS3 \*/ \{color}{color:red}{*}{ 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }, /\* ttyS4 \*/ \{*}{color}{color:red}{*}{ 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }, /\* ttyS5 \*/ \{*}{color}{color:red}{*}{ 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }, /\* ttyS6 \*/ \{*}{color}{color:red}{*}{ 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }, /\* ttyS7 \*/*{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately.\\ Re-Compiling the Kernel(Linux 2.6) *\# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux}/arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: # ls -l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux}/{arch}/bzImage /boot/vmlinuz-bh # cp {Linux}/System.map /boot/System.map-bh You may choose any postfix, -df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path}/messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}             2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available.]]> 3114597 3180069 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114602 3180068 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114601 3180073 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114606 3180071 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114604 3180077 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114610 3180075 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114608 3180079 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114612 3180080 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114613 17498190 17465423 17498197 17465430 17498196 17465429 3180169 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114704 9831019 9798266 9831020 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window (Term 2), login to trex2:    *% ssh* dorado1@trex2* *  # \[dorado1@trex2 \~\]$ *cd amc* # \[dorado1@trex2 amc\]$ *. config.amc* # Check the Iridium Modem ## *% minicom iridium*   (dev/ttyS0 9600 8N1) ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, switch back to Term1 (mvc-dmo1 qnx) ### bash-2.00$ *cd $AUV/bin* ### bash-2.00$ *reset_a3la*   (toggle modem power)  ## Switch back to Term2 (trex2) minicom session  ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In Term 3: ### \[dorado1@trex2 amc\]$ *nal \-dev /dev/ttyS0* ### should see startup, and then:   \[AuvApplication\] run() - just sleeps by default ## In Term 2: ### \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/devices/iridium/tests* ### \[dorado1@trex2 tests\]$ *storefwdclient \-f test-a3la.sbd* ### Observe the nal driver output in Term3 and also examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # in Term3 Start the nal driver for the vsim test ## \[dorado1@trex2 amc\]$ *nohup nal \-dev /dev/ttyS0 &* ## \[dorado1@trex2 amc\]$ *tail \-f nohup.out*    (check the nal driver is running - look for \[AuvApplication\] run() - just sleeps by default) # Test the modem with a text file ## \[dorado1@trex2 tests\]$ *storefwdclient  *   (enter a meaningful test message and then wait) ## tail \-f nohup.out in Term3 or tail \-f modem.log ## If the storefwdclient fails to send the message, start storefwdclient again with no messages (enter, enter) ## A successful message from Term2 (storefwdclient looks like: {code} "StoreAndForward.Downlink succeeded" payload: This is Thom running VSIM at 2:45 on 2 May 2009 Got StoreAndForward event: ConnectModem complete Done. terminate called after throwing an instance of 'omni_thread_fatal' {code} # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # In Term2 (trex2), make sure the config file is correct for vsim  ## % \[dorado1@trex2 tests\]$ *cd \~/amc/missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In Term1 (mvc-dmo1), startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # In Term2 Move back to the T-REX stack to fire up the T-REX client # \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt front.cfg  &*    (For the time being, mission file is front.cfg).   # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* ## in Term1, bash-2.00$ *ps \-a* {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)    22     7   0 10r  RECV     0  216K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)    87     7   0 10o  WAIT    -1   28K (//9/bin/tinit)    90     7   0 10o  RECV     0   20K (//9/bin/tinit)    91     7   0 14o  RECV     0   68K (//9/bin/Mqueue) 28928 28123   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno 28942 28123   2 10o REPLY    22   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog 28951 28123   2 10o  RECV     0   28K eventLogServer 28953 28123   2 18o  RECV     0   64K workSite 22812 28123   2 14o  RECV     0   72K vehicleConfigurationServer 28959 28123   2 10o  RECV     0   32K externalCommsServer 28963 28123   2 14o  RECV     0  112K navigationServer 22820 28123   2 10o  RECV 28983   32K externalComms 28968 28123   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort 28970 28123   2 18o  RECV     0  132K navigation 28972 28123   2 14o  RECV     0   56K dynamicControlServer 28973 28123   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg 28985 28123   2 14o  RECV     0  148K simulator 22331 28123   2 14o  RECV     0   28K simTailCone 22333 28123   2 18o  RECV     0   32K simAhrs 28991 28123   2 18o  RECV     0   72K simGps 28993 28123   2 18o  RECV     0   28K simDepthSensor  2375 28123   2 10o  RECV     0   60K seabirdServer -n CtdIFServer -dev tcp:sci1-dmo1:10001 22857 28123   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002 29003 28123   2 10o  RECV 29009   92K seabirdDriver -n CtdIFServer -serial tcp:sci1-dmo1:10001,9600,8,n,1 29004 28123   2 10o  RECV 29010   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1 22862 28123   2 18o  RECV     0   48K simDvl 29011 28123   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13 22869 28123   2 10o  RECV     0   64K statePublisher 22872 28123   2 10o REPLY    17   52K dropWeight -serial /dev/ser13,9600,8,n,1 28125 28123   2 10o  RECV 28926   64K ./vcsServer -v [1]+  Exit 221                nohup ./vcsServer -v {code} h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ping trex2* (waiting for the boot)  *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd missions* \[dorado1@trex2 missions\]$ *cat vcs.cfg* {code}                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out* \\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg* \\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ *cd ../logs* bash-2.00$ *tail \-f VcsServer.log.0* h5. In Term2: \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt msg.timing.1.cfg &* \[dorado1@trex2 missions\]$ *cd ../log/* \[dorado1@trex2 log\]$ *tail \-f latest/TREX.log* \\ bash-2.00$ *tail \-f VcsServer.log.0* \\ {code} 62940673.813, ######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer -- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer[t=0, delta=0]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer[t=1.86987, delta=1.86987]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer[t=184.167, delta=0.43997]: Grabbing data   62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) !!! 62941055.697, Received a NULL message : should no happen. {code}\\ \\ \\ \\ \\ \\ bash-2.00$ ps \-a {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer -dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server -dev /dev/ser12 -useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver -dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer -r ashtech -dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 -serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer -dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver -serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver -dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci -serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver -serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer -dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer -dev /dev/ser6    94     7   0 10o  WAIT    -1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver -dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl -serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight -serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer -v  8658  8344   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno  8667  8344   2 10o REPLY    23   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort {code} bash-2.00$ *slay supervisor* bash-2.00$ *ps \-a  * h5. In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ *ps \-elf \| grep amc* 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ *grep relax latest/TREX.log* \[dorado1@trex2 log\]$ \\ Before turning off the power to the vehicle, shutdown the OS on TREX2 and mvc-dmo1 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9798267 9831022 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window (Term 2), login to trex2:    *% ssh* dorado1@trex2* *  # \[dorado1@trex2 \~\]$ *cd amc* # \[dorado1@trex2 amc\]$ *. config.amc* # Check the Iridium Modem ## *% minicom iridium*   (dev/ttyS0 9600 8N1) ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, switch back to Term1 (mvc-dmo1 qnx) ### bash-2.00$ *cd $AUV/bin* ### bash-2.00$ *reset_a3la*   (toggle modem power)  ## Switch back to Term2 (trex2) minicom session  ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In Term 3: ### \[dorado1@trex2 amc\]$ *nal \-dev /dev/ttyS0* ### should see startup, and then:   \[AuvApplication\] run() - just sleeps by default ## In Term 2: ### \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/devices/iridium/tests* ### \[dorado1@trex2 tests\]$ *storefwdclient \-f test-a3la.sbd* ### Observe the nal driver output in Term3 and also examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # in Term3 Start the nal driver for the vsim test ## \[dorado1@trex2 amc\]$ *nohup nal \-dev /dev/ttyS0 &* ## \[dorado1@trex2 amc\]$ *tail \-f nohup.out*    (check the nal driver is running - look for \[AuvApplication\] run() - just sleeps by default) # Test the modem with a text file ## \[dorado1@trex2 tests\]$ *storefwdclient  *   (enter a meaningful test message and then wait) ## tail \-f nohup.out in Term3 or tail \-f modem.log ## If the storefwdclient fails to send the message, start storefwdclient again with no messages (enter, enter) ## A successful message from Term2 (storefwdclient looks like: {code} "StoreAndForward.Downlink succeeded" payload: This is Thom running VSIM at 2:45 on 2 May 2009 Got StoreAndForward event: ConnectModem complete Done. terminate called after throwing an instance of 'omni_thread_fatal' {code} # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # In Term2 (trex2), make sure the config file is correct for vsim  ## % \[dorado1@trex2 tests\]$ *cd \~/amc/missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In Term1 (mvc-dmo1), startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # In Term2 Move back to the T-REX stack to fire up the T-REX client # \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt front.cfg  &*    (For the time being, mission file is front.cfg).   # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* ## in Term1, bash-2.00$ *ps \-a* {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)    22     7   0 10r  RECV     0  216K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)    87     7   0 10o  WAIT    -1   28K (//9/bin/tinit)    90     7   0 10o  RECV     0   20K (//9/bin/tinit)    91     7   0 14o  RECV     0   68K (//9/bin/Mqueue) 28928 28123   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno 28942 28123   2 10o REPLY    22   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog 28951 28123   2 10o  RECV     0   28K eventLogServer 28953 28123   2 18o  RECV     0   64K workSite 22812 28123   2 14o  RECV     0   72K vehicleConfigurationServer 28959 28123   2 10o  RECV     0   32K externalCommsServer 28963 28123   2 14o  RECV     0  112K navigationServer 22820 28123   2 10o  RECV 28983   32K externalComms 28968 28123   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort 28970 28123   2 18o  RECV     0  132K navigation 28972 28123   2 14o  RECV     0   56K dynamicControlServer 28973 28123   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg 28985 28123   2 14o  RECV     0  148K simulator 22331 28123   2 14o  RECV     0   28K simTailCone 22333 28123   2 18o  RECV     0   32K simAhrs 28991 28123   2 18o  RECV     0   72K simGps 28993 28123   2 18o  RECV     0   28K simDepthSensor  2375 28123   2 10o  RECV     0   60K seabirdServer -n CtdIFServer -dev tcp:sci1-dmo1:10001 22857 28123   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002 29003 28123   2 10o  RECV 29009   92K seabirdDriver -n CtdIFServer -serial tcp:sci1-dmo1:10001,9600,8,n,1 29004 28123   2 10o  RECV 29010   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1 22862 28123   2 18o  RECV     0   48K simDvl 29011 28123   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13 22869 28123   2 10o  RECV     0   64K statePublisher 22872 28123   2 10o REPLY    17   52K dropWeight -serial /dev/ser13,9600,8,n,1 28125 28123   2 10o  RECV 28926   64K ./vcsServer -v [1]+  Exit 221                nohup ./vcsServer -v {code} h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ping trex2* (waiting for the boot)  *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd missions* \[dorado1@trex2 missions\]$ *cat vcs.cfg* {code}                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out* \\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg* \\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ *cd ../logs* bash-2.00$ *tail \-f VcsServer.log.0* h5. In Term2: \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt msg.timing.1.cfg &* \[dorado1@trex2 missions\]$ *cd ../log/* \[dorado1@trex2 log\]$ *tail \-f latest/TREX.log* \\ bash-2.00$ *tail \-f VcsServer.log.0* \\ {code} 62940673.813, ######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer -- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer[t=0, delta=0]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer[t=1.86987, delta=1.86987]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer[t=184.167, delta=0.43997]: Grabbing data   62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) !!! 62941055.697, Received a NULL message : should no happen. {code}\\ \\ \\ \\ \\ \\ bash-2.00$ ps \-a {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer -dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server -dev /dev/ser12 -useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver -dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer -r ashtech -dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 -serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer -dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver -serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver -dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci -serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver -serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer -dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer -dev /dev/ser6    94     7   0 10o  WAIT    -1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver -dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl -serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight -serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer -v  8658  8344   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno  8667  8344   2 10o REPLY    23   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort {code} bash-2.00$ *slay supervisor* bash-2.00$ *ps \-a  * h5. In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ *ps \-elf \| grep amc* 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ *grep relax latest/TREX.log* \[dorado1@trex2 log\]$ \\ Before turning off the power to the vehicle, shutdown the OS on TREX2 and mvc-dmo1 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b h4. Testing goal posting through iridium starts the mission msg.timing.1.cfg \[dorado1@trex2 missions\]$ *../exec/amc_o_rt msg.timing.1.cfg* look for the creation of the pipe on TREX.log \[dorado1@trex2 missions\]$ *tail -f ../log/latest/TREX.log | grep listening* [downlink] listening to "msg.timing.1.downlink" (fid=) The pipe msg.timing.1.downlink (naming convention is .downlink) has been created in the directory where TREX has been started (in this case ~/amc/missions). You can then send the goal through this pipe. Create a file goal.sbd with following content : {code} {code} And send it in the pipe : \[dorado1@trex2 missions\] *cat goal.sbd > msg.timing.1.cfg {note} this has to be done relatively quickly to avoid to miss the only communication window in msg.timing.1 {note} then check that the goal has been correctly collected and dispatched before the end of the mission. You should see a message similar to this in TREX.log [downlink][]Dispatching Front.Info() [exec][]Request received: ON front REQ Front.Info()... ]]> 9798269 10945091 10912344 9831018 9798265 5407483 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 5374753 11829565    (to turn on TREX2 cpu) ## ctrl-a x   (to exit) # cd $AUV/bin # < pause> and follow procedure in Terminal 2 below # nohup ./vcsServer \-v & # ps \-a  # Go to terminal 2 and launch amc_o_rt # ps-a (after amc_o_rt starts, you should see the processes of auv-qnx spawned. # to terminate by force:   slay supervisor   slay vcsServer \\ In Terminal 2 # slogin dorado1@trex2 # cd amc # . config.amc # cd mission # cat init.cfg (check depth envelop, check mission time in seconds) # # nohup ../exec/amc_o_rt science4.cfg & # cd \~/amc/log/latest # tail \-f TREX.log   ( it takes about 30 seconds or so to start and then lots of activity, should be no error or 'relax' in the stream of log messages) # go to terminal 1 # to terminate by force:   killall amc_o_rt when the vehicle has surfaced, to check for gulpers (not required, but if you are bored and want to see) # slogin dorado1@trex2 # cd amc # . config.amc  # ./bin/signal_process.hsh  (returns how many gulpers have fired, how far it is in transect, if signal is below 0.045 then it will be low res transect of 1Km, if above 0.12 it is high res 500m separation, if in between 750m)\\]]> 11796808 5407470 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.  \\ \\ \\ \\   h4. \\ h3.]]> 5374740 5407468 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.  \\ \\ \\ \\   h4. \\ h3.]]> 5374738 5865553 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available.]]> 5832789 5865552 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.   \\ \\ \\   h4. \\ h3. Thom's Notes: Time on AUV was 1999.    Fresh checkout from cvs, build failed. gcc \-o uplinkQserver uplinkQueuerServer.o  /home/auv/prj/auv-linux/onboard//utils/auvUtils.a /home/auv/prj/auv-shared/lib/libAuvShared.a \-L/opt/omniOrb/omniORB-4.1.0/build/lib/ \-L/usr/local/apr/lib \-lgctpc \-lpthread \-llog4cxx \-lnetcdf \-lnewmat  \-lapr-1 \-laprutil-1 \-lrt uplinkQueuerServer.o: In function `main': /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:9: undefined reference to `mbari::Logger::configure(char const*)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:17: undefined reference to `MsgQueuerServer::MsgQueuerServer(char const*, long, long, unsigned char, int)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:26: undefined reference to `MsgQueuerServer::run()' collect2: ld returned 1 exit status make\[1\]: \**\* \[uplinkQserver\] Error 1 make\[1\]: Leaving directory `/home/auv/prj/auv-linux/onboard/tools' make failed make: \**\* \[all\] Error 2 \\ The build got far enough to enable teledyne and crossbow builds.    Teledyne would not run without creating 'latest' directory in onboard/logs though I seem to remember there was a link involved (talk to Tom O.).]]> 5832788 5865551 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  *** July 9:  Hans has made the docking vehicle available to finish the porting / validation.   The 3dmgx1 is not on the vehicle, but rather the Crossbow DMU **** The DMU baud rate can be changed per the following procedure: **** 1. Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. **** 2. Send the ASCII character "b" (0x62 hex) to the DMU. In a terminal program like minicom simply type the letter "b". The DMU is case sensitive. The DMU will respond "B" (0x42 hex). **** 3. Now change the baud rate of your terminal software.  **** 4. Send the ASCII character "a" (61 hex). The DMU will detect the character and automatically match the baud rate your software is using. Upon successful operation, the DMU will return the character "A" (0x41 hex) at the new baud rate. **** 5. You can now use the DMU at the new baud rate. The new baud rate setting is not permanent; therefore, this process must be repeated after any power reset. **** Sanity check the Crossbow\* *Command* *Query DMU Version,* *Character(s) Sent* v, *Response* ASCII string\*  *Command* Query DMU Serial Number, *Character(s) Sent S*, *Response* Binary serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. ** Fixed a bug in checkChecksum.   The struct overlay on the record was reading testPacket->Checksum as zero.   There were two many castings, so rewrote the routine to operate directly on the char record - BUG FIXED. \\ parosci \-  Paroscientific pressure sensor * devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 * ./parosci \-dev /dev/ttyS4 ** wait 60sec (or so) for 'ping service worksite' to timeout * Actions: ** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 ** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed ** Have obtained manual - parosci is unresponsive to serial commands via minicom ** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). ** Manual indicates commands should start with an asterisk (the request for serial number does not have this). ** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. *** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. *** No response to \*9900VR *** No response to \*0100SN ** Write a simple serial program to make sure the correct byte string is sent to parosci. *** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 ** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 ** \*0100P3<0x0d><0x0a> responds with \*000116.02 ** Minicom can be used - need to terminate the \*0100SN request with , (ctrl-m, ctrl-j is 0x0d, 0x0a in minicom) * Next step is to hook up the serial protocol analyzer.   ** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer * With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. **   Fixed a bug in sscanf which was incorrectly parsing ** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. ** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) ** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ** Found a problem **  Protocol Notes: *** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | * Status (+) ** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  ** Fixed bug in baud set ** Fixed bug in read serial number (sscanf and retries) ** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). ** Soak test runs overnight.      *** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  *** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ sonardyne usbl * No test executable available \\ tailcone * changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 * ./tailcone \-dev /dev/ttyS2 * Cautions: ** Recommend running tailcone tests while observing the tailcone ** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) * Status (/) ** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ Teledyne dvl - Doppler Velocity Log * changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 * Actions ** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) *** Have tried a sleep to allow the termio buffer to fill - does not help. *** In progress Reading up on termio and analyzing termio setup... *** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) *** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 * Status (/) ** In progress...   ** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) ** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios ** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. ** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. *** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 *** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 *** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 *** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 *** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 *** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 *** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 *** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. *** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * \[9 July 2008\] Crossbow Table 4. CrossBow AHRS300CA Data Packet Format | Byte | VG Mode | Scaled Sensor Mode | Voltage Mode | | 0 | Header (255) | Header (255) | Header (255) | | 1 | Roll Angle (MSB) | Roll Angular Rate (MSB) | Roll Gyro Voltage (MSB) | | 2 | Roll Angle (LSB) | Roll Angular Rate (LSB) | Roll Gyro Voltage (LSB) | | 3 | Pitch Angle (MSB) | Pitch Angular Rate (MSB) | Pitch Gyro Voltage (MSB) | | 4 | Pitch Angle (LSB) | Pitch Angular Rate (LSB) | Pitch Gyro Voltage (LSB) | | 5 | Heading Angle (MSB) | Yaw Angular Rate (MSB) | Yaw Gyro Voltage (MSB) | | 6 | Heading Angle (LSB) | Yaw Angular Rate (LSB) | Yaw Gyro Voltage (LSB) | | 7 | Roll Angular Rate (MSB) | X-Axis Acceleration (MSB) | X-Axis Accel Voltage (MSB) | | 8 | Roll Angular Rate (LSB) | X-Axis Acceleration (LSB) | X-Axis Accel Voltage (LSB) | | 9 | Pitch Angular Rate (MSB) | Y-Axis Acceleration (MSB) | Y-Axis Accel Voltage (MSB) | | 10 | Pitch Angular Rate (LSB) | Y-Axis Acceleration (LSB) | Y-Axis Accel Voltage (LSB) | | 11 | Yaw Angular Rate (MSB) | Z-Axis Acceleration (MSB) | Z-Axis Accel Voltage (MSB) | | 12 | Yaw Angular Rate (LSB) | Z-Axis Acceleration (LSB) | Z-Axis Accel Voltage (LSB) | | 13 | X-Axis Acceleration (MSB) | X-Axis Magnetic Field (MSB) | X-Axis Mag Voltage (MSB) | | 14 | X-Axis Acceleration (LSB) | X-Axis Magnetic Field (LSB) | X-Axis Mag Voltage (LSB) | | 15 | Y-Axis Acceleration (MSB) | Y-Axis Magnetic Field (MSB) | Y-Axis Mag Voltage (MSB) | | 16 | Y-Axis Acceleration (LSB) | Y-Axis Magnetic Field (LSB) | Y-Axis Mag Voltage (LSB) | | 17 | Z-Axis Acceleration (MSB) | Z-Axis Magnetic Field (MSB) | Z-Axis Mag Voltage (MSB) | | 18 | Z-Axis Acceleration (LSB) | Z-Axis Magnetic Field (LSB) | Z-Axis Mag Voltage (LSB) | | 19 | X-Axis Magnetic Field (MSB) | Temp Sensor Voltage (MSB) | Temp Sensor Voltage (MSB) | | 20 | X-Axis Magnetic Field (LSB) | Temp Sensor Voltage (LSB) | Temp Sensor Voltage (LSB) | | 21 | Y-Axis Magnetic Field (MSB) | Time (MSB) | Time (MSB) | | 22 | Y-Axis Magnetic Field (LSB) | Time (LSB) | Time (LSB) | | 23 | Z-Axis Magnetic Field (MSB) | Checksum | Checksum | | 24 | Z-Axis Magnetic Field (LSB) | | | | 25 | Temp Sensor Voltage (MSB) | | | | 26 | Temp Sensor Voltage (LSB) | | | | 27 | Time (MSB) | | | | 28 | Time (LSB) | | | | 29 | Checksum | | | *** \[Bug - build\] Top level build fails, though enough is built to enable driver development *** \[Bug - blocking\] Fixed bug in 'checkChecksum that was blocking processRecord.   Due to unpacked data (code is not compiled to pack on byte boundary, pragma pack(1)) struct overly on serial byte stream (testPacket->checksum was zero, yet the proper checksum is in the 'record' byte buf).   Changed checkChecksum to operate on byte stream with fixed offset for checksum location. *** Output looks wrong after fixing checksum problem.    Confirmed to be the 'pack' problem.   Bug fixed by building the data structure from the bytes, rather than overlaying and byte swapping. *** Here's the output showing raw data stability but bad data (before bug fix). **** 13:40:00.467 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=047a, HdgA=1d89 13:40:00.469 INFO \[Crossbow\]    R =  171.58 : P = \-167.32 : Y =    7.19 13:40:01.471 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0472, HdgA=1d86 13:40:01.473 INFO \[Crossbow\]    R =  160.33 : P = \-171.54 : Y =    1.57 13:40:02.471 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0475, HdgA=1d94 13:40:02.473 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =  \-84.22 13:40:03.476 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0475, HdgA=1d94 13:40:03.477 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =    5.78 13:40:04.479 INFO \[Crossbow\] Hdr=ff, RolA=035d, PitA=0475, HdgA=1d89 13:40:04.481 INFO \[Crossbow\]    R =  164.55 : P = \-167.32 : Y =   \-5.47 13:40:05.483 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0475, HdgA=1d87 13:40:05.485 INFO \[Crossbow\]    R =  164.55 : P = \-170.13 : Y =   17.03 13:40:06.488 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0476, HdgA=1d86 13:40:06.489 INFO \[Crossbow\]    R =  165.95 : P = \-171.54 : Y =   \-5.47 13:40:07.492 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0477, HdgA=1d93 **** Here's the data after the bug fix. 14:16:37.203 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0478, HdgA=1d97 14:16:37.204 INFO \[Crossbow\]    R =    4.71 : P =    6.28 : Y =   41.61 14:16:38.206 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0479, HdgA=1d96 14:16:38.207 INFO \[Crossbow\]    R =    4.71 : P =    6.29 : Y =   41.61 14:16:39.210 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0476, HdgA=1d93 14:16:39.211 INFO \[Crossbow\]    R =    4.69 : P =    6.27 : Y =   41.59 14:16:40.214 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0478, HdgA=1d94 14:16:40.215 INFO \[Crossbow\]    R =    4.70 : P =    6.28 : Y =   41.59 14:16:41.218 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=047a, HdgA=1d94 14:16:41.219 INFO \[Crossbow\]    R =    4.72 : P =    6.30 : Y =   41.59 14:16:42.223 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0477, HdgA=1d96 14:16:42.223 INFO \[Crossbow\]    R =    4.69 : P =    6.28 : Y =   41.61 14:16:43.227 INFO \[Crossbow\] Hdr=ff, RolA=035f, PitA=0474, HdgA=1d96 14:16:43.227 INFO \[Crossbow\]    R =    4.74 : P =    6.26 : Y =   41.61 14:16:44.231 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0473, HdgA=1d96 14:16:44.232 INFO \[Crossbow\]    R =    4.70 : P =    6.26 : Y =   41.61 14:16:45.235 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0476, HdgA=1d96 14:16:45.235 INFO \[Crossbow\]    R =    4.72 : P =    6.27 : Y =   41.61 14:16:46.239 INFO \[Crossbow\] Hdr=ff, RolA=0360, PitA=0478, HdgA=1d96 14:16:46.240 INFO \[Crossbow\]    R =    4.75 : P =    6.28 : Y =   41.61 \\ ** \[Bug - minor\] Serial number is read incorrectly.   NOT FIXED as it does not block tank test on July 17  *** 12:54:51.390 INFO \[Crossbow\] Serial Number: ff000043 *** 12:54:51.393 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 4278190147 (ff000043)  <<-\- 4278190147 looks incorrect. *** According to the Manual:  \* The DMU will respond with a serial number datapacket that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte.  The serial number bytes should be interpreted as a 32-bit unsigned integer. For example, the serial number 9911750 would be sent as the four bytes 00 97 3D C6. ** \[Bug - minor\] termios set baud failure.   Port is operational at 38400, but attempts to set it fail.   This will be pushed off until after tank test. *** 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed ***   * \[11 July 2008\] Parosci on docking AUV ** \[Bug - Blocking with workaround\] Bad read of serial number is preventing the driver test from executing.    Looks like the Serial number is requested, but the Parosci is busy streaming pressure readings (*000130.13829) *** 15:05:42.226 DEBUG \[ParosciApp\] Leaving ParosciApp.initialize() 15:05:42.227 INFO \[AuvApplication\] run() - just sleeps by default 15:05:42.341 DEBUG \[Parosci\] writeCommand \*0100SN *** 15:05:42.358 DEBUG \[Parosci\] Serial Number response: \*000130.13829 15:05:42.358 ERROR \[Parosci\] sscanf ret 0, incorrect serial number format 15:05:42.360 ERROR \[AuvService\] Read incorrect serial number format *** Went into minicom and got the parosci to stop streaming (actually, just opening minicom showed a series of pressure readings with the last output being the serial number).   Maybe a flush in the right place is needed. ** Ran the test again, starting with a 'non-streaming' parosci. *** 15:15:58.779 INFO \[Parosci\] Paroscientific configured. 15:15:58.850 DEBUG \[StreamSerialDriver\] run() - start main loop 15:15:58.851 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:15:58.985 DEBUG \[Parosci\] reply with value is 30.13823^M 15:15:58.986 INFO \[Parosci\] depth is: 1146999941 *** Changed format character for depth from int to float *** 15:50:02.429 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.430 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.431 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.434 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.610 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.611 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.611 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.614 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.790 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.790 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.791 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.794 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.969 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.970 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.971 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.974 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.153 DEBUG \[Parosci\] reply with value is 30.13807 15:50:03.155 INFO \[Parosci\] depth is:  \-0.1513 15:50:03.155 DEBUG \[Parosci\] 1 bytes buffered now 15:50:03.158 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.244 DEBUG \[Parosci\] getting temp period 15:50:03.356 DEBUG \[Parosci\] writeCommand \*0100Q1 *** 15:50:03.484 DEBUG \[Parosci\] writeCommand \*0100Q1 *** 15:50:03.593 DEBUG \[Parosci\] reply with value is 5.840225 15:50:03.704 DEBUG \[Parosci\] writeCommand \*0100P2 *** 15:50:03.719 INFO \[Parosci\] tempPeriod is: \-247390116 15:50:03.720 DEBUG \[Parosci\] 0 bytes buffered now 15:50:03.723 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.925 DEBUG \[Parosci\] reply with value is 30.13809 15:50:03.926 INFO \[Parosci\] depth is:  \-0.1744 15:50:03.927 DEBUG \[Parosci\] 1 bytes buffered now 15:50:03.930 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:04.105 DEBUG \[Parosci\] reply with value is 30.13807 15:50:04.107 INFO \[Parosci\] depth is:  \-0.1513 15:50:04.107 DEBUG \[Parosci\] 1 bytes buffered now 15:50:04.110 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:04.285 DEBUG \[Parosci\] reply with value is 30.13809 15:50:04.286 INFO \[Parosci\] depth is:  \-0.1744 15:50:04.287 DEBUG \[Parosci\] 1 bytes buffered now * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D* \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ CrossBow Output auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 14:56:03.622 DEBUG \[CorbaUtils\] get ORB: 14:56:03.642 DEBUG \[CorbaUtils\] get POA: 14:56:03.664 DEBUG \[CorbaUtils\] Looking for event channel "EventChannel" in name service: 14:56:03.669 DEBUG \[CorbaUtils\] Found event channel "EventChannel" 14:56:03.675 DEBUG \[CorbaUtils\] Create provider servant 14:56:03.693 DEBUG \[CorbaUtils\] Create consumer servant 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word crossbowPeriod 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word 100 14:56:03.702 DEBUG \[parseComplex\] Parsing attribute crossbowPeriod = 100 14:56:03.703 DEBUG \[parseComplex\] No current item .. using the provided attributes CrossbowConstants 14:56:03.704 DEBUG \[Attributes\] Attributes::parse() - size=3 14:56:03.705 DEBUG \[Attributes\] Attributes::parse() - compare attribute name crossbowPeriod to input name crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- Found value for crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- crossbowPeriod is set 14:56:03.708 DEBUG \[Attributes\] Attribute crossbowPeriod is hasDefault = true, isSet = true 14:56:03.708 DEBUG \[Attributes\] Attribute debug is hasDefault = true, isSet = false 14:56:03.709 DEBUG \[Attributes\] Attribute dumpHex is hasDefault = true, isSet = false 14:56:03.710 DEBUG \[Attributes\] Attributes::verify() \-\- Attribute set CrossbowConstants is done 14:56:03.730 DEBUG \[CrossbowApp\] Launch instrument driver thread IOR:010000001300000049444c3a6175762f4168727349463a312e300000010000000000000064000000010102000d0000003133342e38392e33322e31360000750e0e000000fef3d6774800001553000000000200000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100 14:56:03.734 DEBUG \[CorbaUtils\] Ahrs already active... 14:56:03.737 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for Ahrs 14:56:03.746 DEBUG \[CorbaUtils\] context already bound 14:56:03.749 DEBUG \[CorbaUtils\] call bind() for Ahrs 14:56:03.759 DEBUG \[CorbaUtils\] call rebind() for Ahrs 14:56:03.763 DEBUG \[CorbaUtils\] invoke prepareToRun() 14:56:03.764 DEBUG \[CorbaUtils\] Activate POA manager 14:56:03.765 DEBUG \[CorbaUtils\] Run the ORB in a new thread 14:56:03.766 DEBUG \[CorbaUtils\] return from registerService() 14:56:03.767 DEBUG \[CrossbowApp\] Leaving CrossbowApp.initialize() 14:56:03.781 INFO \[AuvApplication\] run() - just sleeps by default 14:56:03.768 DEBUG \[Crossbow\] Crossbow::initialize : Initializing Crossbow driver 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed 14:56:03.786 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.789 DEBUG \[Crossbow\] Crossbow::initialize :     ...done\! 14:56:03.789 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.790 DEBUG \[Crossbow\] Crossbow.cc: In getSerialNumber() AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec14:56:03.816 INFO \[Crossbow\] Crossbow.cc: device->read succeeded 14:56:03.818 INFO \[Crossbow\] Crossbow.cc: The serial number is 4278190147 (ff000043) 14:56:03.821 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.860 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.16 14:56:04.852 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.13 14:56:05.856 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.12 14:56:06.860 DEBUG \[Crossbow\] R =    4.70 : P =    6.27 : Y =   43.11 14:56:07.864 DEBUG \[Crossbow\] R =    4.73 : P =    6.27 : Y =   43.12 14:56:08.868 DEBUG \[Crossbow\] R =    4.71 : P =    6.25 : Y =   43.21 14:56:09.872 DEBUG \[Crossbow\] R =    4.71 : P =    6.28 : Y =   43.19 14:56:10.876 DEBUG \[Crossbow\] R =    4.69 : P =    6.28 : Y =   43.13 14:56:11.880 DEBUG \[Crossbow\] R =    4.72 : P =    6.29 : Y =   43.11 14:56:12.884 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.11 14:56:13.888 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.10 14:56:14.893 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.23 14:56:15.896 DEBUG \[Crossbow\] R =    4.69 : P =    6.27 : Y =   43.17   \\   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100 \\]]> 5832787 13828101 13795329 750 2010-06-14 22:01:04.193 2010-06-14 22:01:04.193 5865550 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available.]]> 5832786 15663144 15630379 5865555 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.   \\ \\ \\   h4. \\ h3. Thom's Notes: Time on AUV was 1999.    Fresh checkout from cvs, build failed. gcc \-o uplinkQserver uplinkQueuerServer.o  /home/auv/prj/auv-linux/onboard//utils/auvUtils.a /home/auv/prj/auv-shared/lib/libAuvShared.a \-L/opt/omniOrb/omniORB-4.1.0/build/lib/ \-L/usr/local/apr/lib \-lgctpc \-lpthread \-llog4cxx \-lnetcdf \-lnewmat  \-lapr-1 \-laprutil-1 \-lrt uplinkQueuerServer.o: In function `main': /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:9: undefined reference to `mbari::Logger::configure(char const*)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:17: undefined reference to `MsgQueuerServer::MsgQueuerServer(char const*, long, long, unsigned char, int)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:26: undefined reference to `MsgQueuerServer::run()' collect2: ld returned 1 exit status make\[1\]: \**\* \[uplinkQserver\] Error 1 make\[1\]: Leaving directory `/home/auv/prj/auv-linux/onboard/tools' make failed make: \**\* \[all\] Error 2 \\ The build got far enough to enable teledyne and crossbow builds.    Teledyne would not run without creating 'latest' directory in onboard/logs though I seem to remember there was a link involved (talk to Tom O.).]]> 5832791 5865556 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.   \\ \\ \\   h4. \\ h3. Thom's Notes: Time on AUV was 1999.    Fresh checkout from cvs, build failed. gcc \-o uplinkQserver uplinkQueuerServer.o  /home/auv/prj/auv-linux/onboard//utils/auvUtils.a /home/auv/prj/auv-shared/lib/libAuvShared.a \-L/opt/omniOrb/omniORB-4.1.0/build/lib/ \-L/usr/local/apr/lib \-lgctpc \-lpthread \-llog4cxx \-lnetcdf \-lnewmat  \-lapr-1 \-laprutil-1 \-lrt uplinkQueuerServer.o: In function `main': /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:9: undefined reference to `mbari::Logger::configure(char const*)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:17: undefined reference to `MsgQueuerServer::MsgQueuerServer(char const*, long, long, unsigned char, int)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:26: undefined reference to `MsgQueuerServer::run()' collect2: ld returned 1 exit status make\[1\]: \**\* \[uplinkQserver\] Error 1 make\[1\]: Leaving directory `/home/auv/prj/auv-linux/onboard/tools' make failed make: \**\* \[all\] Error 2 \\ The build got far enough to enable teledyne and crossbow builds.    Teledyne would not run without creating 'latest' directory in onboard/logs though I seem to remember there was a link involved (talk to Tom O.).]]> 5832792 9404640 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} The compilation of TREX core libraries is done similarly {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * *.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * *.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings *.exec.nddl *.skipper.nddl *.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the *processes.cfg to see if it starts correct processes including statePublisher h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * -v for being verbose * -sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * -proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * -fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] [] {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * -fast indicates that the clock used would connect to auv-linux fast simulation clock * -sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on -fast or -sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag -fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag -sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info} ]]> 9371891 9404642 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} The compilation of TREX core libraries is done similarly {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] [] {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Not that if you do not spcify in this case TREX will try to go as fast as linux go. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 9371893 9404650 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} The compilation of TREX core libraries is done similarly {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] [] {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 9371901 5865478 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  *** July 9:  Hans has made the docking vehicle available to finish the porting / validation.   The 3dmgx1 is not on the vehicle, but rather the Crossbow DMU **** The DMU baud rate can be changed per the following procedure: **** 1. Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. **** 2. Send the ASCII character "b" (0x62 hex) to the DMU. In a terminal program like minicom simply type the letter "b". The DMU is case sensitive. The DMU will respond "B" (0x42 hex). **** 3. Now change the baud rate of your terminal software.  **** 4. Send the ASCII character "a" (61 hex). The DMU will detect the character and automatically match the baud rate your software is using. Upon successful operation, the DMU will return the character "A" (0x41 hex) at the new baud rate. **** 5. You can now use the DMU at the new baud rate. The new baud rate setting is not permanent; therefore, this process must be repeated after any power reset. **** Sanity check the Crossbow\* *Command* *Query DMU Version,* *Character(s) Sent* v, *Response* ASCII string\*  *Command* Query DMU Serial Number, *Character(s) Sent S*, *Response* Binary serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. ** Fixed a bug in checkChecksum.   The struct overlay on the record was reading testPacket->Checksum as zero.   There were two many castings, so rewrote the routine to operate directly on the char record - BUG FIXED. \\ parosci \-  Paroscientific pressure sensor * devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 * ./parosci \-dev /dev/ttyS4 ** wait 60sec (or so) for 'ping service worksite' to timeout * Actions: ** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 ** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed ** Have obtained manual - parosci is unresponsive to serial commands via minicom ** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). ** Manual indicates commands should start with an asterisk (the request for serial number does not have this). ** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. *** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. *** No response to \*9900VR *** No response to \*0100SN ** Write a simple serial program to make sure the correct byte string is sent to parosci. *** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 ** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 ** \*0100P3<0x0d><0x0a> responds with \*000116.02 ** Minicom can be used - need to terminate the \*0100SN request with * Next step is to hook up the serial protocol analyzer.   ** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer * With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. **   Fixed a bug in sscanf which was incorrectly parsing ** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. ** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) ** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. **  Protocol Notes: *** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | * Status (+) ** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  ** Fixed bug in baud set ** Fixed bug in read serial number (sscanf and retries) ** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). ** Soak test runs overnight.      *** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  *** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ sonardyne usbl * No test executable available \\ tailcone * changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 * ./tailcone \-dev /dev/ttyS2 * Cautions: ** Recommend running tailcone tests while observing the tailcone ** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) * Status (/) ** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ Teledyne dvl - Doppler Velocity Log * changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 * Actions ** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) *** Have tried a sleep to allow the termio buffer to fill - does not help. *** In progress Reading up on termio and analyzing termio setup... *** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) *** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 * Status (/) ** In progress...   ** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) ** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios ** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. ** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. *** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 *** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 *** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 *** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 *** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 *** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 *** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 *** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. *** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * \[9 July 2008\] Crossbow Table 4. CrossBow AHRS300CA Data Packet Format | Byte | VG Mode | Scaled Sensor Mode | Voltage Mode | | 0 | Header (255) | Header (255) | Header (255) | | 1 | Roll Angle (MSB) | Roll Angular Rate (MSB) | Roll Gyro Voltage (MSB) | | 2 | Roll Angle (LSB) | Roll Angular Rate (LSB) | Roll Gyro Voltage (LSB) | | 3 | Pitch Angle (MSB) | Pitch Angular Rate (MSB) | Pitch Gyro Voltage (MSB) | | 4 | Pitch Angle (LSB) | Pitch Angular Rate (LSB) | Pitch Gyro Voltage (LSB) | | 5 | Heading Angle (MSB) | Yaw Angular Rate (MSB) | Yaw Gyro Voltage (MSB) | | 6 | Heading Angle (LSB) | Yaw Angular Rate (LSB) | Yaw Gyro Voltage (LSB) | | 7 | Roll Angular Rate (MSB) | X-Axis Acceleration (MSB) | X-Axis Accel Voltage (MSB) | | 8 | Roll Angular Rate (LSB) | X-Axis Acceleration (LSB) | X-Axis Accel Voltage (LSB) | | 9 | Pitch Angular Rate (MSB) | Y-Axis Acceleration (MSB) | Y-Axis Accel Voltage (MSB) | | 10 | Pitch Angular Rate (LSB) | Y-Axis Acceleration (LSB) | Y-Axis Accel Voltage (LSB) | | 11 | Yaw Angular Rate (MSB) | Z-Axis Acceleration (MSB) | Z-Axis Accel Voltage (MSB) | | 12 | Yaw Angular Rate (LSB) | Z-Axis Acceleration (LSB) | Z-Axis Accel Voltage (LSB) | | 13 | X-Axis Acceleration (MSB) | X-Axis Magnetic Field (MSB) | X-Axis Mag Voltage (MSB) | | 14 | X-Axis Acceleration (LSB) | X-Axis Magnetic Field (LSB) | X-Axis Mag Voltage (LSB) | | 15 | Y-Axis Acceleration (MSB) | Y-Axis Magnetic Field (MSB) | Y-Axis Mag Voltage (MSB) | | 16 | Y-Axis Acceleration (LSB) | Y-Axis Magnetic Field (LSB) | Y-Axis Mag Voltage (LSB) | | 17 | Z-Axis Acceleration (MSB) | Z-Axis Magnetic Field (MSB) | Z-Axis Mag Voltage (MSB) | | 18 | Z-Axis Acceleration (LSB) | Z-Axis Magnetic Field (LSB) | Z-Axis Mag Voltage (LSB) | | 19 | X-Axis Magnetic Field (MSB) | Temp Sensor Voltage (MSB) | Temp Sensor Voltage (MSB) | | 20 | X-Axis Magnetic Field (LSB) | Temp Sensor Voltage (LSB) | Temp Sensor Voltage (LSB) | | 21 | Y-Axis Magnetic Field (MSB) | Time (MSB) | Time (MSB) | | 22 | Y-Axis Magnetic Field (LSB) | Time (LSB) | Time (LSB) | | 23 | Z-Axis Magnetic Field (MSB) | Checksum | Checksum | | 24 | Z-Axis Magnetic Field (LSB) | | | | 25 | Temp Sensor Voltage (MSB) | | | | 26 | Temp Sensor Voltage (LSB) | | | | 27 | Time (MSB) | | | | 28 | Time (LSB) | | | | 29 | Checksum | | | *** \[Bug - build\] Top level build fails, though enough is built to enable driver development *** \[Bug - blocking\] Fixed bug in 'checkChecksum that was blocking processRecord.   Due to unpacked data (code is not compiled to pack on byte boundary, pragma pack(1)) struct overly on serial byte stream (testPacket->checksum was zero, yet the proper checksum is in the 'record' byte buf).   Changed checkChecksum to operate on byte stream with fixed offset for checksum location. *** Output looks wrong after fixing checksum problem.    Confirmed to be the 'pack' problem.   Bug fixed by building the data structure from the bytes, rather than overlaying and byte swapping. *** Here's the output showing raw data stability but bad data (before bug fix). **** 13:40:00.467 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=047a, HdgA=1d89 13:40:00.469 INFO \[Crossbow\]    R =  171.58 : P = \-167.32 : Y =    7.19 13:40:01.471 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0472, HdgA=1d86 13:40:01.473 INFO \[Crossbow\]    R =  160.33 : P = \-171.54 : Y =    1.57 13:40:02.471 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0475, HdgA=1d94 13:40:02.473 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =  \-84.22 13:40:03.476 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0475, HdgA=1d94 13:40:03.477 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =    5.78 13:40:04.479 INFO \[Crossbow\] Hdr=ff, RolA=035d, PitA=0475, HdgA=1d89 13:40:04.481 INFO \[Crossbow\]    R =  164.55 : P = \-167.32 : Y =   \-5.47 13:40:05.483 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0475, HdgA=1d87 13:40:05.485 INFO \[Crossbow\]    R =  164.55 : P = \-170.13 : Y =   17.03 13:40:06.488 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0476, HdgA=1d86 13:40:06.489 INFO \[Crossbow\]    R =  165.95 : P = \-171.54 : Y =   \-5.47 13:40:07.492 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0477, HdgA=1d93 **** Here's the data after the bug fix. 14:16:37.203 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0478, HdgA=1d97 14:16:37.204 INFO \[Crossbow\]    R =    4.71 : P =    6.28 : Y =   41.61 14:16:38.206 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0479, HdgA=1d96 14:16:38.207 INFO \[Crossbow\]    R =    4.71 : P =    6.29 : Y =   41.61 14:16:39.210 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0476, HdgA=1d93 14:16:39.211 INFO \[Crossbow\]    R =    4.69 : P =    6.27 : Y =   41.59 14:16:40.214 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0478, HdgA=1d94 14:16:40.215 INFO \[Crossbow\]    R =    4.70 : P =    6.28 : Y =   41.59 14:16:41.218 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=047a, HdgA=1d94 14:16:41.219 INFO \[Crossbow\]    R =    4.72 : P =    6.30 : Y =   41.59 14:16:42.223 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0477, HdgA=1d96 14:16:42.223 INFO \[Crossbow\]    R =    4.69 : P =    6.28 : Y =   41.61 14:16:43.227 INFO \[Crossbow\] Hdr=ff, RolA=035f, PitA=0474, HdgA=1d96 14:16:43.227 INFO \[Crossbow\]    R =    4.74 : P =    6.26 : Y =   41.61 14:16:44.231 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0473, HdgA=1d96 14:16:44.232 INFO \[Crossbow\]    R =    4.70 : P =    6.26 : Y =   41.61 14:16:45.235 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0476, HdgA=1d96 14:16:45.235 INFO \[Crossbow\]    R =    4.72 : P =    6.27 : Y =   41.61 14:16:46.239 INFO \[Crossbow\] Hdr=ff, RolA=0360, PitA=0478, HdgA=1d96 14:16:46.240 INFO \[Crossbow\]    R =    4.75 : P =    6.28 : Y =   41.61 \\ ** \[Bug - minor\] Serial number is read incorrectly.   NOT FIXED as it does not block tank test on July 17  *** 12:54:51.390 INFO \[Crossbow\] Serial Number: ff000043 *** 12:54:51.393 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 4278190147 (ff000043)  <<-\- 4278190147 looks incorrect. *** According to the Manual:  \* The DMU will respond with a serial number datapacket that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte.  The serial number bytes should be interpreted as a 32-bit unsigned integer. For example, the serial number 9911750 would be sent as the four bytes 00 97 3D C6. ** \[Bug - minor\] termios set baud failure.   Port is operational at 38400, but attempts to set it fail.   This will be pushed off until after tank test. *** 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed ***   * \[11 July 2008\] Parosci on docking AUV ** \[Bug - Blocking with workaround\] Bad read of serial number is preventing the driver test from executing.    Looks like the Serial number is requested, but the Parosci is busy streaming pressure readings (*000130.13829) *** 15:05:42.226 DEBUG \[ParosciApp\] Leaving ParosciApp.initialize() 15:05:42.227 INFO \[AuvApplication\] run() - just sleeps by default 15:05:42.341 DEBUG \[Parosci\] writeCommand \*0100SN *** 15:05:42.358 DEBUG \[Parosci\] Serial Number response: \*000130.13829 15:05:42.358 ERROR \[Parosci\] sscanf ret 0, incorrect serial number format 15:05:42.360 ERROR \[AuvService\] Read incorrect serial number format *** Went into minicom and got the parosci to stop streaming (actually, just opening minicom showed a series of pressure readings with the last output being the serial number).   Maybe a flush in the right place is needed. ** Ran the test again, starting with a 'non-streaming' parosci. *** 15:15:58.779 INFO \[Parosci\] Paroscientific configured. 15:15:58.850 DEBUG \[StreamSerialDriver\] run() - start main loop 15:15:58.851 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:15:58.985 DEBUG \[Parosci\] reply with value is 30.13823^M 15:15:58.986 INFO \[Parosci\] depth is: 1146999941 *** Changed format character for depth from int to float *** 15:50:02.429 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.430 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.431 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.434 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.610 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.611 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.611 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.614 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.790 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.790 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.791 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.794 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.969 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.970 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.971 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.974 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.153 DEBUG \[Parosci\] reply with value is 30.13807 15:50:03.155 INFO \[Parosci\] depth is:  \-0.1513 15:50:03.155 DEBUG \[Parosci\] 1 bytes buffered now 15:50:03.158 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.244 DEBUG \[Parosci\] getting temp period 15:50:03.356 DEBUG \[Parosci\] writeCommand \*0100Q1 *** 15:50:03.484 DEBUG \[Parosci\] writeCommand \*0100Q1 *** 15:50:03.593 DEBUG \[Parosci\] reply with value is 5.840225 15:50:03.704 DEBUG \[Parosci\] writeCommand \*0100P2 *** 15:50:03.719 INFO \[Parosci\] tempPeriod is: \-247390116 15:50:03.720 DEBUG \[Parosci\] 0 bytes buffered now 15:50:03.723 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.925 DEBUG \[Parosci\] reply with value is 30.13809 15:50:03.926 INFO \[Parosci\] depth is:  \-0.1744 15:50:03.927 DEBUG \[Parosci\] 1 bytes buffered now 15:50:03.930 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:04.105 DEBUG \[Parosci\] reply with value is 30.13807 15:50:04.107 INFO \[Parosci\] depth is:  \-0.1513 15:50:04.107 DEBUG \[Parosci\] 1 bytes buffered now 15:50:04.110 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:04.285 DEBUG \[Parosci\] reply with value is 30.13809 15:50:04.286 INFO \[Parosci\] depth is:  \-0.1744 15:50:04.287 DEBUG \[Parosci\] 1 bytes buffered now * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ CrossBow Output auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 14:56:03.622 DEBUG \[CorbaUtils\] get ORB: 14:56:03.642 DEBUG \[CorbaUtils\] get POA: 14:56:03.664 DEBUG \[CorbaUtils\] Looking for event channel "EventChannel" in name service: 14:56:03.669 DEBUG \[CorbaUtils\] Found event channel "EventChannel" 14:56:03.675 DEBUG \[CorbaUtils\] Create provider servant 14:56:03.693 DEBUG \[CorbaUtils\] Create consumer servant 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word crossbowPeriod 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word 100 14:56:03.702 DEBUG \[parseComplex\] Parsing attribute crossbowPeriod = 100 14:56:03.703 DEBUG \[parseComplex\] No current item .. using the provided attributes CrossbowConstants 14:56:03.704 DEBUG \[Attributes\] Attributes::parse() - size=3 14:56:03.705 DEBUG \[Attributes\] Attributes::parse() - compare attribute name crossbowPeriod to input name crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- Found value for crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- crossbowPeriod is set 14:56:03.708 DEBUG \[Attributes\] Attribute crossbowPeriod is hasDefault = true, isSet = true 14:56:03.708 DEBUG \[Attributes\] Attribute debug is hasDefault = true, isSet = false 14:56:03.709 DEBUG \[Attributes\] Attribute dumpHex is hasDefault = true, isSet = false 14:56:03.710 DEBUG \[Attributes\] Attributes::verify() \-\- Attribute set CrossbowConstants is done 14:56:03.730 DEBUG \[CrossbowApp\] Launch instrument driver thread IOR:010000001300000049444c3a6175762f4168727349463a312e300000010000000000000064000000010102000d0000003133342e38392e33322e31360000750e0e000000fef3d6774800001553000000000200000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100 14:56:03.734 DEBUG \[CorbaUtils\] Ahrs already active... 14:56:03.737 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for Ahrs 14:56:03.746 DEBUG \[CorbaUtils\] context already bound 14:56:03.749 DEBUG \[CorbaUtils\] call bind() for Ahrs 14:56:03.759 DEBUG \[CorbaUtils\] call rebind() for Ahrs 14:56:03.763 DEBUG \[CorbaUtils\] invoke prepareToRun() 14:56:03.764 DEBUG \[CorbaUtils\] Activate POA manager 14:56:03.765 DEBUG \[CorbaUtils\] Run the ORB in a new thread 14:56:03.766 DEBUG \[CorbaUtils\] return from registerService() 14:56:03.767 DEBUG \[CrossbowApp\] Leaving CrossbowApp.initialize() 14:56:03.781 INFO \[AuvApplication\] run() - just sleeps by default 14:56:03.768 DEBUG \[Crossbow\] Crossbow::initialize : Initializing Crossbow driver 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed 14:56:03.786 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.789 DEBUG \[Crossbow\] Crossbow::initialize :     ...done\! 14:56:03.789 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.790 DEBUG \[Crossbow\] Crossbow.cc: In getSerialNumber() AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec14:56:03.816 INFO \[Crossbow\] Crossbow.cc: device->read succeeded 14:56:03.818 INFO \[Crossbow\] Crossbow.cc: The serial number is 4278190147 (ff000043) 14:56:03.821 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.860 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.16 14:56:04.852 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.13 14:56:05.856 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.12 14:56:06.860 DEBUG \[Crossbow\] R =    4.70 : P =    6.27 : Y =   43.11 14:56:07.864 DEBUG \[Crossbow\] R =    4.73 : P =    6.27 : Y =   43.12 14:56:08.868 DEBUG \[Crossbow\] R =    4.71 : P =    6.25 : Y =   43.21 14:56:09.872 DEBUG \[Crossbow\] R =    4.71 : P =    6.28 : Y =   43.19 14:56:10.876 DEBUG \[Crossbow\] R =    4.69 : P =    6.28 : Y =   43.13 14:56:11.880 DEBUG \[Crossbow\] R =    4.72 : P =    6.29 : Y =   43.11 14:56:12.884 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.11 14:56:13.888 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.10 14:56:14.893 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.23 14:56:15.896 DEBUG \[Crossbow\] R =    4.69 : P =    6.27 : Y =   43.17   \\   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100 \\]]> 5832711 9404654 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} The compilation of TREX core libraries is done similarly {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 9371905 8388852 8356096 9404652 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} The compilation of TREX core libraries is done similarly {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 9371903 14549000 14516232 5865668 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  *** July 9:  Hans has made the docking vehicle available to finish the porting / validation.   The 3dmgx1 is not on the vehicle, but rather the Crossbow DMU **** The DMU baud rate can be changed per the following procedure: **** 1. Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. **** 2. Send the ASCII character "b" (0x62 hex) to the DMU. In a terminal program like minicom simply type the letter "b". The DMU is case sensitive. The DMU will respond "B" (0x42 hex). **** 3. Now change the baud rate of your terminal software.  **** 4. Send the ASCII character "a" (61 hex). The DMU will detect the character and automatically match the baud rate your software is using. Upon successful operation, the DMU will return the character "A" (0x41 hex) at the new baud rate. **** 5. You can now use the DMU at the new baud rate. The new baud rate setting is not permanent; therefore, this process must be repeated after any power reset. **** Sanity check the Crossbow\* *Command* *Query DMU Version,* *Character(s) Sent* v, *Response* ASCII string\*  *Command* Query DMU Serial Number, *Character(s) Sent S*, *Response* Binary serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. ** Fixed a bug in checkChecksum.   The struct overlay on the record was reading testPacket->Checksum as zero.   There were two many castings, so rewrote the routine to operate directly on the char record - BUG FIXED. \\ parosci \-  Paroscientific pressure sensor * devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 * ./parosci \-dev /dev/ttyS4 ** wait 60sec (or so) for 'ping service worksite' to timeout * Actions: ** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 ** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed ** Have obtained manual - parosci is unresponsive to serial commands via minicom ** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). ** Manual indicates commands should start with an asterisk (the request for serial number does not have this). ** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. *** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. *** No response to \*9900VR *** No response to \*0100SN ** Write a simple serial program to make sure the correct byte string is sent to parosci. *** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 ** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 ** \*0100P3<0x0d><0x0a> responds with \*000116.02 ** Minicom can be used - need to terminate the \*0100SN request with , (ctrl-m, ctrl-j is 0x0d, 0x0a in minicom) * Next step is to hook up the serial protocol analyzer.   ** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer * With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. **   Fixed a bug in sscanf which was incorrectly parsing ** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. ** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) ** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ** Found a problem **  Protocol Notes: *** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | * Status (+) ** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  ** Fixed bug in baud set ** Fixed bug in read serial number (sscanf and retries) ** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). ** Soak test runs overnight.      *** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  *** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ sonardyne usbl * No test executable available \\ tailcone * changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 * ./tailcone \-dev /dev/ttyS2 * Cautions: ** Recommend running tailcone tests while observing the tailcone ** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) * Status (/) ** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ Teledyne dvl - Doppler Velocity Log * changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 * Actions ** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) *** Have tried a sleep to allow the termio buffer to fill - does not help. *** In progress Reading up on termio and analyzing termio setup... *** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) *** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 * Status (/) ** In progress...   ** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) ** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios ** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. ** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. *** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 *** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 *** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 *** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 *** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 *** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 *** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 *** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. *** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * \[9 July 2008\] Crossbow Table 4. CrossBow AHRS300CA Data Packet Format | Byte | VG Mode | Scaled Sensor Mode | Voltage Mode | | 0 | Header (255) | Header (255) | Header (255) | | 1 | Roll Angle (MSB) | Roll Angular Rate (MSB) | Roll Gyro Voltage (MSB) | | 2 | Roll Angle (LSB) | Roll Angular Rate (LSB) | Roll Gyro Voltage (LSB) | | 3 | Pitch Angle (MSB) | Pitch Angular Rate (MSB) | Pitch Gyro Voltage (MSB) | | 4 | Pitch Angle (LSB) | Pitch Angular Rate (LSB) | Pitch Gyro Voltage (LSB) | | 5 | Heading Angle (MSB) | Yaw Angular Rate (MSB) | Yaw Gyro Voltage (MSB) | | 6 | Heading Angle (LSB) | Yaw Angular Rate (LSB) | Yaw Gyro Voltage (LSB) | | 7 | Roll Angular Rate (MSB) | X-Axis Acceleration (MSB) | X-Axis Accel Voltage (MSB) | | 8 | Roll Angular Rate (LSB) | X-Axis Acceleration (LSB) | X-Axis Accel Voltage (LSB) | | 9 | Pitch Angular Rate (MSB) | Y-Axis Acceleration (MSB) | Y-Axis Accel Voltage (MSB) | | 10 | Pitch Angular Rate (LSB) | Y-Axis Acceleration (LSB) | Y-Axis Accel Voltage (LSB) | | 11 | Yaw Angular Rate (MSB) | Z-Axis Acceleration (MSB) | Z-Axis Accel Voltage (MSB) | | 12 | Yaw Angular Rate (LSB) | Z-Axis Acceleration (LSB) | Z-Axis Accel Voltage (LSB) | | 13 | X-Axis Acceleration (MSB) | X-Axis Magnetic Field (MSB) | X-Axis Mag Voltage (MSB) | | 14 | X-Axis Acceleration (LSB) | X-Axis Magnetic Field (LSB) | X-Axis Mag Voltage (LSB) | | 15 | Y-Axis Acceleration (MSB) | Y-Axis Magnetic Field (MSB) | Y-Axis Mag Voltage (MSB) | | 16 | Y-Axis Acceleration (LSB) | Y-Axis Magnetic Field (LSB) | Y-Axis Mag Voltage (LSB) | | 17 | Z-Axis Acceleration (MSB) | Z-Axis Magnetic Field (MSB) | Z-Axis Mag Voltage (MSB) | | 18 | Z-Axis Acceleration (LSB) | Z-Axis Magnetic Field (LSB) | Z-Axis Mag Voltage (LSB) | | 19 | X-Axis Magnetic Field (MSB) | Temp Sensor Voltage (MSB) | Temp Sensor Voltage (MSB) | | 20 | X-Axis Magnetic Field (LSB) | Temp Sensor Voltage (LSB) | Temp Sensor Voltage (LSB) | | 21 | Y-Axis Magnetic Field (MSB) | Time (MSB) | Time (MSB) | | 22 | Y-Axis Magnetic Field (LSB) | Time (LSB) | Time (LSB) | | 23 | Z-Axis Magnetic Field (MSB) | Checksum | Checksum | | 24 | Z-Axis Magnetic Field (LSB) | | | | 25 | Temp Sensor Voltage (MSB) | | | | 26 | Temp Sensor Voltage (LSB) | | | | 27 | Time (MSB) | | | | 28 | Time (LSB) | | | | 29 | Checksum | | | *** \[Bug - build\] Top level build fails, though enough is built to enable driver development *** \[Bug - blocking\] Fixed bug in 'checkChecksum that was blocking processRecord.   Due to unpacked data (code is not compiled to pack on byte boundary, pragma pack(1)) struct overly on serial byte stream (testPacket->checksum was zero, yet the proper checksum is in the 'record' byte buf).   Changed checkChecksum to operate on byte stream with fixed offset for checksum location. *** Output looks wrong after fixing checksum problem.    Confirmed to be the 'pack' problem.   Bug fixed by building the data structure from the bytes, rather than overlaying and byte swapping. *** Here's the output showing raw data stability but bad data (before bug fix). **** 13:40:00.467 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=047a, HdgA=1d89 13:40:00.469 INFO \[Crossbow\]    R =  171.58 : P = \-167.32 : Y =    7.19 13:40:01.471 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0472, HdgA=1d86 13:40:01.473 INFO \[Crossbow\]    R =  160.33 : P = \-171.54 : Y =    1.57 13:40:02.471 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0475, HdgA=1d94 13:40:02.473 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =  \-84.22 13:40:03.476 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0475, HdgA=1d94 13:40:03.477 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =    5.78 13:40:04.479 INFO \[Crossbow\] Hdr=ff, RolA=035d, PitA=0475, HdgA=1d89 13:40:04.481 INFO \[Crossbow\]    R =  164.55 : P = \-167.32 : Y =   \-5.47 13:40:05.483 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0475, HdgA=1d87 13:40:05.485 INFO \[Crossbow\]    R =  164.55 : P = \-170.13 : Y =   17.03 13:40:06.488 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0476, HdgA=1d86 13:40:06.489 INFO \[Crossbow\]    R =  165.95 : P = \-171.54 : Y =   \-5.47 13:40:07.492 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0477, HdgA=1d93 **** Here's the data after the bug fix. 14:16:37.203 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0478, HdgA=1d97 14:16:37.204 INFO \[Crossbow\]    R =    4.71 : P =    6.28 : Y =   41.61 14:16:38.206 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0479, HdgA=1d96 14:16:38.207 INFO \[Crossbow\]    R =    4.71 : P =    6.29 : Y =   41.61 14:16:39.210 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0476, HdgA=1d93 14:16:39.211 INFO \[Crossbow\]    R =    4.69 : P =    6.27 : Y =   41.59 14:16:40.214 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0478, HdgA=1d94 14:16:40.215 INFO \[Crossbow\]    R =    4.70 : P =    6.28 : Y =   41.59 14:16:41.218 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=047a, HdgA=1d94 14:16:41.219 INFO \[Crossbow\]    R =    4.72 : P =    6.30 : Y =   41.59 14:16:42.223 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0477, HdgA=1d96 14:16:42.223 INFO \[Crossbow\]    R =    4.69 : P =    6.28 : Y =   41.61 14:16:43.227 INFO \[Crossbow\] Hdr=ff, RolA=035f, PitA=0474, HdgA=1d96 14:16:43.227 INFO \[Crossbow\]    R =    4.74 : P =    6.26 : Y =   41.61 14:16:44.231 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0473, HdgA=1d96 14:16:44.232 INFO \[Crossbow\]    R =    4.70 : P =    6.26 : Y =   41.61 14:16:45.235 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0476, HdgA=1d96 14:16:45.235 INFO \[Crossbow\]    R =    4.72 : P =    6.27 : Y =   41.61 14:16:46.239 INFO \[Crossbow\] Hdr=ff, RolA=0360, PitA=0478, HdgA=1d96 14:16:46.240 INFO \[Crossbow\]    R =    4.75 : P =    6.28 : Y =   41.61 \\ ** \[Bug - minor\] Serial number is read incorrectly.   NOT FIXED as it does not block tank test on July 17  *** 12:54:51.390 INFO \[Crossbow\] Serial Number: ff000043 *** 12:54:51.393 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 4278190147 (ff000043)  <<-\- 4278190147 looks incorrect. *** According to the Manual:  \* The DMU will respond with a serial number datapacket that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte.  The serial number bytes should be interpreted as a 32-bit unsigned integer. For example, the serial number 9911750 would be sent as the four bytes 00 97 3D C6. ** \[Bug - minor\] termios set baud failure.   Port is operational at 38400, but attempts to set it fail.   This will be pushed off until after tank test. *** 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed ***   * \[11 July 2008\] Parosci on docking AUV ** \[Bug - Blocking with workaround\] Bad read of serial number is preventing the driver test from executing.    Looks like the Serial number is requested, but the Parosci is busy streaming pressure readings (*000130.13829) *** 15:05:42.226 DEBUG \[ParosciApp\] Leaving ParosciApp.initialize() 15:05:42.227 INFO \[AuvApplication\] run() - just sleeps by default 15:05:42.341 DEBUG \[Parosci\] writeCommand \*0100SN *** 15:05:42.358 DEBUG \[Parosci\] Serial Number response: \*000130.13829 15:05:42.358 ERROR \[Parosci\] sscanf ret 0, incorrect serial number format 15:05:42.360 ERROR \[AuvService\] Read incorrect serial number format *** Went into minicom and got the parosci to stop streaming (actually, just opening minicom showed a series of pressure readings with the last output being the serial number).   Maybe a flush in the right place is needed. ** Ran the test again, starting with a 'non-streaming' parosci. *** 15:15:58.779 INFO \[Parosci\] Paroscientific configured. 15:15:58.850 DEBUG \[StreamSerialDriver\] run() - start main loop 15:15:58.851 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:15:58.985 DEBUG \[Parosci\] reply with value is 30.13823^M 15:15:58.986 INFO \[Parosci\] depth is: 1146999941 *** Changed format character for depth from int to float *** 15:50:02.429 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.430 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.431 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.434 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.610 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.611 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.611 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.614 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.790 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.790 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.791 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.794 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:02.969 DEBUG \[Parosci\] reply with value is 30.13807 15:50:02.970 INFO \[Parosci\] depth is:  \-0.1513 15:50:02.971 DEBUG \[Parosci\] 1 bytes buffered now 15:50:02.974 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.153 DEBUG \[Parosci\] reply with value is 30.13807 15:50:03.155 INFO \[Parosci\] depth is:  \-0.1513 15:50:03.155 DEBUG \[Parosci\] 1 bytes buffered now 15:50:03.158 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.244 DEBUG \[Parosci\] getting temp period 15:50:03.356 DEBUG \[Parosci\] writeCommand \*0100Q1 *** 15:50:03.484 DEBUG \[Parosci\] writeCommand \*0100Q1 *** 15:50:03.593 DEBUG \[Parosci\] reply with value is 5.840225 15:50:03.704 DEBUG \[Parosci\] writeCommand \*0100P2 *** 15:50:03.719 INFO \[Parosci\] tempPeriod is: \-247390116 15:50:03.720 DEBUG \[Parosci\] 0 bytes buffered now 15:50:03.723 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:03.925 DEBUG \[Parosci\] reply with value is 30.13809 15:50:03.926 INFO \[Parosci\] depth is:  \-0.1744 15:50:03.927 DEBUG \[Parosci\] 1 bytes buffered now 15:50:03.930 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:04.105 DEBUG \[Parosci\] reply with value is 30.13807 15:50:04.107 INFO \[Parosci\] depth is:  \-0.1513 15:50:04.107 DEBUG \[Parosci\] 1 bytes buffered now 15:50:04.110 DEBUG \[StreamSerialDriver\] StreamSerialDriver::run() - call readRecord() 15:50:04.285 DEBUG \[Parosci\] reply with value is 30.13809 15:50:04.286 INFO \[Parosci\] depth is:  \-0.1744 15:50:04.287 DEBUG \[Parosci\] 1 bytes buffered now * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D* \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ CrossBow Output auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 14:56:03.622 DEBUG \[CorbaUtils\] get ORB: 14:56:03.642 DEBUG \[CorbaUtils\] get POA: 14:56:03.664 DEBUG \[CorbaUtils\] Looking for event channel "EventChannel" in name service: 14:56:03.669 DEBUG \[CorbaUtils\] Found event channel "EventChannel" 14:56:03.675 DEBUG \[CorbaUtils\] Create provider servant 14:56:03.693 DEBUG \[CorbaUtils\] Create consumer servant 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word crossbowPeriod 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word 100 14:56:03.702 DEBUG \[parseComplex\] Parsing attribute crossbowPeriod = 100 14:56:03.703 DEBUG \[parseComplex\] No current item .. using the provided attributes CrossbowConstants 14:56:03.704 DEBUG \[Attributes\] Attributes::parse() - size=3 14:56:03.705 DEBUG \[Attributes\] Attributes::parse() - compare attribute name crossbowPeriod to input name crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- Found value for crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- crossbowPeriod is set 14:56:03.708 DEBUG \[Attributes\] Attribute crossbowPeriod is hasDefault = true, isSet = true 14:56:03.708 DEBUG \[Attributes\] Attribute debug is hasDefault = true, isSet = false 14:56:03.709 DEBUG \[Attributes\] Attribute dumpHex is hasDefault = true, isSet = false 14:56:03.710 DEBUG \[Attributes\] Attributes::verify() \-\- Attribute set CrossbowConstants is done 14:56:03.730 DEBUG \[CrossbowApp\] Launch instrument driver thread IOR:010000001300000049444c3a6175762f4168727349463a312e300000010000000000000064000000010102000d0000003133342e38392e33322e31360000750e0e000000fef3d6774800001553000000000200000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100 14:56:03.734 DEBUG \[CorbaUtils\] Ahrs already active... 14:56:03.737 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for Ahrs 14:56:03.746 DEBUG \[CorbaUtils\] context already bound 14:56:03.749 DEBUG \[CorbaUtils\] call bind() for Ahrs 14:56:03.759 DEBUG \[CorbaUtils\] call rebind() for Ahrs 14:56:03.763 DEBUG \[CorbaUtils\] invoke prepareToRun() 14:56:03.764 DEBUG \[CorbaUtils\] Activate POA manager 14:56:03.765 DEBUG \[CorbaUtils\] Run the ORB in a new thread 14:56:03.766 DEBUG \[CorbaUtils\] return from registerService() 14:56:03.767 DEBUG \[CrossbowApp\] Leaving CrossbowApp.initialize() 14:56:03.781 INFO \[AuvApplication\] run() - just sleeps by default 14:56:03.768 DEBUG \[Crossbow\] Crossbow::initialize : Initializing Crossbow driver 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed 14:56:03.786 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.789 DEBUG \[Crossbow\] Crossbow::initialize :     ...done\! 14:56:03.789 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.790 DEBUG \[Crossbow\] Crossbow.cc: In getSerialNumber() AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec14:56:03.816 INFO \[Crossbow\] Crossbow.cc: device->read succeeded 14:56:03.818 INFO \[Crossbow\] Crossbow.cc: The serial number is 4278190147 (ff000043) 14:56:03.821 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.860 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.16 14:56:04.852 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.13 14:56:05.856 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.12 14:56:06.860 DEBUG \[Crossbow\] R =    4.70 : P =    6.27 : Y =   43.11 14:56:07.864 DEBUG \[Crossbow\] R =    4.73 : P =    6.27 : Y =   43.12 14:56:08.868 DEBUG \[Crossbow\] R =    4.71 : P =    6.25 : Y =   43.21 14:56:09.872 DEBUG \[Crossbow\] R =    4.71 : P =    6.28 : Y =   43.19 14:56:10.876 DEBUG \[Crossbow\] R =    4.69 : P =    6.28 : Y =   43.13 14:56:11.880 DEBUG \[Crossbow\] R =    4.72 : P =    6.29 : Y =   43.11 14:56:12.884 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.11 14:56:13.888 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.10 14:56:14.893 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.23 14:56:15.896 DEBUG \[Crossbow\] R =    4.69 : P =    6.27 : Y =   43.17   \\   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100 \\]]> 5832907 5865637 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notificatino service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba)  **** Create a symbolic link in /etc/rc3.d to 'startCorba'  ***** ln \-s /etc/init.d/startCorba /etc/rc3.d/S96startCorba   *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available.]]> 5832876 5865664 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.   \\ \\ \\   h4. \\ h3. Thom's Notes: Time on AUV was 1999.    Fresh checkout from cvs, build failed. gcc \-o uplinkQserver uplinkQueuerServer.o  /home/auv/prj/auv-linux/onboard//utils/auvUtils.a /home/auv/prj/auv-shared/lib/libAuvShared.a \-L/opt/omniOrb/omniORB-4.1.0/build/lib/ \-L/usr/local/apr/lib \-lgctpc \-lpthread \-llog4cxx \-lnetcdf \-lnewmat  \-lapr-1 \-laprutil-1 \-lrt uplinkQueuerServer.o: In function `main': /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:9: undefined reference to `mbari::Logger::configure(char const*)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:17: undefined reference to `MsgQueuerServer::MsgQueuerServer(char const*, long, long, unsigned char, int)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:26: undefined reference to `MsgQueuerServer::run()' collect2: ld returned 1 exit status make\[1\]: \**\* \[uplinkQserver\] Error 1 make\[1\]: Leaving directory `/home/auv/prj/auv-linux/onboard/tools' make failed make: \**\* \[all\] Error 2 \\ The build got far enough to enable teledyne and crossbow builds.    Teledyne would not run without creating 'latest' directory in onboard/logs though I seem to remember there was a link involved (talk to Tom O.).]]> 5832903 5865666 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.   \\ \\ \\   h4. \\ h3. Thom's Notes: Time on AUV was 1999.    Fresh checkout from cvs, build failed. gcc \-o uplinkQserver uplinkQueuerServer.o  /home/auv/prj/auv-linux/onboard//utils/auvUtils.a /home/auv/prj/auv-shared/lib/libAuvShared.a \-L/opt/omniOrb/omniORB-4.1.0/build/lib/ \-L/usr/local/apr/lib \-lgctpc \-lpthread \-llog4cxx \-lnetcdf \-lnewmat  \-lapr-1 \-laprutil-1 \-lrt uplinkQueuerServer.o: In function `main': /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:9: undefined reference to `mbari::Logger::configure(char const*)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:17: undefined reference to `MsgQueuerServer::MsgQueuerServer(char const*, long, long, unsigned char, int)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:26: undefined reference to `MsgQueuerServer::run()' collect2: ld returned 1 exit status make\[1\]: \**\* \[uplinkQserver\] Error 1 make\[1\]: Leaving directory `/home/auv/prj/auv-linux/onboard/tools' make failed make: \**\* \[all\] Error 2 \\ The build got far enough to enable teledyne and crossbow builds.    Teledyne would not run without creating 'latest' directory in onboard/logs though I seem to remember there was a link involved (talk to Tom O.).\\  For Leak detection: http://www.cprogramming.com/debugging/valgrind.html]]> 5832905 5865603 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available.]]> 5832841 3178948 3113441 3670578 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.  \\ \\ \\ \\   h4. \\ h3.]]> 3637828 9404863 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notificatino service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba)  **** Create a symbolic link using update-rc.d (Debian command) ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** edit */etc/dhcp3/dhclient.conf* to add the following line: ****** send host-name "foce2.shore.mbari.org" ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} Base baud for CTI boards. Default Max Baud = 115200 bps define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS{color} {color:black}UARTCLKPORT{color}{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } ttyS0 { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } ttyS1 { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } ttyS2 { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } ttyS3 { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS } ttyS4 { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS } ttyS5 { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS } ttyS6 { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS } ttyS7 \\ If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \\ \\ \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available. \\ More stream of consciousness ramblings: *OmniNotify v2.1 will not compile with the latest C+\+ offerings from GNU and Microsoft.* Why?  Because support for the header has been removed. It is replaced by (without the .h) and requires use of namespaces to access. A patch to v2.1 that fixes this is attached \\]]> 9372118 9404840 9372094 9404706 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa Europa/PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ svn+ssh:// Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 9371957 8388876 8356119 8388911 8356158 8388910 8356157 8388920 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.  ]]> 8356167 9404708 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notificatino service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba)  **** Create a symbolic link using update-rc.d (Debian command) ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \\ \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available. \\ More stream of consciousness ramblings: *OmniNotify v2.1 will not compile with the latest C+\+ offerings from GNU and Microsoft.* Why?  Because support for the header has been removed. It is replaced by (without the .h) and requires use of namespaces to access. A patch to v2.1 that fixes this is attached \\]]> 9371959 11829493    (to turn on TREX2 cpu) ## ctrl-a x   (to exit) # cd $AUV/bin # < pause> and follow procedure in Terminal 2 below # nohup ./vcsServer \-v & # ps \-a  # Go to terminal 2 and launch amc_o_rt # ps-a (after amc_o_rt starts, you should see the processes of auv-qnx spawned. # to terminate by force:   slay supervisor   slay vcsServer\\ In Terminal 2 # slogin dorado1@trex2 # cd amc # . config.amc # cd mission # cat init.cfg (check depth envelop, check mission time in seconds) # # nohup ../exec/amc_o_rt science4.cfg & # cd \~/amc/log/latest # tail \-f TREX.log   ( it takes about 30 seconds or so to start and then lots of activity, should be no error or 'relax' in the stream of log messages) # go to terminal 1 # to terminate by force:   killall amc_o_rt]]> 11796736 11829487 11796730 5407505 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  *** July 9:  Hans has made the docking vehicle available to finish the porting / validation.   The 3dmgx1 is not on the vehicle, but rather the Crossbow DMU **** The DMU baud rate can be changed per the following procedure: **** 1. Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. **** 2. Send the ASCII character "b" (0x62 hex) to the DMU. In a terminal program like minicom simply type the letter "b". The DMU is case sensitive. The DMU will respond "B" (0x42 hex). **** 3. Now change the baud rate of your terminal software.  **** 4. Send the ASCII character "a" (61 hex). The DMU will detect the character and automatically match the baud rate your software is using. Upon successful operation, the DMU will return the character "A" (0x41 hex) at the new baud rate. **** 5. You can now use the DMU at the new baud rate. The new baud rate setting is not permanent; therefore, this process must be repeated after any power reset. **** Sanity check the Crossbow\* *Command* *Query DMU Version,* *Character(s) Sent* v, *Response* ASCII string\*  *Command* Query DMU Serial Number, *Character(s) Sent S*, *Response* Binary serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. ** Fixed a bug in checkChecksum.   The struct overlay on the record was reading testPacket->Checksum as zero.   There were two many castings, so rewrote the routine to operate directly on the char record - BUG FIXED. \\ parosci \-  Paroscientific pressure sensor * devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 * ./parosci \-dev /dev/ttyS4 ** wait 60sec (or so) for 'ping service worksite' to timeout * Actions: ** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 ** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed ** Have obtained manual - parosci is unresponsive to serial commands via minicom ** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). ** Manual indicates commands should start with an asterisk (the request for serial number does not have this). ** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. *** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. *** No response to \*9900VR *** No response to \*0100SN ** Write a simple serial program to make sure the correct byte string is sent to parosci. *** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 ** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 ** \*0100P3<0x0d><0x0a> responds with \*000116.02 ** Minicom can be used - need to terminate the \*0100SN request with * Next step is to hook up the serial protocol analyzer.   ** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer * With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. **   Fixed a bug in sscanf which was incorrectly parsing ** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. ** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) ** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. **  Protocol Notes: *** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | * Status (+) ** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  ** Fixed bug in baud set ** Fixed bug in read serial number (sscanf and retries) ** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). ** Soak test runs overnight.      *** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  *** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ sonardyne usbl * No test executable available \\ tailcone * changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 * ./tailcone \-dev /dev/ttyS2 * Cautions: ** Recommend running tailcone tests while observing the tailcone ** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) * Status (/) ** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ Teledyne dvl - Doppler Velocity Log * changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 * Actions ** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) *** Have tried a sleep to allow the termio buffer to fill - does not help. *** In progress Reading up on termio and analyzing termio setup... *** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) *** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 * Status (/) ** In progress...   ** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) ** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios ** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. ** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. *** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 *** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 *** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 *** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 *** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 *** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 *** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 *** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. *** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * \[9 July 2008\] Crossbow Table 4. CrossBow AHRS300CA Data Packet Format | Byte | VG Mode | Scaled Sensor Mode | Voltage Mode | | 0 | Header (255) | Header (255) | Header (255) | | 1 | Roll Angle (MSB) | Roll Angular Rate (MSB) | Roll Gyro Voltage (MSB) | | 2 | Roll Angle (LSB) | Roll Angular Rate (LSB) | Roll Gyro Voltage (LSB) | | 3 | Pitch Angle (MSB) | Pitch Angular Rate (MSB) | Pitch Gyro Voltage (MSB) | | 4 | Pitch Angle (LSB) | Pitch Angular Rate (LSB) | Pitch Gyro Voltage (LSB) | | 5 | Heading Angle (MSB) | Yaw Angular Rate (MSB) | Yaw Gyro Voltage (MSB) | | 6 | Heading Angle (LSB) | Yaw Angular Rate (LSB) | Yaw Gyro Voltage (LSB) | | 7 | Roll Angular Rate (MSB) | X-Axis Acceleration (MSB) | X-Axis Accel Voltage (MSB) | | 8 | Roll Angular Rate (LSB) | X-Axis Acceleration (LSB) | X-Axis Accel Voltage (LSB) | | 9 | Pitch Angular Rate (MSB) | Y-Axis Acceleration (MSB) | Y-Axis Accel Voltage (MSB) | | 10 | Pitch Angular Rate (LSB) | Y-Axis Acceleration (LSB) | Y-Axis Accel Voltage (LSB) | | 11 | Yaw Angular Rate (MSB) | Z-Axis Acceleration (MSB) | Z-Axis Accel Voltage (MSB) | | 12 | Yaw Angular Rate (LSB) | Z-Axis Acceleration (LSB) | Z-Axis Accel Voltage (LSB) | | 13 | X-Axis Acceleration (MSB) | X-Axis Magnetic Field (MSB) | X-Axis Mag Voltage (MSB) | | 14 | X-Axis Acceleration (LSB) | X-Axis Magnetic Field (LSB) | X-Axis Mag Voltage (LSB) | | 15 | Y-Axis Acceleration (MSB) | Y-Axis Magnetic Field (MSB) | Y-Axis Mag Voltage (MSB) | | 16 | Y-Axis Acceleration (LSB) | Y-Axis Magnetic Field (LSB) | Y-Axis Mag Voltage (LSB) | | 17 | Z-Axis Acceleration (MSB) | Z-Axis Magnetic Field (MSB) | Z-Axis Mag Voltage (MSB) | | 18 | Z-Axis Acceleration (LSB) | Z-Axis Magnetic Field (LSB) | Z-Axis Mag Voltage (LSB) | | 19 | X-Axis Magnetic Field (MSB) | Temp Sensor Voltage (MSB) | Temp Sensor Voltage (MSB) | | 20 | X-Axis Magnetic Field (LSB) | Temp Sensor Voltage (LSB) | Temp Sensor Voltage (LSB) | | 21 | Y-Axis Magnetic Field (MSB) | Time (MSB) | Time (MSB) | | 22 | Y-Axis Magnetic Field (LSB) | Time (LSB) | Time (LSB) | | 23 | Z-Axis Magnetic Field (MSB) | Checksum | Checksum | | 24 | Z-Axis Magnetic Field (LSB) | | | | 25 | Temp Sensor Voltage (MSB) | | | | 26 | Temp Sensor Voltage (LSB) | | | | 27 | Time (MSB) | | | | 28 | Time (LSB) | | | | 29 | Checksum | | | *** \[Bug - build\] Top level build fails, though enough is built to enable driver development *** \[Bug - major\] Fixed bug in 'checkChecksum that was blocking processRecord.   Suspect unpacked data struct overly on serial byte stream (testPacket->checksum was zero, yet the proper checksum is in the 'record' byte buf).   Changed checkChecksum to operate on byte stream with fixed offset for checksum location. *** Output looks wrong after fixing checksum problem. **** 12:58:35.140 INFO \[Crossbow\]    R =  164.55 : P = \-119.51 : Y =  \-27.96 12:58:36.144 INFO \[Crossbow\]    R =  157.52 : P = \-120.92 : Y =   \-9.68 12:58:37.148 INFO \[Crossbow\]    R =  158.92 : P = \-120.92 : Y =   10.01 12:58:38.153 INFO \[Crossbow\]    R =  156.11 : P = \-123.73 : Y =  \-36.40 12:58:39.156 INFO \[Crossbow\]    R =  160.33 : P =  \-97.01 : Y =  \-13.90 12:58:40.160 INFO \[Crossbow\]    R =  160.33 : P = \-105.45 : Y =  \-16.71 12:58:41.164 INFO \[Crossbow\]    R =  158.92 : P = \-109.67 : Y =   14.23 12:58:42.168 INFO \[Crossbow\]    R =  163.14 : P = \-109.67 : Y =  \-26.55 12:58:43.172 INFO \[Crossbow\]    R =  156.11 : P = \-111.07 : Y =   36.73 12:58:44.176 INFO \[Crossbow\]    R =  161.74 : P = \-109.67 : Y =  \-40.62 12:58:45.180 INFO \[Crossbow\]    R =  160.33 : P = \-108.26 : Y =   32.51 12:58:46.184 INFO \[Crossbow\]    R =  161.74 : P = \-111.07 : Y =   50.79 12:58:47.184 INFO \[Crossbow\]    R =  164.55 : P = \-111.07 : Y =   18.45 *** Here's the output additional debug (output of byte values) **** 13:40:00.467 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=047a, HdgA=1d89 13:40:00.469 INFO \[Crossbow\]    R =  171.58 : P = \-167.32 : Y =    7.19 13:40:01.471 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0472, HdgA=1d86 13:40:01.473 INFO \[Crossbow\]    R =  160.33 : P = \-171.54 : Y =    1.57 13:40:02.471 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0475, HdgA=1d94 13:40:02.473 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =  \-84.22 13:40:03.476 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0475, HdgA=1d94 13:40:03.477 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =    5.78 13:40:04.479 INFO \[Crossbow\] Hdr=ff, RolA=035d, PitA=0475, HdgA=1d89 13:40:04.481 INFO \[Crossbow\]    R =  164.55 : P = \-167.32 : Y =   \-5.47 13:40:05.483 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0475, HdgA=1d87 13:40:05.485 INFO \[Crossbow\]    R =  164.55 : P = \-170.13 : Y =   17.03 13:40:06.488 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0476, HdgA=1d86 13:40:06.489 INFO \[Crossbow\]    R =  165.95 : P = \-171.54 : Y =   \-5.47 13:40:07.492 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0477, HdgA=1d93 13:40:07.493 INFO \[Crossbow\]    R =  167.36 : P = \-153.26 : Y =  \-11.09 13:40:08.488 INFO \[Crossbow\] Hdr=ff, RolA=035e, PitA=0473, HdgA=1d96 13:40:08.489 INFO \[Crossbow\]    R =  161.74 : P = \-149.04 : Y =  \-27.97 13:40:09.492 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0478, HdgA=1d8a 13:40:09.493 INFO \[Crossbow\]    R =  168.77 : P = \-165.92 : Y =   25.47 13:40:10.492 INFO \[Crossbow\] Hdr=ff, RolA=035d, PitA=0474, HdgA=1d89 13:40:10.493 INFO \[Crossbow\]    R =  163.14 : P = \-167.32 : Y =  \-70.15 13:40:11.494 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0478, HdgA=1d86 13:40:11.496 INFO \[Crossbow\]    R =  168.77 : P = \-171.54 : Y =  \-23.75 13:40:12.497 INFO \[Crossbow\] Hdr=ff, RolA=035e, PitA=0475, HdgA=1d94 13:40:12.498 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =  \-15.31 13:40:13.500 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0477, HdgA=1d8f 13:40:13.501 INFO \[Crossbow\]    R =  167.36 : P = \-158.88 : Y =   11.41 13:40:14.504 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0477, HdgA=1d91 13:40:14.505 INFO \[Crossbow\]    R =  167.36 : P = \-156.07 : Y =    1.57 13:40:15.508 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0474, HdgA=1d8e 13:40:15.509 INFO \[Crossbow\]    R =  163.14 : P = \-160.29 : Y =   \-1.25 13:40:16.512 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0473, HdgA=1d8e 13:40:16.513 INFO \[Crossbow\]    R =  161.74 : P = \-160.29 : Y =  \-65.93 13:40:17.516 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0477, HdgA=1d8f 13:40:17.517 INFO \[Crossbow\]    R =  167.36 : P = \-158.88 : Y =   21.25 13:40:18.512 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0476, HdgA=1d8f 13:40:18.513 INFO \[Crossbow\]    R =  165.95 : P = \-158.88 : Y =   \-9.68 13:40:19.516 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0476, HdgA=1d92 13:40:19.517 INFO \[Crossbow\]    R =  165.95 : P = \-154.67 : Y =   57.82 13:40:20.516 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0477, HdgA=1d8e 13:40:20.517 INFO \[Crossbow\]    R =  167.36 : P = \-160.29 : Y =    5.78 13:40:21.520 INFO \[Crossbow\] Hdr=ff, RolA=035f, PitA=0478, HdgA=1d8e 13:40:21.521 INFO \[Crossbow\]    R =  168.77 : P = \-160.29 : Y =  \-15.31 13:40:22.524 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0476, HdgA=1d8f 13:40:22.525 INFO \[Crossbow\]    R =  165.95 : P = \-158.88 : Y =  \-13.90 13:40:23.528 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=047a, HdgA=1d90 13:40:23.529 INFO \[Crossbow\]    R =  171.58 : P = \-157.48 : Y =   35.32 13:40:24.532 INFO \[Crossbow\] Hdr=ff, RolA=035e, PitA=0477, HdgA=1d94 13:40:24.533 INFO \[Crossbow\]    R =  167.36 : P = \-151.85 : Y =    5.78 13:40:25.536 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=047a, HdgA=1d93 13:40:25.537 INFO \[Crossbow\]    R =  171.58 : P = \-153.26 : Y =  \-13.90 13:40:26.540 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0475, HdgA=1d93 13:40:26.541 INFO \[Crossbow\]    R =  164.55 : P = \-153.26 : Y =   25.47 13:40:27.544 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0477, HdgA=1d94 13:40:27.545 INFO \[Crossbow\]    R =  167.36 : P = \-151.85 : Y =   45.16 13:40:28.548 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0479, HdgA=1d92 13:40:28.549 INFO \[Crossbow\]    R =  170.17 : P = \-154.67 : Y =  \-23.75 13:40:29.552 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0478, HdgA=1d93 13:40:29.553 INFO \[Crossbow\]    R =  168.77 : P = \-153.26 : Y =   11.41 13:40:30.556 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0479, HdgA=1d93 13:40:30.557 INFO \[Crossbow\]    R =  170.17 : P = \-153.26 : Y =  \-57.50 13:40:31.560 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0474, HdgA=1d92 13:40:31.561 INFO \[Crossbow\]    R =  163.14 : P = \-154.67 : Y =   25.47 13:40:32.564 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=047a, HdgA=1d96 13:40:32.565 INFO \[Crossbow\]    R =  171.58 : P = \-149.04 : Y =  \-19.53   ** \[Bug - minor\] Serial number is read incorrectly *** 12:54:51.390 INFO \[Crossbow\] Serial Number: ff000043 *** 12:54:51.393 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 4278190147 (ff000043)  <<-\- 4278190147 looks incorrect. *** According to the Manual:  * The DMU will respond with a serial number datapacket that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte.  The serial number bytes should be interpreted as a 32-bit unsigned integer. For example, the serial number 9911750 would be sent as the four bytes 00 97 3D C6. *   * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100 \\]]> 5374775 5407503 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  *** July 9:  Hans has made the docking vehicle available to finish the porting / validation.   The 3dmgx1 is not on the vehicle, but rather the Crossbow DMU **** The DMU baud rate can be changed per the following procedure: **** 1. Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. **** 2. Send the ASCII character "b" (0x62 hex) to the DMU. In a terminal program like minicom simply type the letter "b". The DMU is case sensitive. The DMU will respond "B" (0x42 hex). **** 3. Now change the baud rate of your terminal software.  **** 4. Send the ASCII character "a" (61 hex). The DMU will detect the character and automatically match the baud rate your software is using. Upon successful operation, the DMU will return the character "A" (0x41 hex) at the new baud rate. **** 5. You can now use the DMU at the new baud rate. The new baud rate setting is not permanent; therefore, this process must be repeated after any power reset. **** Sanity check the Crossbow* *Command* *Query DMU Version,* *Character(s) Sent* v, *Response* ASCII string*  *Command* Query DMU Serial Number, *Character(s) Sent S*, *Response* Binary serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. ** Fixed a bug in checkChecksum.   The struct overlay on the record was reading testPacket->Checksum as zero.   There were two many castings, so rewrote the routine to operate directly on the char record - BUG FIXED. \\ parosci \-  Paroscientific pressure sensor * devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 * ./parosci \-dev /dev/ttyS4 ** wait 60sec (or so) for 'ping service worksite' to timeout * Actions: ** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 ** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed ** Have obtained manual - parosci is unresponsive to serial commands via minicom ** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). ** Manual indicates commands should start with an asterisk (the request for serial number does not have this). ** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. *** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. *** No response to \*9900VR *** No response to \*0100SN ** Write a simple serial program to make sure the correct byte string is sent to parosci. *** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 ** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 ** \*0100P3<0x0d><0x0a> responds with \*000116.02 ** Minicom can be used - need to terminate the \*0100SN request with * Next step is to hook up the serial protocol analyzer.   ** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer * With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. **   Fixed a bug in sscanf which was incorrectly parsing ** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. ** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) ** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. **  Protocol Notes: *** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | * Status (+) ** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  ** Fixed bug in baud set ** Fixed bug in read serial number (sscanf and retries) ** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). ** Soak test runs overnight.      *** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  *** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ sonardyne usbl * No test executable available \\ tailcone * changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 * ./tailcone \-dev /dev/ttyS2 * Cautions: ** Recommend running tailcone tests while observing the tailcone ** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) * Status (/) ** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ Teledyne dvl - Doppler Velocity Log * changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 * Actions ** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) *** Have tried a sleep to allow the termio buffer to fill - does not help. *** In progress Reading up on termio and analyzing termio setup... *** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) *** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 * Status (/) ** In progress...   ** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) ** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios ** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. ** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. *** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 *** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 *** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 *** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 *** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 *** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 *** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 *** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. *** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 5374773 8388976 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.  ]]> 8356230 9404785 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notificatino service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba)  **** Create a symbolic link using update-rc.d (Debian command) ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** edit */etc/dhcp3/dhclient.conf* to add the following line: ****** send host-name "foce2.shore.mbari.org" ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \\ \\ \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available. \\ More stream of consciousness ramblings: *OmniNotify v2.1 will not compile with the latest C+\+ offerings from GNU and Microsoft.* Why?  Because support for the header has been removed. It is replaced by (without the .h) and requires use of namespaces to access. A patch to v2.1 that fixes this is attached \\]]> 9372039 5407509 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  *** July 9:  Hans has made the docking vehicle available to finish the porting / validation.   The 3dmgx1 is not on the vehicle, but rather the Crossbow DMU **** The DMU baud rate can be changed per the following procedure: **** 1. Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. **** 2. Send the ASCII character "b" (0x62 hex) to the DMU. In a terminal program like minicom simply type the letter "b". The DMU is case sensitive. The DMU will respond "B" (0x42 hex). **** 3. Now change the baud rate of your terminal software.  **** 4. Send the ASCII character "a" (61 hex). The DMU will detect the character and automatically match the baud rate your software is using. Upon successful operation, the DMU will return the character "A" (0x41 hex) at the new baud rate. **** 5. You can now use the DMU at the new baud rate. The new baud rate setting is not permanent; therefore, this process must be repeated after any power reset. **** Sanity check the Crossbow\* *Command* *Query DMU Version,* *Character(s) Sent* v, *Response* ASCII string\*  *Command* Query DMU Serial Number, *Character(s) Sent S*, *Response* Binary serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. ** Fixed a bug in checkChecksum.   The struct overlay on the record was reading testPacket->Checksum as zero.   There were two many castings, so rewrote the routine to operate directly on the char record - BUG FIXED. \\ parosci \-  Paroscientific pressure sensor * devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 * ./parosci \-dev /dev/ttyS4 ** wait 60sec (or so) for 'ping service worksite' to timeout * Actions: ** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 ** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed ** Have obtained manual - parosci is unresponsive to serial commands via minicom ** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). ** Manual indicates commands should start with an asterisk (the request for serial number does not have this). ** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. *** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. *** No response to \*9900VR *** No response to \*0100SN ** Write a simple serial program to make sure the correct byte string is sent to parosci. *** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 ** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 ** \*0100P3<0x0d><0x0a> responds with \*000116.02 ** Minicom can be used - need to terminate the \*0100SN request with * Next step is to hook up the serial protocol analyzer.   ** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer * With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. **   Fixed a bug in sscanf which was incorrectly parsing ** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. ** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) ** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. **  Protocol Notes: *** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | * Status (+) ** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  ** Fixed bug in baud set ** Fixed bug in read serial number (sscanf and retries) ** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). ** Soak test runs overnight.      *** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  *** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ sonardyne usbl * No test executable available \\ tailcone * changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 * ./tailcone \-dev /dev/ttyS2 * Cautions: ** Recommend running tailcone tests while observing the tailcone ** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) * Status (/) ** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ Teledyne dvl - Doppler Velocity Log * changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 * Actions ** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) *** Have tried a sleep to allow the termio buffer to fill - does not help. *** In progress Reading up on termio and analyzing termio setup... *** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) *** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 * Status (/) ** In progress...   ** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) ** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios ** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. ** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. *** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 *** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 *** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 *** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 *** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 *** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 *** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 *** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. *** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * \[9 July 2008\] Crossbow Table 4. CrossBow AHRS300CA Data Packet Format | Byte | VG Mode | Scaled Sensor Mode | Voltage Mode | | 0 | Header (255) | Header (255) | Header (255) | | 1 | Roll Angle (MSB) | Roll Angular Rate (MSB) | Roll Gyro Voltage (MSB) | | 2 | Roll Angle (LSB) | Roll Angular Rate (LSB) | Roll Gyro Voltage (LSB) | | 3 | Pitch Angle (MSB) | Pitch Angular Rate (MSB) | Pitch Gyro Voltage (MSB) | | 4 | Pitch Angle (LSB) | Pitch Angular Rate (LSB) | Pitch Gyro Voltage (LSB) | | 5 | Heading Angle (MSB) | Yaw Angular Rate (MSB) | Yaw Gyro Voltage (MSB) | | 6 | Heading Angle (LSB) | Yaw Angular Rate (LSB) | Yaw Gyro Voltage (LSB) | | 7 | Roll Angular Rate (MSB) | X-Axis Acceleration (MSB) | X-Axis Accel Voltage (MSB) | | 8 | Roll Angular Rate (LSB) | X-Axis Acceleration (LSB) | X-Axis Accel Voltage (LSB) | | 9 | Pitch Angular Rate (MSB) | Y-Axis Acceleration (MSB) | Y-Axis Accel Voltage (MSB) | | 10 | Pitch Angular Rate (LSB) | Y-Axis Acceleration (LSB) | Y-Axis Accel Voltage (LSB) | | 11 | Yaw Angular Rate (MSB) | Z-Axis Acceleration (MSB) | Z-Axis Accel Voltage (MSB) | | 12 | Yaw Angular Rate (LSB) | Z-Axis Acceleration (LSB) | Z-Axis Accel Voltage (LSB) | | 13 | X-Axis Acceleration (MSB) | X-Axis Magnetic Field (MSB) | X-Axis Mag Voltage (MSB) | | 14 | X-Axis Acceleration (LSB) | X-Axis Magnetic Field (LSB) | X-Axis Mag Voltage (LSB) | | 15 | Y-Axis Acceleration (MSB) | Y-Axis Magnetic Field (MSB) | Y-Axis Mag Voltage (MSB) | | 16 | Y-Axis Acceleration (LSB) | Y-Axis Magnetic Field (LSB) | Y-Axis Mag Voltage (LSB) | | 17 | Z-Axis Acceleration (MSB) | Z-Axis Magnetic Field (MSB) | Z-Axis Mag Voltage (MSB) | | 18 | Z-Axis Acceleration (LSB) | Z-Axis Magnetic Field (LSB) | Z-Axis Mag Voltage (LSB) | | 19 | X-Axis Magnetic Field (MSB) | Temp Sensor Voltage (MSB) | Temp Sensor Voltage (MSB) | | 20 | X-Axis Magnetic Field (LSB) | Temp Sensor Voltage (LSB) | Temp Sensor Voltage (LSB) | | 21 | Y-Axis Magnetic Field (MSB) | Time (MSB) | Time (MSB) | | 22 | Y-Axis Magnetic Field (LSB) | Time (LSB) | Time (LSB) | | 23 | Z-Axis Magnetic Field (MSB) | Checksum | Checksum | | 24 | Z-Axis Magnetic Field (LSB) | | | | 25 | Temp Sensor Voltage (MSB) | | | | 26 | Temp Sensor Voltage (LSB) | | | | 27 | Time (MSB) | | | | 28 | Time (LSB) | | | | 29 | Checksum | | | *** \[Bug - build\] Top level build fails, though enough is built to enable driver development *** \[Bug - major\] Fixed bug in 'checkChecksum that was blocking processRecord.   Due to unpacked data (code is not compiled to pack on byte boundary, pragma pack(1)) struct overly on serial byte stream (testPacket->checksum was zero, yet the proper checksum is in the 'record' byte buf).   Changed checkChecksum to operate on byte stream with fixed offset for checksum location. *** Output looks wrong after fixing checksum problem.    Confirmed to be the 'pack' problem.   Bug fixed by building the data structure from the bytes, rather than overlaying and byte swapping. *** Here's the output showing raw data stability but bad data (before bug fix). **** 13:40:00.467 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=047a, HdgA=1d89 13:40:00.469 INFO \[Crossbow\]    R =  171.58 : P = \-167.32 : Y =    7.19 13:40:01.471 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0472, HdgA=1d86 13:40:01.473 INFO \[Crossbow\]    R =  160.33 : P = \-171.54 : Y =    1.57 13:40:02.471 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0475, HdgA=1d94 13:40:02.473 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =  \-84.22 13:40:03.476 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0475, HdgA=1d94 13:40:03.477 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =    5.78 13:40:04.479 INFO \[Crossbow\] Hdr=ff, RolA=035d, PitA=0475, HdgA=1d89 13:40:04.481 INFO \[Crossbow\]    R =  164.55 : P = \-167.32 : Y =   \-5.47 13:40:05.483 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0475, HdgA=1d87 13:40:05.485 INFO \[Crossbow\]    R =  164.55 : P = \-170.13 : Y =   17.03 13:40:06.488 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0476, HdgA=1d86 13:40:06.489 INFO \[Crossbow\]    R =  165.95 : P = \-171.54 : Y =   \-5.47 13:40:07.492 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0477, HdgA=1d93 **** Here's the data after the bug fix. 14:16:37.203 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0478, HdgA=1d97 14:16:37.204 INFO \[Crossbow\]    R =    4.71 : P =    6.28 : Y =   41.61 14:16:38.206 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0479, HdgA=1d96 14:16:38.207 INFO \[Crossbow\]    R =    4.71 : P =    6.29 : Y =   41.61 14:16:39.210 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0476, HdgA=1d93 14:16:39.211 INFO \[Crossbow\]    R =    4.69 : P =    6.27 : Y =   41.59 14:16:40.214 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0478, HdgA=1d94 14:16:40.215 INFO \[Crossbow\]    R =    4.70 : P =    6.28 : Y =   41.59 14:16:41.218 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=047a, HdgA=1d94 14:16:41.219 INFO \[Crossbow\]    R =    4.72 : P =    6.30 : Y =   41.59 14:16:42.223 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0477, HdgA=1d96 14:16:42.223 INFO \[Crossbow\]    R =    4.69 : P =    6.28 : Y =   41.61 14:16:43.227 INFO \[Crossbow\] Hdr=ff, RolA=035f, PitA=0474, HdgA=1d96 14:16:43.227 INFO \[Crossbow\]    R =    4.74 : P =    6.26 : Y =   41.61 14:16:44.231 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0473, HdgA=1d96 14:16:44.232 INFO \[Crossbow\]    R =    4.70 : P =    6.26 : Y =   41.61 14:16:45.235 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0476, HdgA=1d96 14:16:45.235 INFO \[Crossbow\]    R =    4.72 : P =    6.27 : Y =   41.61 14:16:46.239 INFO \[Crossbow\] Hdr=ff, RolA=0360, PitA=0478, HdgA=1d96 14:16:46.240 INFO \[Crossbow\]    R =    4.75 : P =    6.28 : Y =   41.61 \\ ** \[Bug - minor\] Serial number is read incorrectly.   NOT FIXED as it does not block tank test on July 17  *** 12:54:51.390 INFO \[Crossbow\] Serial Number: ff000043 *** 12:54:51.393 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 4278190147 (ff000043)  <<-\- 4278190147 looks incorrect. *** According to the Manual:  \* The DMU will respond with a serial number datapacket that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte.  The serial number bytes should be interpreted as a 32-bit unsigned integer. For example, the serial number 9911750 would be sent as the four bytes 00 97 3D C6. *   * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100 \\]]> 5374779 5407507 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  *** July 9:  Hans has made the docking vehicle available to finish the porting / validation.   The 3dmgx1 is not on the vehicle, but rather the Crossbow DMU **** The DMU baud rate can be changed per the following procedure: **** 1. Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. **** 2. Send the ASCII character "b" (0x62 hex) to the DMU. In a terminal program like minicom simply type the letter "b". The DMU is case sensitive. The DMU will respond "B" (0x42 hex). **** 3. Now change the baud rate of your terminal software.  **** 4. Send the ASCII character "a" (61 hex). The DMU will detect the character and automatically match the baud rate your software is using. Upon successful operation, the DMU will return the character "A" (0x41 hex) at the new baud rate. **** 5. You can now use the DMU at the new baud rate. The new baud rate setting is not permanent; therefore, this process must be repeated after any power reset. **** Sanity check the Crossbow\* *Command* *Query DMU Version,* *Character(s) Sent* v, *Response* ASCII string\*  *Command* Query DMU Serial Number, *Character(s) Sent S*, *Response* Binary serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. ** Fixed a bug in checkChecksum.   The struct overlay on the record was reading testPacket->Checksum as zero.   There were two many castings, so rewrote the routine to operate directly on the char record - BUG FIXED. \\ parosci \-  Paroscientific pressure sensor * devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 * ./parosci \-dev /dev/ttyS4 ** wait 60sec (or so) for 'ping service worksite' to timeout * Actions: ** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 ** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed ** Have obtained manual - parosci is unresponsive to serial commands via minicom ** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). ** Manual indicates commands should start with an asterisk (the request for serial number does not have this). ** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. *** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. *** No response to \*9900VR *** No response to \*0100SN ** Write a simple serial program to make sure the correct byte string is sent to parosci. *** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 ** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 ** \*0100P3<0x0d><0x0a> responds with \*000116.02 ** Minicom can be used - need to terminate the \*0100SN request with * Next step is to hook up the serial protocol analyzer.   ** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer * With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. **   Fixed a bug in sscanf which was incorrectly parsing ** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. ** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) ** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. **  Protocol Notes: *** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | * Status (+) ** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  ** Fixed bug in baud set ** Fixed bug in read serial number (sscanf and retries) ** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). ** Soak test runs overnight.      *** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  *** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ sonardyne usbl * No test executable available \\ tailcone * changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 * ./tailcone \-dev /dev/ttyS2 * Cautions: ** Recommend running tailcone tests while observing the tailcone ** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) * Status (/) ** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ Teledyne dvl - Doppler Velocity Log * changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 * Actions ** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) *** Have tried a sleep to allow the termio buffer to fill - does not help. *** In progress Reading up on termio and analyzing termio setup... *** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) *** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 * Status (/) ** In progress...   ** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) ** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios ** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. ** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. *** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 *** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 *** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 *** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 *** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 *** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 *** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 *** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. *** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * \[9 July 2008\] Crossbow Table 4. CrossBow AHRS300CA Data Packet Format | Byte | VG Mode | Scaled Sensor Mode | Voltage Mode | | 0 | Header (255) | Header (255) | Header (255) | | 1 | Roll Angle (MSB) | Roll Angular Rate (MSB) | Roll Gyro Voltage (MSB) | | 2 | Roll Angle (LSB) | Roll Angular Rate (LSB) | Roll Gyro Voltage (LSB) | | 3 | Pitch Angle (MSB) | Pitch Angular Rate (MSB) | Pitch Gyro Voltage (MSB) | | 4 | Pitch Angle (LSB) | Pitch Angular Rate (LSB) | Pitch Gyro Voltage (LSB) | | 5 | Heading Angle (MSB) | Yaw Angular Rate (MSB) | Yaw Gyro Voltage (MSB) | | 6 | Heading Angle (LSB) | Yaw Angular Rate (LSB) | Yaw Gyro Voltage (LSB) | | 7 | Roll Angular Rate (MSB) | X-Axis Acceleration (MSB) | X-Axis Accel Voltage (MSB) | | 8 | Roll Angular Rate (LSB) | X-Axis Acceleration (LSB) | X-Axis Accel Voltage (LSB) | | 9 | Pitch Angular Rate (MSB) | Y-Axis Acceleration (MSB) | Y-Axis Accel Voltage (MSB) | | 10 | Pitch Angular Rate (LSB) | Y-Axis Acceleration (LSB) | Y-Axis Accel Voltage (LSB) | | 11 | Yaw Angular Rate (MSB) | Z-Axis Acceleration (MSB) | Z-Axis Accel Voltage (MSB) | | 12 | Yaw Angular Rate (LSB) | Z-Axis Acceleration (LSB) | Z-Axis Accel Voltage (LSB) | | 13 | X-Axis Acceleration (MSB) | X-Axis Magnetic Field (MSB) | X-Axis Mag Voltage (MSB) | | 14 | X-Axis Acceleration (LSB) | X-Axis Magnetic Field (LSB) | X-Axis Mag Voltage (LSB) | | 15 | Y-Axis Acceleration (MSB) | Y-Axis Magnetic Field (MSB) | Y-Axis Mag Voltage (MSB) | | 16 | Y-Axis Acceleration (LSB) | Y-Axis Magnetic Field (LSB) | Y-Axis Mag Voltage (LSB) | | 17 | Z-Axis Acceleration (MSB) | Z-Axis Magnetic Field (MSB) | Z-Axis Mag Voltage (MSB) | | 18 | Z-Axis Acceleration (LSB) | Z-Axis Magnetic Field (LSB) | Z-Axis Mag Voltage (LSB) | | 19 | X-Axis Magnetic Field (MSB) | Temp Sensor Voltage (MSB) | Temp Sensor Voltage (MSB) | | 20 | X-Axis Magnetic Field (LSB) | Temp Sensor Voltage (LSB) | Temp Sensor Voltage (LSB) | | 21 | Y-Axis Magnetic Field (MSB) | Time (MSB) | Time (MSB) | | 22 | Y-Axis Magnetic Field (LSB) | Time (LSB) | Time (LSB) | | 23 | Z-Axis Magnetic Field (MSB) | Checksum | Checksum | | 24 | Z-Axis Magnetic Field (LSB) | | | | 25 | Temp Sensor Voltage (MSB) | | | | 26 | Temp Sensor Voltage (LSB) | | | | 27 | Time (MSB) | | | | 28 | Time (LSB) | | | | 29 | Checksum | | | *** \[Bug - build\] Top level build fails, though enough is built to enable driver development *** \[Bug - major\] Fixed bug in 'checkChecksum that was blocking processRecord.   Due to unpacked data (code is not compiled to pack on byte boundary, pragma pack(1)) struct overly on serial byte stream (testPacket->checksum was zero, yet the proper checksum is in the 'record' byte buf).   Changed checkChecksum to operate on byte stream with fixed offset for checksum location. *** Output looks wrong after fixing checksum problem.    Confirmed to be the 'pack' problem.   Bug fixed by building the data structure from the bytes, rather than overlaying and byte swapping. *** Here's the output showing raw data stability but bad data (before bug fix). **** 13:40:00.467 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=047a, HdgA=1d89 13:40:00.469 INFO \[Crossbow\]    R =  171.58 : P = \-167.32 : Y =    7.19 13:40:01.471 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0472, HdgA=1d86 13:40:01.473 INFO \[Crossbow\]    R =  160.33 : P = \-171.54 : Y =    1.57 13:40:02.471 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0475, HdgA=1d94 13:40:02.473 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =  \-84.22 13:40:03.476 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0475, HdgA=1d94 13:40:03.477 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =    5.78 13:40:04.479 INFO \[Crossbow\] Hdr=ff, RolA=035d, PitA=0475, HdgA=1d89 13:40:04.481 INFO \[Crossbow\]    R =  164.55 : P = \-167.32 : Y =   \-5.47 13:40:05.483 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0475, HdgA=1d87 13:40:05.485 INFO \[Crossbow\]    R =  164.55 : P = \-170.13 : Y =   17.03 13:40:06.488 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0476, HdgA=1d86 13:40:06.489 INFO \[Crossbow\]    R =  165.95 : P = \-171.54 : Y =   \-5.47 13:40:07.492 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0477, HdgA=1d93 **** Here's the data after the bug fix. 14:16:37.203 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0478, HdgA=1d97 14:16:37.204 INFO \[Crossbow\]    R =    4.71 : P =    6.28 : Y =   41.61 14:16:38.206 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0479, HdgA=1d96 14:16:38.207 INFO \[Crossbow\]    R =    4.71 : P =    6.29 : Y =   41.61 14:16:39.210 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0476, HdgA=1d93 14:16:39.211 INFO \[Crossbow\]    R =    4.69 : P =    6.27 : Y =   41.59 14:16:40.214 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0478, HdgA=1d94 14:16:40.215 INFO \[Crossbow\]    R =    4.70 : P =    6.28 : Y =   41.59 14:16:41.218 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=047a, HdgA=1d94 14:16:41.219 INFO \[Crossbow\]    R =    4.72 : P =    6.30 : Y =   41.59 14:16:42.223 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0477, HdgA=1d96 14:16:42.223 INFO \[Crossbow\]    R =    4.69 : P =    6.28 : Y =   41.61 14:16:43.227 INFO \[Crossbow\] Hdr=ff, RolA=035f, PitA=0474, HdgA=1d96 14:16:43.227 INFO \[Crossbow\]    R =    4.74 : P =    6.26 : Y =   41.61 14:16:44.231 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0473, HdgA=1d96 14:16:44.232 INFO \[Crossbow\]    R =    4.70 : P =    6.26 : Y =   41.61 14:16:45.235 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0476, HdgA=1d96 14:16:45.235 INFO \[Crossbow\]    R =    4.72 : P =    6.27 : Y =   41.61 14:16:46.239 INFO \[Crossbow\] Hdr=ff, RolA=0360, PitA=0478, HdgA=1d96 14:16:46.240 INFO \[Crossbow\]    R =    4.75 : P =    6.28 : Y =   41.61\\ ** \[Bug - minor\] Serial number is read incorrectly *** 12:54:51.390 INFO \[Crossbow\] Serial Number: ff000043 *** 12:54:51.393 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 4278190147 (ff000043)  <<-\- 4278190147 looks incorrect. *** According to the Manual:  \* The DMU will respond with a serial number datapacket that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte.  The serial number bytes should be interpreted as a 32-bit unsigned integer. For example, the serial number 9911750 would be sent as the four bytes 00 97 3D C6. *   * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100 \\]]> 5374777 15663615 15630861 5407511 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  *** July 9:  Hans has made the docking vehicle available to finish the porting / validation.   The 3dmgx1 is not on the vehicle, but rather the Crossbow DMU **** The DMU baud rate can be changed per the following procedure: **** 1. Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. **** 2. Send the ASCII character "b" (0x62 hex) to the DMU. In a terminal program like minicom simply type the letter "b". The DMU is case sensitive. The DMU will respond "B" (0x42 hex). **** 3. Now change the baud rate of your terminal software.  **** 4. Send the ASCII character "a" (61 hex). The DMU will detect the character and automatically match the baud rate your software is using. Upon successful operation, the DMU will return the character "A" (0x41 hex) at the new baud rate. **** 5. You can now use the DMU at the new baud rate. The new baud rate setting is not permanent; therefore, this process must be repeated after any power reset. **** Sanity check the Crossbow\* *Command* *Query DMU Version,* *Character(s) Sent* v, *Response* ASCII string\*  *Command* Query DMU Serial Number, *Character(s) Sent S*, *Response* Binary serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. ** Fixed a bug in checkChecksum.   The struct overlay on the record was reading testPacket->Checksum as zero.   There were two many castings, so rewrote the routine to operate directly on the char record - BUG FIXED. \\ parosci \-  Paroscientific pressure sensor * devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 * ./parosci \-dev /dev/ttyS4 ** wait 60sec (or so) for 'ping service worksite' to timeout * Actions: ** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 ** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed ** Have obtained manual - parosci is unresponsive to serial commands via minicom ** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). ** Manual indicates commands should start with an asterisk (the request for serial number does not have this). ** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. *** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. *** No response to \*9900VR *** No response to \*0100SN ** Write a simple serial program to make sure the correct byte string is sent to parosci. *** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 ** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 ** \*0100P3<0x0d><0x0a> responds with \*000116.02 ** Minicom can be used - need to terminate the \*0100SN request with * Next step is to hook up the serial protocol analyzer.   ** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer * With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. **   Fixed a bug in sscanf which was incorrectly parsing ** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. ** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) ** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. **  Protocol Notes: *** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | * Status (+) ** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  ** Fixed bug in baud set ** Fixed bug in read serial number (sscanf and retries) ** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). ** Soak test runs overnight.      *** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  *** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ sonardyne usbl * No test executable available \\ tailcone * changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 * ./tailcone \-dev /dev/ttyS2 * Cautions: ** Recommend running tailcone tests while observing the tailcone ** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) * Status (/) ** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ Teledyne dvl - Doppler Velocity Log * changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 * Actions ** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) *** Have tried a sleep to allow the termio buffer to fill - does not help. *** In progress Reading up on termio and analyzing termio setup... *** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) *** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 * Status (/) ** In progress...   ** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) ** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios ** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. ** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. *** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 *** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 *** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 *** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 *** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 *** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 *** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 *** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 *** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. *** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * \[9 July 2008\] Crossbow Table 4. CrossBow AHRS300CA Data Packet Format | Byte | VG Mode | Scaled Sensor Mode | Voltage Mode | | 0 | Header (255) | Header (255) | Header (255) | | 1 | Roll Angle (MSB) | Roll Angular Rate (MSB) | Roll Gyro Voltage (MSB) | | 2 | Roll Angle (LSB) | Roll Angular Rate (LSB) | Roll Gyro Voltage (LSB) | | 3 | Pitch Angle (MSB) | Pitch Angular Rate (MSB) | Pitch Gyro Voltage (MSB) | | 4 | Pitch Angle (LSB) | Pitch Angular Rate (LSB) | Pitch Gyro Voltage (LSB) | | 5 | Heading Angle (MSB) | Yaw Angular Rate (MSB) | Yaw Gyro Voltage (MSB) | | 6 | Heading Angle (LSB) | Yaw Angular Rate (LSB) | Yaw Gyro Voltage (LSB) | | 7 | Roll Angular Rate (MSB) | X-Axis Acceleration (MSB) | X-Axis Accel Voltage (MSB) | | 8 | Roll Angular Rate (LSB) | X-Axis Acceleration (LSB) | X-Axis Accel Voltage (LSB) | | 9 | Pitch Angular Rate (MSB) | Y-Axis Acceleration (MSB) | Y-Axis Accel Voltage (MSB) | | 10 | Pitch Angular Rate (LSB) | Y-Axis Acceleration (LSB) | Y-Axis Accel Voltage (LSB) | | 11 | Yaw Angular Rate (MSB) | Z-Axis Acceleration (MSB) | Z-Axis Accel Voltage (MSB) | | 12 | Yaw Angular Rate (LSB) | Z-Axis Acceleration (LSB) | Z-Axis Accel Voltage (LSB) | | 13 | X-Axis Acceleration (MSB) | X-Axis Magnetic Field (MSB) | X-Axis Mag Voltage (MSB) | | 14 | X-Axis Acceleration (LSB) | X-Axis Magnetic Field (LSB) | X-Axis Mag Voltage (LSB) | | 15 | Y-Axis Acceleration (MSB) | Y-Axis Magnetic Field (MSB) | Y-Axis Mag Voltage (MSB) | | 16 | Y-Axis Acceleration (LSB) | Y-Axis Magnetic Field (LSB) | Y-Axis Mag Voltage (LSB) | | 17 | Z-Axis Acceleration (MSB) | Z-Axis Magnetic Field (MSB) | Z-Axis Mag Voltage (MSB) | | 18 | Z-Axis Acceleration (LSB) | Z-Axis Magnetic Field (LSB) | Z-Axis Mag Voltage (LSB) | | 19 | X-Axis Magnetic Field (MSB) | Temp Sensor Voltage (MSB) | Temp Sensor Voltage (MSB) | | 20 | X-Axis Magnetic Field (LSB) | Temp Sensor Voltage (LSB) | Temp Sensor Voltage (LSB) | | 21 | Y-Axis Magnetic Field (MSB) | Time (MSB) | Time (MSB) | | 22 | Y-Axis Magnetic Field (LSB) | Time (LSB) | Time (LSB) | | 23 | Z-Axis Magnetic Field (MSB) | Checksum | Checksum | | 24 | Z-Axis Magnetic Field (LSB) | | | | 25 | Temp Sensor Voltage (MSB) | | | | 26 | Temp Sensor Voltage (LSB) | | | | 27 | Time (MSB) | | | | 28 | Time (LSB) | | | | 29 | Checksum | | | *** \[Bug - build\] Top level build fails, though enough is built to enable driver development *** \[Bug - major\] Fixed bug in 'checkChecksum that was blocking processRecord.   Due to unpacked data (code is not compiled to pack on byte boundary, pragma pack(1)) struct overly on serial byte stream (testPacket->checksum was zero, yet the proper checksum is in the 'record' byte buf).   Changed checkChecksum to operate on byte stream with fixed offset for checksum location. *** Output looks wrong after fixing checksum problem.    Confirmed to be the 'pack' problem.   Bug fixed by building the data structure from the bytes, rather than overlaying and byte swapping. *** Here's the output showing raw data stability but bad data (before bug fix). **** 13:40:00.467 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=047a, HdgA=1d89 13:40:00.469 INFO \[Crossbow\]    R =  171.58 : P = \-167.32 : Y =    7.19 13:40:01.471 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0472, HdgA=1d86 13:40:01.473 INFO \[Crossbow\]    R =  160.33 : P = \-171.54 : Y =    1.57 13:40:02.471 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0475, HdgA=1d94 13:40:02.473 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =  \-84.22 13:40:03.476 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0475, HdgA=1d94 13:40:03.477 INFO \[Crossbow\]    R =  164.55 : P = \-151.85 : Y =    5.78 13:40:04.479 INFO \[Crossbow\] Hdr=ff, RolA=035d, PitA=0475, HdgA=1d89 13:40:04.481 INFO \[Crossbow\]    R =  164.55 : P = \-167.32 : Y =   \-5.47 13:40:05.483 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0475, HdgA=1d87 13:40:05.485 INFO \[Crossbow\]    R =  164.55 : P = \-170.13 : Y =   17.03 13:40:06.488 INFO \[Crossbow\] Hdr=ff, RolA=035b, PitA=0476, HdgA=1d86 13:40:06.489 INFO \[Crossbow\]    R =  165.95 : P = \-171.54 : Y =   \-5.47 13:40:07.492 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0477, HdgA=1d93 **** Here's the data after the bug fix. 14:16:37.203 INFO \[Crossbow\] Hdr=ff, RolA=035a, PitA=0478, HdgA=1d97 14:16:37.204 INFO \[Crossbow\]    R =    4.71 : P =    6.28 : Y =   41.61 14:16:38.206 INFO \[Crossbow\] Hdr=ff, RolA=0359, PitA=0479, HdgA=1d96 14:16:38.207 INFO \[Crossbow\]    R =    4.71 : P =    6.29 : Y =   41.61 14:16:39.210 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0476, HdgA=1d93 14:16:39.211 INFO \[Crossbow\]    R =    4.69 : P =    6.27 : Y =   41.59 14:16:40.214 INFO \[Crossbow\] Hdr=ff, RolA=0358, PitA=0478, HdgA=1d94 14:16:40.215 INFO \[Crossbow\]    R =    4.70 : P =    6.28 : Y =   41.59 14:16:41.218 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=047a, HdgA=1d94 14:16:41.219 INFO \[Crossbow\]    R =    4.72 : P =    6.30 : Y =   41.59 14:16:42.223 INFO \[Crossbow\] Hdr=ff, RolA=0356, PitA=0477, HdgA=1d96 14:16:42.223 INFO \[Crossbow\]    R =    4.69 : P =    6.28 : Y =   41.61 14:16:43.227 INFO \[Crossbow\] Hdr=ff, RolA=035f, PitA=0474, HdgA=1d96 14:16:43.227 INFO \[Crossbow\]    R =    4.74 : P =    6.26 : Y =   41.61 14:16:44.231 INFO \[Crossbow\] Hdr=ff, RolA=0357, PitA=0473, HdgA=1d96 14:16:44.232 INFO \[Crossbow\]    R =    4.70 : P =    6.26 : Y =   41.61 14:16:45.235 INFO \[Crossbow\] Hdr=ff, RolA=035c, PitA=0476, HdgA=1d96 14:16:45.235 INFO \[Crossbow\]    R =    4.72 : P =    6.27 : Y =   41.61 14:16:46.239 INFO \[Crossbow\] Hdr=ff, RolA=0360, PitA=0478, HdgA=1d96 14:16:46.240 INFO \[Crossbow\]    R =    4.75 : P =    6.28 : Y =   41.61 \\ ** \[Bug - minor\] Serial number is read incorrectly.   NOT FIXED as it does not block tank test on July 17  *** 12:54:51.390 INFO \[Crossbow\] Serial Number: ff000043 *** 12:54:51.393 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 4278190147 (ff000043)  <<-\- 4278190147 looks incorrect. *** According to the Manual:  \* The DMU will respond with a serial number datapacket that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte.  The serial number bytes should be interpreted as a 32-bit unsigned integer. For example, the serial number 9911750 would be sent as the four bytes 00 97 3D C6. ** \[Bug - minor\] termios set baud failure.   Port is operational at 38400, but attempts to set it fail.   This will be pushed off until after tank test. *** 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed ***   *   * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ CrossBow Output auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 14:56:03.622 DEBUG \[CorbaUtils\] get ORB: 14:56:03.642 DEBUG \[CorbaUtils\] get POA: 14:56:03.664 DEBUG \[CorbaUtils\] Looking for event channel "EventChannel" in name service: 14:56:03.669 DEBUG \[CorbaUtils\] Found event channel "EventChannel" 14:56:03.675 DEBUG \[CorbaUtils\] Create provider servant 14:56:03.693 DEBUG \[CorbaUtils\] Create consumer servant 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word crossbowPeriod 14:56:03.701 DEBUG \[parseComplex\] isIdentifier \-\- I've been asked to test the word 100 14:56:03.702 DEBUG \[parseComplex\] Parsing attribute crossbowPeriod = 100 14:56:03.703 DEBUG \[parseComplex\] No current item .. using the provided attributes CrossbowConstants 14:56:03.704 DEBUG \[Attributes\] Attributes::parse() - size=3 14:56:03.705 DEBUG \[Attributes\] Attributes::parse() - compare attribute name crossbowPeriod to input name crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- Found value for crossbowPeriod 14:56:03.706 DEBUG \[Attributes\] Attributes::parse() \-\- crossbowPeriod is set 14:56:03.708 DEBUG \[Attributes\] Attribute crossbowPeriod is hasDefault = true, isSet = true 14:56:03.708 DEBUG \[Attributes\] Attribute debug is hasDefault = true, isSet = false 14:56:03.709 DEBUG \[Attributes\] Attribute dumpHex is hasDefault = true, isSet = false 14:56:03.710 DEBUG \[Attributes\] Attributes::verify() \-\- Attribute set CrossbowConstants is done 14:56:03.730 DEBUG \[CrossbowApp\] Launch instrument driver thread IOR:010000001300000049444c3a6175762f4168727349463a312e300000010000000000000064000000010102000d0000003133342e38392e33322e31360000750e0e000000fef3d6774800001553000000000200000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100 14:56:03.734 DEBUG \[CorbaUtils\] Ahrs already active... 14:56:03.737 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for Ahrs 14:56:03.746 DEBUG \[CorbaUtils\] context already bound 14:56:03.749 DEBUG \[CorbaUtils\] call bind() for Ahrs 14:56:03.759 DEBUG \[CorbaUtils\] call rebind() for Ahrs 14:56:03.763 DEBUG \[CorbaUtils\] invoke prepareToRun() 14:56:03.764 DEBUG \[CorbaUtils\] Activate POA manager 14:56:03.765 DEBUG \[CorbaUtils\] Run the ORB in a new thread 14:56:03.766 DEBUG \[CorbaUtils\] return from registerService() 14:56:03.767 DEBUG \[CrossbowApp\] Leaving CrossbowApp.initialize() 14:56:03.781 INFO \[AuvApplication\] run() - just sleeps by default 14:56:03.768 DEBUG \[Crossbow\] Crossbow::initialize : Initializing Crossbow driver 14:56:03.785 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 14:56:03.785 ERROR \[SerialDevice\] cfsetospeed() failed 14:56:03.786 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.789 DEBUG \[Crossbow\] Crossbow::initialize :     ...done\! 14:56:03.789 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.790 DEBUG \[Crossbow\] Crossbow.cc: In getSerialNumber() AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec14:56:03.816 INFO \[Crossbow\] Crossbow.cc: device->read succeeded 14:56:03.818 INFO \[Crossbow\] Crossbow.cc: The serial number is 4278190147 (ff000043) 14:56:03.821 DEBUG \[Crossbow\] Crossbow.cc: Setting polled mode 14:56:03.860 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.16 14:56:04.852 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.13 14:56:05.856 DEBUG \[Crossbow\] R =    4.71 : P =    6.26 : Y =   43.12 14:56:06.860 DEBUG \[Crossbow\] R =    4.70 : P =    6.27 : Y =   43.11 14:56:07.864 DEBUG \[Crossbow\] R =    4.73 : P =    6.27 : Y =   43.12 14:56:08.868 DEBUG \[Crossbow\] R =    4.71 : P =    6.25 : Y =   43.21 14:56:09.872 DEBUG \[Crossbow\] R =    4.71 : P =    6.28 : Y =   43.19 14:56:10.876 DEBUG \[Crossbow\] R =    4.69 : P =    6.28 : Y =   43.13 14:56:11.880 DEBUG \[Crossbow\] R =    4.72 : P =    6.29 : Y =   43.11 14:56:12.884 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.11 14:56:13.888 DEBUG \[Crossbow\] R =    4.70 : P =    6.26 : Y =   43.10 14:56:14.893 DEBUG \[Crossbow\] R =    4.72 : P =    6.28 : Y =   43.23 14:56:15.896 DEBUG \[Crossbow\] R =    4.69 : P =    6.27 : Y =   43.17   \\   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100 \\]]> 5374781 21397629 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} h4. TREX version {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services h4. Current tick {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "2656", "date": "2013-06-04T15:29:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Next tick {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "2658", "date": "2013-06-04T15:31:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Initial tick {panel:title=Initial tick} * *format:* GET http:///rest/tick/initial * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/initial {code:javascript} { "value": "0", "date": "2013-06-02T19:13:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Final tick {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "1000000", "date": "2015-04-28T05:53:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick info {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/2658 {code:javascript} { "value": "2658", "date": "2013-06-04T15:31:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick at a date {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-01-01 {code:javascript} { "value": "305566", "date": "2013-12-31T23:59:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick rate/duration {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} h4. Wait for new tick {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services h4. List of trex existing timelines {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} h4. Contents of a timeline {panel:title=Contents of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{date\} ** GET http:///rest/timeline/\{name\}?from=\{date\}&to=\{date\} ** GET http:///rest/timeline/\{name\}?to=\{date\}&format=date ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\}&format=tick * *input:* ** \{name\} the name of the timeline ** _format_ the format used to specify _from_ and _to_ . Possible formats are: *** *date* : _from_ and _to_ are specified as date (eg 2013-06-03T16:04:57.330-07:00) *** *tick* : _from_ and _to_ are given as integer which are directly trex tick values *** If not specified the default format is *date* ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. Meaning all the token which *** can end after _from_ (ie their largest possible end time is >= to _from_) *** can start before _to_ (ie their smallest possible start time is <= to _to_) ** While the json format id still underwork here's an example of what I have now : (the request: http:///rest/timeline/dorado_survey?from=2013-06-03T16:04:57.330-07:00&to=2013-06-13T16:10:29.449-07:00) {code:javascript} { "name": "dorado_survey" "requested_tick_range": { "int": { "max": "16077", "min": "1671" } }, "tokens": [ { "pred": "None", "on": "dorado_survey" "Variable": [ { "name": "start", "type": "date", "date": { "value": "2013-06-02T19:13:04.923976" } }, { "name": "end", "type": "date", "date": { "min": "2013-06-04T15:36:04.923976" } }, { "name": "duration", "type": "duration", "duration": { "min": "44:23:00" } } ] } ] } {code} ** In this example the result has the following attributes : *** "name" : The name of the timeline *** "alive" : Indicates if this timeline is currently still managed *** "requested_tick_range" : an interval giving the range \[_from_, _to_\] into ticks *** "token" : A table with all the tokens that match this range. Tokens are sorted by occurrence order * *error:* ** 400: invalid request. The timeline name is either missing or non existent ** 400: parsing error from the optionals fields * *example:* ** GET http:///rest/timeline/dorado?from=2013-May-23&to=2013-may-31%2012:00:00 ** GET http:///rest/timeline/dorado?from=0&to=100&format=tick {panel} h4. Post a new goal {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} h4. Modify an existing goal {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} h4. Cancel a goal {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364862 21397626 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} h4. TREX version {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services h4. Current tick {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Next tick {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Initial tick {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Final tick {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick info {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick at a date {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick rate/duration {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} h4. Wait for new tick {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services h4. List of trex existing timelines {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} h4. Contents of a timeline {panel:title=Contents of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{date\} ** GET http:///rest/timeline/\{name\}?from=\{date\}&to=\{date\} ** GET http:///rest/timeline/\{name\}?to=\{date\}&format=date ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\}&format=tick * *input:* ** \{name\} the name of the timeline ** _format_ the format used to specify _from_ and _to_ . Possible formats are: *** *date* : _from_ and _to_ are specified as date (eg 2013-May-23%2012:00:00) *** *tick* : _from_ and _to_ are given as integer which are directly trex tick values *** If not specified the default format is *date* ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. Meaning all the token which *** can end after _from_ (ie their largest possible end time is >= to _from_) *** can start before _to_ (ie their smallest possible start time is <= to _to_) ** While the json format id still underwork here's an example of what I have now : {code:javascript} { "name": "time_b", "alive": "true", "requested_tick_range": { "int": { "min": "-32888" "max": "16549" } }, "token": [ { "on": "time_b", "pred": "Holds", "Variable": { "float": { "value": "0.9902680687415706" }, "type": "float", "name": "cos_t" }, "Variable": { "float": { "value": "0.1391731009600664" }, "type": "float", "name": "sin_t" }, "Variable": { "date": { "value": "2013-May-23 20:16:26.690742" }, "type": "date", "name": "start" }, "Variable": { "date": { "value": "2013-May-23 20:17:26.690742" }, "type": "date", "name": "end" }, "Variable": { "duration": { "value": "00:01:00" }, "type": "duration", "name": "duration" } }, { "on": "time_b", "pred": "Holds", "Variable": [ { "float": { "value": "0.9876883405951381" }, "type": "float", "name": "cos_t" }, { "float": { "value": "0.1564344650402325" }, "type": "float", "name": "sin_t" }, { "date": { "value": "2013-May-23 20:17:26.690742" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-23 20:18:26.690742" }, "type": "date", "name": "end" } ] } ] } {code} ** In this example the result has the following attributes : *** "name" : The name of the timeline *** "alive" : Indicates if this timeline is currently still managed *** "requested_tick_range" : an interval giving the range \[_from_, _to_\] into ticks *** "token" : A table with all the tokens that match this range. Tokens are sorted by occurrence order * *error:* ** 400: invalid request. The timeline name is either missing or non existent ** 400: parsing error from the optionals fields * *example:* ** GET http:///rest/timeline/dorado?from=2013-May-23&to=2013-may-31%2012:00:00 ** GET http:///rest/timeline/dorado?from=0&to=100&format=tick {panel} h4. Post a new goal {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} h4. Modify an existing goal {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} h4. Cancel a goal {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364859 9405136 Character devices *#** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) *#** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) *#** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) *#** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) *#** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) *#** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *#* make-kpkg clean *#* fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) *#** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *#* dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *#* _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *#* serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *#* To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: *#**  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname *#**   *#** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp *#*** iface eth0 inet dhcp     hostname mybox.mydomain.com *#*** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *#* To auto start omniNames and omniNotify services at bootup: *#** create a file called 'startCorba.sh' *#*** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. *#*** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify *#*** \# Start name service echo "Start name service" /usr/local/bin/omniNames & *#*** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & *#** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  *#** Create a symbolic link using update-rc.d (Debian command)  *#*** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *#* TODO: *#** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ *# Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *#* Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    *#** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result *#** ifup eth0 will also show the error \\ *#* Network Settings (/etc/network/interfaces) *#** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) *#*** edit /etc/hosts and change mvc-debian4 to mvc-debian *#*** edit */etc/dhcp3/dhclient.conf* to add the following line: *#**** send host-name "foce2.shore.mbari.org" *#*** 127.0.0.1 localhost.localdomain localhost *#*** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian *#*** hostname mvc-debian.shore.mbari.org *#*** copy the interfaces (see attachment to this wiki) file to /etc/network *#**** address 134.89.32.16 *#**** netmask 255.255.254.0 *#**** gateway 134.89.32.1 *#**** broadcast 134.89.32.255 *#*** to check the hostname is set properly *#**** uname \-n *#**** hostname \-a *#**** hostname \-s *#**** hostname \-d *#**** hostname \-f *#**** hostname *#** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj ** Debian Packages required to build auv-linux and TREX: **# apt-get install ant **# apt-get install ant-optional **# apt-get install autoconf **# apt-get install autogen **# apt-get install automake **# apt-get install binutils **# apt-get install bison **# apt-get install cvs **# apt-get install doxygen **# apt-get install flex **# apt-get install g+\+ **# apt-get install libtool **# apt-get install make **# apt-get install subversion **# apt-get install libtool **# apt-get install gdb **# apt-get install openssl **# apt-get install ssh **# apt-get install minicom **# apt-get install python-all **# apt-get install python-all-dev **# apt-get install lirc setserial **# apt-get install linux-source-2.6.18 **# apt-get install kernel-package libncurses5-dev fakeroot wget build-essential **# apt-get install xutils-dev **# apt-get install linux-doc-2.6.18 **# apt-get install linux-manual-2.6.18 **# apt-get install manpages-dev **# apt-get install xutils-dev **# apt-get install jam **# apt-get install swig **# apt-get install libboost-regex-dev  \\]]> 9372404 9405137 Character devices #** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) #** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) #** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) #** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) #** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) #** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. #* make-kpkg clean #* fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) #** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). #* dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb #* _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. #* serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. #* To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: #**  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname #**   #** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp #*** iface eth0 inet dhcp     hostname mybox.mydomain.com #*** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; #* To auto start omniNames and omniNotify services at bootup: #** create a file called 'startCorba.sh' #*** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. #*** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify #*** \# Start name service echo "Start name service" /usr/local/bin/omniNames & #*** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & #** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  #** Create a symbolic link using update-rc.d (Debian command)  #*** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ #* TODO: #** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ # Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) #* Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    #** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result #** ifup eth0 will also show the error \\ #* Network Settings (/etc/network/interfaces) #** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) #*** edit /etc/hosts and change mvc-debian4 to mvc-debian #*** edit */etc/dhcp3/dhclient.conf* to add the following line: #**** send host-name "foce2.shore.mbari.org" #*** 127.0.0.1 localhost.localdomain localhost #*** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian #*** hostname mvc-debian.shore.mbari.org #*** copy the interfaces (see attachment to this wiki) file to /etc/network #**** address 134.89.32.16 #**** netmask 255.255.254.0 #**** gateway 134.89.32.1 #**** broadcast 134.89.32.255 #*** to check the hostname is set properly #**** uname \-n #**** hostname \-a #**** hostname \-s #**** hostname \-d #**** hostname \-f #**** hostname #** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj ** Debian Packages required to build auv-linux and TREX: **# apt-get install ant **# apt-get install ant-optional **# apt-get install autoconf **# apt-get install autogen **# apt-get install automake **# apt-get install binutils **# apt-get install bison **# apt-get install cvs **# apt-get install doxygen **# apt-get install flex **# apt-get install g+\+ **# apt-get install libtool **# apt-get install make **# apt-get install subversion **# apt-get install libtool **# apt-get install gdb **# apt-get install openssl **# apt-get install ssh **# apt-get install minicom **# apt-get install python-all **# apt-get install python-all-dev **# apt-get install lirc setserial **# apt-get install linux-source-2.6.18 **# apt-get install kernel-package libncurses5-dev fakeroot wget build-essential **# apt-get install xutils-dev **# apt-get install linux-doc-2.6.18 **# apt-get install linux-manual-2.6.18 **# apt-get install manpages-dev **# apt-get install xutils-dev **# apt-get install jam **# apt-get install swig **# apt-get install libboost-regex-dev  \\]]> 9372405 9405131 Character devices *#** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) *#** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) *#** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) *#** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) *#** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) *#** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *#* make-kpkg clean *#* fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) *#** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *#* dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *#* _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *#* serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *#* To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: *#**  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname *#**   *#** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp *#*** iface eth0 inet dhcp     hostname mybox.mydomain.com *#*** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *#* To auto start omniNames and omniNotify services at bootup: *#** create a file called 'startCorba.sh' *#*** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. *#*** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify *#*** \# Start name service echo "Start name service" /usr/local/bin/omniNames & *#*** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & *#** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  *#** Create a symbolic link using update-rc.d (Debian command)  *#*** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *#* TODO: *#** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ *# Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *#* Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    *#** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result *#** ifup eth0 will also show the error \\ *#* Network Settings (/etc/network/interfaces) *#** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) *#*** edit /etc/hosts and change mvc-debian4 to mvc-debian *#*** edit */etc/dhcp3/dhclient.conf* to add the following line: *#**** send host-name "foce2.shore.mbari.org" *#*** 127.0.0.1 localhost.localdomain localhost *#*** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian *#*** hostname mvc-debian.shore.mbari.org *#*** copy the interfaces (see attachment to this wiki) file to /etc/network *#**** address 134.89.32.16 *#**** netmask 255.255.254.0 *#**** gateway 134.89.32.1 *#**** broadcast 134.89.32.255 *#*** to check the hostname is set properly *#**** uname \-n *#**** hostname \-a *#**** hostname \-s *#**** hostname \-d *#**** hostname \-f *#**** hostname *#** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\]]> 9372399 9405133 Character devices *#** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) *#** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) *#** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) *#** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) *#** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) *#** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *#* make-kpkg clean *#* fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) *#** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *#* dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *#* _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *#* serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *#* To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: *#**  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname *#**   *#** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp *#*** iface eth0 inet dhcp     hostname mybox.mydomain.com *#*** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *#* To auto start omniNames and omniNotify services at bootup: *#** create a file called 'startCorba.sh' *#*** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. *#*** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify *#*** \# Start name service echo "Start name service" /usr/local/bin/omniNames & *#*** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & *#** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  *#** Create a symbolic link using update-rc.d (Debian command)  *#*** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *#* TODO: *#** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ *# Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *#* Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    *#** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result *#** ifup eth0 will also show the error \\ *#* Network Settings (/etc/network/interfaces) *#** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) *#*** edit /etc/hosts and change mvc-debian4 to mvc-debian *#*** edit */etc/dhcp3/dhclient.conf* to add the following line: *#**** send host-name "foce2.shore.mbari.org" *#*** 127.0.0.1 localhost.localdomain localhost *#*** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian *#*** hostname mvc-debian.shore.mbari.org *#*** copy the interfaces (see attachment to this wiki) file to /etc/network *#**** address 134.89.32.16 *#**** netmask 255.255.254.0 *#**** gateway 134.89.32.1 *#**** broadcast 134.89.32.255 *#*** to check the hostname is set properly *#**** uname \-n *#**** hostname \-a *#**** hostname \-s *#**** hostname \-d *#**** hostname \-f *#**** hostname *#** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\]]> 9372401 9405127 Character devices *#** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) *#** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) *#** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) *#** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) *#** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) *#** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *#* make-kpkg clean *#* fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) *#** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *#* dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *#* _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *#* serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *#* To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: *#**  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname *#**   *#** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp *#*** iface eth0 inet dhcp     hostname mybox.mydomain.com *#*** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *#* To auto start omniNames and omniNotify services at bootup: *#** create a file called 'startCorba.sh' *#*** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. *#*** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify *#*** \# Start name service echo "Start name service" /usr/local/bin/omniNames & *#*** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & *#** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  *#** Create a symbolic link using update-rc.d (Debian command)  *#*** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *#* TODO: *#** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ *# Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *#* Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    *#** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result *#** ifup eth0 will also show the error \\ *#* Network Settings (/etc/network/interfaces) *#** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) *#*** edit /etc/hosts and change mvc-debian4 to mvc-debian *#*** edit */etc/dhcp3/dhclient.conf* to add the following line: *#**** send host-name "foce2.shore.mbari.org" *#*** 127.0.0.1 localhost.localdomain localhost *#*** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian *#*** hostname mvc-debian.shore.mbari.org *#*** copy the interfaces (see attachment to this wiki) file to /etc/network *#**** address 134.89.32.16 *#**** netmask 255.255.254.0 *#**** gateway 134.89.32.1 *#**** broadcast 134.89.32.255 *#*** to check the hostname is set properly *#**** uname \-n *#**** hostname \-a *#**** hostname \-s *#**** hostname \-d *#**** hostname \-f *#**** hostname *#** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\]]> 9372395 9405129 Character devices *#** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) *#** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) *#** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) *#** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) *#** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) *#** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *#* make-kpkg clean *#* fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) *#** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *#* dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *#* _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *#* serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *#* To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: *#**  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname *#**   *#** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp *#*** iface eth0 inet dhcp     hostname mybox.mydomain.com *#*** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *#* To auto start omniNames and omniNotify services at bootup: *#** create a file called 'startCorba.sh' *#*** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. *#*** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify *#*** \# Start name service echo "Start name service" /usr/local/bin/omniNames & *#*** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & *#** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  *#** Create a symbolic link using update-rc.d (Debian command)  *#*** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *#* TODO: *#** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ *# Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *#* Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    *#** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result *#** ifup eth0 will also show the error \\ *#* Network Settings (/etc/network/interfaces) *#** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) *#*** edit /etc/hosts and change mvc-debian4 to mvc-debian *#*** edit */etc/dhcp3/dhclient.conf* to add the following line: *#**** send host-name "foce2.shore.mbari.org" *#*** 127.0.0.1 localhost.localdomain localhost *#*** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian *#*** hostname mvc-debian.shore.mbari.org *#*** copy the interfaces (see attachment to this wiki) file to /etc/network *#**** address 134.89.32.16 *#**** netmask 255.255.254.0 *#**** gateway 134.89.32.1 *#**** broadcast 134.89.32.255 *#*** to check the hostname is set properly *#**** uname \-n *#**** hostname \-a *#**** hostname \-s *#**** hostname \-d *#**** hostname \-f *#**** hostname *#** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\]]> 9372397 9405125 Character devices *#** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) *#** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) *#** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) *#** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) *#** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) *#** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *#* make-kpkg clean *#* fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) *#** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *#* dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *#* _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *#* serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *#* To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: *#**  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname *#**   *#** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp *#*** iface eth0 inet dhcp     hostname mybox.mydomain.com *#*** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *#* To auto start omniNames and omniNotify services at bootup: *#** create a file called 'startCorba.sh' *#*** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. *#*** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify *#*** \# Start name service echo "Start name service" /usr/local/bin/omniNames & *#*** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & *#** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  *#** Create a symbolic link using update-rc.d (Debian command)  *#*** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *#* TODO: *#** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ *# Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *#* Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    *#** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result *#** ifup eth0 will also show the error \\ *#* Network Settings (/etc/network/interfaces) *#** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) *#*** edit /etc/hosts and change mvc-debian4 to mvc-debian *#*** edit */etc/dhcp3/dhclient.conf* to add the following line: *#**** send host-name "foce2.shore.mbari.org" *#*** 127.0.0.1 localhost.localdomain localhost *#*** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian *#*** hostname mvc-debian.shore.mbari.org *#*** copy the interfaces (see attachment to this wiki) file to /etc/network *#**** address 134.89.32.16 *#**** netmask 255.255.254.0 *#**** gateway 134.89.32.1 *#**** broadcast 134.89.32.255 *#*** to check the hostname is set properly *#**** uname \-n *#**** hostname \-a *#**** hostname \-s *#**** hostname \-d *#**** hostname \-f *#**** hostname *#** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\]]> 9372393 9405143 Character devices #** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) #** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) #** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) #** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) #** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) #** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. #* make-kpkg clean #* fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) #** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). #* dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb #* _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. #* serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. #* To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: #**  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname #**   #** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp #*** iface eth0 inet dhcp     hostname mybox.mydomain.com #*** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; #* To auto start omniNames and omniNotify services at bootup: #** create a file called 'startCorba.sh' #*** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. #*** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify #*** \# Start name service echo "Start name service" /usr/local/bin/omniNames & #*** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & #** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  #** Create a symbolic link using update-rc.d (Debian command)  #*** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ #* TODO: #** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ # Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) #* Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    #** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result #** ifup eth0 will also show the error \\ #* Network Settings (/etc/network/interfaces) #** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) #*** edit /etc/hosts and change mvc-debian4 to mvc-debian #*** edit */etc/dhcp3/dhclient.conf* to add the following line: #**** send host-name "foce2.shore.mbari.org" #*** 127.0.0.1 localhost.localdomain localhost #*** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian #*** hostname mvc-debian.shore.mbari.org #*** copy the interfaces (see attachment to this wiki) file to /etc/network #**** address 134.89.32.16 #**** netmask 255.255.254.0 #**** gateway 134.89.32.1 #**** broadcast 134.89.32.255 #*** to check the hostname is set properly #**** uname \-n #**** hostname \-a #**** hostname \-s #**** hostname \-d #**** hostname \-f #**** hostname #** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj ** Debian Packages required to build auv-linux and TREX: **# apt-get install ant **# apt-get install ant-optional **# apt-get install autoconf **# apt-get install autogen **# apt-get install automake **# apt-get install binutils **# apt-get install bison **# apt-get install cvs **# apt-get install doxygen **# apt-get install flex **# apt-get install g+\+ **# apt-get install libtool **# apt-get install make **# apt-get install subversion **# apt-get install libtool **# apt-get install gdb **# apt-get install openssl **# apt-get install ssh **# apt-get install minicom **# apt-get install python-all **# apt-get install python-all-dev **# apt-get install lirc setserial **# apt-get install linux-source-2.6.18 **# apt-get install kernel-package libncurses5-dev fakeroot wget build-essential **# apt-get install xutils-dev **# apt-get install linux-doc-2.6.18 **# apt-get install linux-manual-2.6.18 **# apt-get install manpages-dev **# apt-get install xutils-dev **# apt-get install jam **# apt-get install swig **# apt-get install libboost-regex-dev  \\]]> 9372411 9405093 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba.sh' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  **** Create a symbolic link using update-rc.d (Debian command)  ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** edit */etc/dhcp3/dhclient.conf* to add the following line: ****** send host-name "foce2.shore.mbari.org" ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\]]> 9372361 9405091 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba.sh' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  **** Create a symbolic link using update-rc.d (Debian command)  ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** edit */etc/dhcp3/dhclient.conf* to add the following line: ****** send host-name "foce2.shore.mbari.org" ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} Base baud for CTI boards. Default Max Baud = 115200 bps define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS{color} {color:black}UARTCLKPORT{color}{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } ttyS0 { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } ttyS1 { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } ttyS2 { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } ttyS3 { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS } ttyS4 { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS } ttyS5 { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS } ttyS6 { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS } ttyS7 \\ If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ \\ \\ \\ \\ \\ \\ Re-Compiling the Kernel(Linux 2.6) \\ \\ \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available. \\ More stream of consciousness ramblings: *OmniNotify v2.1 will not compile with the latest C+\+ offerings from GNU and Microsoft.* Why?  Because support for the header has been removed. It is replaced by (without the .h) and requires use of namespaces to access. A patch to v2.1 that fixes this is attached \\]]> 9372358 9405095 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** To auto start omniNames and omniNotify services at bootup: **** create a file called 'startCorba.sh' ***** \#\!/bin/bash \# Start CORBA (omniORB and omniNotify) services - name service and notification service. ***** \#  . /etc/init.d/functions export LD_LIBRARY_PATH=$(LD_LIBRARY_PATH):/usr/local/lib export OMNIORB_HOME=/home/auv/prj/auv-pkgs/omniORB export OMNIORB_CONFIG=$OMNIORB_HOME/omniORB.cfg export OMNINAMES_LOGDIR=$OMNIORB_HOME/nameServiceLog export OMNINOTIFY_DIR=/home/auv/prj/auv-pkgs/omniNotify ***** \# Start name service echo "Start name service" /usr/local/bin/omniNames & ***** \# Start notification service echo "Start notification service" /usr/local/bin/notifd \-c $OMNINOTIFY_DIR/channel.cfg & **** make sure startCorba has execute permissions (chmod a+x startCorba.sh)  **** Create a symbolic link using update-rc.d (Debian command)  ***** mvc-debian4:/etc/init.d# update-rc.d startCorba defaults  Adding system startup for /etc/init.d/startCorba ...    /etc/rc0.d/K20startCorba \-> ../init.d/startCorba    /etc/rc1.d/K20startCorba \-> ../init.d/startCorba    /etc/rc6.d/K20startCorba \-> ../init.d/startCorba    /etc/rc2.d/S20startCorba \-> ../init.d/startCorba    /etc/rc3.d/S20startCorba \-> ../init.d/startCorba    /etc/rc4.d/S20startCorba \-> ../init.d/startCorba    /etc/rc5.d/S20startCorba \-> ../init.d/startCorba \\ *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** edit */etc/dhcp3/dhclient.conf* to add the following line: ****** send host-name "foce2.shore.mbari.org" ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\]]> 9372363 3670313 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.  \\ \\ \\ \\   h4. \\ h3.]]> 3637558 3670312 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.  \\ \\ \\ \\   h4. \\ h3.]]> 3637557 21397554 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{date\} ** GET http:///rest/timeline/\{name\}?from=\{date\}&to=\{date\} ** GET http:///rest/timeline/\{name\}?to=\{date\}&format=date ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\}&format=tick * *input:* ** \{name\} the name of the timeline ** _format_ the format used to specify _from_ and _to_ . Possible formats are: *** *date* : _from_ and _to_ are specified as date (eg 2013-May-23%2012:00:00) *** *tick* : _from_ and _to_ are given as integer which are directly trex tick values *** If not specified the default format is *date* ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. Meaning all the token which *** can end after _from_ (ie their largest possible end time is >= to _from_) *** can start before _to_ (ie their smallest possible start time is <= to _to_) ** While the json format id still underwork here's an example of what I have now : {code:javascript} { "name": "time_b", "alive": "true", "requested_tick_range": { "int": { "min": "-32888" "max": "16549" } }, "token": [ { "on": "time_b", "pred": "Holds", "Variable": { "float": { "value": "0.9902680687415706" }, "type": "float", "name": "cos_t" }, "Variable": { "float": { "value": "0.1391731009600664" }, "type": "float", "name": "sin_t" }, "Variable": { "date": { "value": "2013-May-23 20:16:26.690742" }, "type": "date", "name": "start" }, "Variable": { "date": { "value": "2013-May-23 20:17:26.690742" }, "type": "date", "name": "end" }, "Variable": { "duration": { "value": "00:01:00" }, "type": "duration", "name": "duration" } }, { "on": "time_b", "pred": "Holds", "Variable": [ { "float": { "value": "0.9876883405951381" }, "type": "float", "name": "cos_t" }, { "float": { "value": "0.1564344650402325" }, "type": "float", "name": "sin_t" }, { "date": { "value": "2013-May-23 20:17:26.690742" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-23 20:18:26.690742" }, "type": "date", "name": "end" } ] } ] } {code} ** In this example the result has the following attributes : *** "name" : The name of the timeline *** "alive" : Indicates if this timeline is currently still managed *** "requested_tick_range" : an interval giving the range \[_from_, _to_\] into ticks *** "token" : A table with all the tokens that match this range. Tokens are sorted by occurrence order * *error:* ** 400: invalid request. The timeline name is either missing or non existent ** 400: parsing error from the optionals fields * *example:* ** GET http:///rest/timeline/dorado?from=2013-May-23&to=2013-may-31%2012:00:00 ** GET http:///rest/timeline/dorado?from=0&to=100&format=tick {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364787 21397539 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{int\} ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///rest/timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364771 21397541 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{date\} ** GET http:///rest/timeline/\{name\}?from=\{date\}&to=\{date\} ** GET http:///rest/timeline/\{name\}?to=\{date\}&format=date ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\}&format=tick * *input:* ** \{name\} the name of the timeline ** _format_ the format used to specify _from_ and _to_ . Possible formats are: *** date : _[default]_ _from_ and _to_ are specified as date (eg 2013-May-23%2012:00:00) *** tick : _from_ and _to_ are given as integer which are directly trex tick values ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364774 8946030 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 8913277 21397543 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{date\} ** GET http:///rest/timeline/\{name\}?from=\{date\}&to=\{date\} ** GET http:///rest/timeline/\{name\}?to=\{date\}&format=date ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\}&format=tick * *input:* ** \{name\} the name of the timeline ** _format_ the format used to specify _from_ and _to_ . Possible formats are: *** *date* : _from_ and _to_ are specified as date (eg 2013-May-23%2012:00:00) *** *tick* : _from_ and _to_ are given as integer which are directly trex tick values *** If not specified the default format is *date* ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364776 21397545 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{date\} ** GET http:///rest/timeline/\{name\}?from=\{date\}&to=\{date\} ** GET http:///rest/timeline/\{name\}?to=\{date\}&format=date ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\}&format=tick * *input:* ** \{name\} the name of the timeline ** _format_ the format used to specify _from_ and _to_ . Possible formats are: *** *date* : _from_ and _to_ are specified as date (eg 2013-May-23%2012:00:00) *** *tick* : _from_ and _to_ are given as integer which are directly trex tick values *** If not specified the default format is *date* ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. Meaning all the token which *** can end after _from_ (ie their largest possible end time is >= to _from_) *** can start before _to_ (ie their smallest possible start time is <= to _to_) ** While the json format id still underwork here's an example of what I have now : {code:javascript} { "name": "time_b", "alive": "true", "requested_tick_range": { "int": { "min": "-32888" "max": "16549" } }, "token": [ { "on": "time_b", "pred": "Holds", "Variable": { "float": { "value": "0.9902680687415706" }, "type": "float", "name": "cos_t" }, "Variable": { "float": { "value": "0.1391731009600664" }, "type": "float", "name": "sin_t" }, "Variable": { "date": { "value": "2013-May-23 20:16:26.690742" }, "type": "date", "name": "start" }, "Variable": { "date": { "value": "2013-May-23 20:17:26.690742" }, "type": "date", "name": "end" }, "Variable": { "duration": { "value": "00:01:00" }, "type": "duration", "name": "duration" } }, { "on": "time_b", "pred": "Holds", "Variable": [ { "float": { "value": "0.9876883405951381" }, "type": "float", "name": "cos_t" }, { "float": { "value": "0.1564344650402325" }, "type": "float", "name": "sin_t" }, { "date": { "value": "2013-May-23 20:17:26.690742" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-23 20:18:26.690742" }, "type": "date", "name": "end" } ] } ] } {code} ** In this example the result has the following attributes : *** "name" : The name of the timeline *** "alive" : Indicates if this timeline is currently still managed *** "requested_tick_range" : an interval giving the range \[_from_, _to_\] into ticks *** "token" : A table with all the tokens that match this range. Tokens are sorted by occurrence order * *error:* ** 400: invalid request. The timeline name is either missing or non existent ** 400: parsing error from the optionals fields * *example:* ** GET http:///rest/timeline/dorado?from=2013-May-23&to=2013-may-31%2012:00:00 ** GET http:///rest/timeline/dorado?from=0&to=100&format=tick {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364778 8946005 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 8913252 8946003 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 8913250 8946010 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 8913257 8946007 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 8913254 21397526 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{int\} ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///rest/timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *Alternate output proposed:* {code:javascript} { "pred" : _string_, "on" : _timeline_, "early_start" : _date_time_, "late_start" : _date_time_, "early_end" : _date_time_, "late_end" : _date_time_, } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364758 21397524 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1445) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{int\} ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///rest/timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *Alternate output proposed:* {code:javascript} { "pred" : _string_, "on" : _timeline_, "early_start" : _date_time_, "late_start" : _date_time_, "early_end" : _date_time_, "late_end" : _date_time_, } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364756 21397523 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{int\} ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///rest/timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *Alternate output proposed:* {code:javascript} { "pred" : _string_, "on" : _timeline_, "early_start" : _date_time_, "late_start" : _date_time_, "early_end" : _date_time_, "late_end" : _date_time_, } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364755 15663626 15630872 8945989 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa PLASMA TREX We will assume on the rest of the document that this structure is respected.\\ \\ Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n), etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 8913236 21397521 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{int\} ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///rest/timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:shell} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *Alternate output proposed:* {code:javascript} { "pred" : _string_, "on" : _timeline_, "early_start" : _date_time_, "late_start" : _date_time_, "early_end" : _date_time_, "late_end" : _date_time_, } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364753 9405088 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa Europa/PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ svn+ssh:// Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 9372355 9405089 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa Europa/PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ svn+ssh:// Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 9372356 21397520 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "href": "\/rest\/timeline\/dorado_state" }, { "name": "dorado_survey", "href": "\/rest\/timeline\/dorado_survey" }, { "name": "drifterFollow", "href": "\/rest\/timeline\/drifterFollow" }, { "name": "iridium", "href": "\/rest\/timeline\/iridium" }, { "name": "mbfd", "href": "\/rest\/timeline\/mbfd" }, { "name": "trex_data", "href": "\/rest\/timeline\/trex_data" }, { "name": "wgOA", "href": "\/rest\/timeline\/wgOA" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically) ** I will probably add in the future extra attributes per timeline indicating information such as ehether this timeline accept goals or not, ... {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{int\} ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///rest/timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:shell} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *Alternate output proposed:* {code:javascript} { "pred" : _string_, "on" : _timeline_, "early_start" : _date_time_, "late_start" : _date_time_, "early_end" : _date_time_, "late_end" : _date_time_, } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364752 751 754 752 755 753 756 754 757 747 750 749 752 8946099 where is the name of a file containing IDL definitions, and \[options\] is any combination of the options listed below.  The options are optional and may appear in any order; is required and must appear last.   h4. T-Rex CheatSheet h5. Directory structure : For compiling/executing correctly TREX expects the following directory structure auv-shared auv-linux    auv (note: this is the auv-qnx directory and may be deprecated in the near future) Europa Europa/PLASMA TREX We will assume on the rest of the document that this structure is respected. \\ \\ svn+ssh:// Initializing TREX environment variables: The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) The compilation of TREX core libraries is done similarly  % cd $TREX_HOME % jam after that you can compile the binaries amc and sim % cd ctd2007 % jam amc % jam sim amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. Using TREX TREX configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. amc.play.cfg: used to replay a mission for debugging purpose. amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components.  vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be :                remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg Note on AUV configuration files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that latitude and longitude  on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing.  Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes depthn with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. On QNX % cd $AUV_HOME/altex/onboard/bin % ./vcsServer \[-v\] \[-sim\] note: \-v fro being verbose \-sim when in simulation (ie not HW in the loop)  On Linux % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer \-proc .cfg \[-fastsim\] note: \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) \-fastsim indicates to vcsServer that it will run into linux fast simulation  You can change how verbose auv-linux will be by editing log4cxx.cfg Starting TREX in batch mode % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg \[-fast\|-sim\] \[\] note: the argument order is fixed \-fast indicates that the clock used would connect to auv-linux fast simulation clock \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) indicates how much step TREX is allowed to do for deliberation  at least on each tick  when on \-fast or \-sim mode. You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log % cd $TREX_LOG_DIR % tail \-F latest/TREX.log Starting TREX in interactive mode % cd $TREX_HOME % sim_o_rt \[-sim\|-fast\] \[\] Options:  Q :\- Quit  N :\- Next  G :\- Goto e.g. g100  R :\- Reload Debug.cfg  \+ :\- enable pattern e.g. '+Agent'  \- :\- disable pattern e.g. '-Agent'  \! :\- disable all debug messages > You can see here that the command is quite similar to amc except  that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n) , etc commands R/+/-/\! are used to manipulate how much data you want  on the Debug.log starting from now.]]> 8913353 763 766 759 762 8946088 8913340 762 765 761 764 756 759 8946083 8913334 755 758 8946084 8913336 758 761 757 760 8946086 8913338 1867821 1835057 1867822 1835058 1867823 1835059 1867824 1835060 1867825 1835061 1867826 1835062 5406791 0This is a pure timed read. If data are available in the input queue, it's transferred to the caller's buffer up to a maximum of nbytes, and returned immediately to the caller. Otherwise the driver blocks until data arrives, or when VTIME tenths expire from the start of the call. If the timer expires without data, zero is returned. A single byte is sufficient to satisfy this read call, but if more is available in the input queue, it's returned to the caller. Note that this is anoveralltimer, not anintercharacterone.VMIN > 0 and VTIME > 0Aread()is satisfied when either VMIN characters have been transferred to the caller's buffer, or when VTIME tenths expire between characters. Since this timer is not started until the first character arrives, this call can block indefinitely if the serial line is idle. This is the most common mode of operation, and we consider VTIME to be anintercharactertimeout, not anoverallone. This call should never return zero bytes read.VMIN > 0 and VTIME = 0This is a counted read that is satisfied only when at least VMIN characters have been transferred to the caller's buffer - there is no timing component involved. This read can be satisfied from the driver's input queue (where the call could return immediately), or by waiting for new data to arrive: in this respect the call could block indefinitely. We believe that it's undefined behavior if nbytes is less then VMIN. \\ \\ \\ \\ \--------------------------------------\-  http://www.gnu.org/software/libc/manual/html_mono/libc.html\\ h4. 17.4.4 Input Modes This section describes the terminal attribute flags that control fairly low-level aspects of input processing: handling of parity errors, break signals, flow control, and and characters. All of these flags are bits in the c_iflag member of the struct termios structure. The member is an integer, and you change flags using the operators &, \| and \^. Don't try to specify the entire value for c_iflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *INPCK* If this bit is set, input parity checking is enabled. If it is not set, no checking at all is done for parity errors on input; the characters are simply passed through to the application. Parity checking on input processing is independent of whether parity detection and generation on the underlying terminal hardware is enabled; see Control Modes. For example, you could clear the INPCK input mode flag and set the PARENB control mode flag to ignore parity errors on input, but still generate parity on output. If this bit is set, what happens when a parity error is detected depends on whether the IGNPAR or PARMRK bits are set. If neither of these bits are set, a byte with a parity error is passed to the application as a '\0' character. --- Macro: tcflag_t *IGNPAR* If this bit is set, any byte with a framing or parity error is ignored. This is only useful if INPCK is also set. --- Macro: tcflag_t *PARMRK* If this bit is set, input bytes with parity or framing errors are marked when passed to the program. This bit is meaningful only when INPCK is set and IGNPAR is not set. The way erroneous bytes are marked is with two preceding bytes, 377 and 0. Thus, the program actually reads three bytes for one erroneous byte received from the terminal. If a valid byte has the value 0377, and ISTRIP (see below) is not set, the program might confuse it with the prefix that marks a parity error. So a valid byte 0377 is passed to the program as two bytes, 0377 0377, in this case. --- Macro: tcflag_t *ISTRIP* If this bit is set, valid input bytes are stripped to seven bits; otherwise, all eight bits are available for programs to read. --- Macro: tcflag_t *IGNBRK* If this bit is set, break conditions are ignored. A break condition is defined in the context of asynchronous serial data transmission as a series of zero-value bits longer than a single byte. --- Macro: tcflag_t *BRKINT* If this bit is set and IGNBRK is not set, a break condition clears the terminal input and output queues and raises a SIGINT signal for the foreground process group associated with the terminal. If neither BRKINT nor IGNBRK are set, a break condition is passed to the application as a single '\0' character if PARMRK is not set, or otherwise as a three-character sequence '\377', '\0', '\0'. --- Macro: tcflag_t *IGNCR* If this bit is set, carriage return characters ('\r') are discarded on input. Discarding carriage return may be useful on terminals that send both carriage return and linefeed when you type the key. --- Macro: tcflag_t *ICRNL* If this bit is set and IGNCR is not set, carriage return characters ('\r') received as input are passed to the application as newline characters ('\n'). --- Macro: tcflag_t *INLCR* If this bit is set, newline characters ('\n') received as input are passed to the application as carriage return characters ('\r'). --- Macro: tcflag_t *IXOFF* If this bit is set, start/stop control on input is enabled. In other words, the computer sends STOP and START characters as necessary to prevent input from coming in faster than programs are reading it. The idea is that the actual terminal hardware that is generating the input data responds to a STOP character by suspending transmission, and to a START character by resuming transmission. See Start/Stop Characters. --- Macro: tcflag_t *IXON* If this bit is set, start/stop control on output is enabled. In other words, if the computer receives a STOP character, it suspends output until a START character is received. In this case, the STOP and START characters are never passed to the application program. If this bit is not set, then START and STOP can be read as ordinary characters. See Start/Stop Characters. --- Macro: tcflag_t *IXANY* If this bit is set, any input character restarts output when output has been suspended with the STOP character. Otherwise, only the START character restarts output. This is a BSD extension; it exists only on BSD systems and the GNU system. --- Macro: tcflag_t *IMAXBEL* If this bit is set, then filling up the terminal input buffer sends a BEL character (code 007) to the terminal to ring the bell. This is a BSD extension. \\ h4. 17.4.5 Output Modes This section describes the terminal flags and fields that control how output characters are translated and padded for display. All of these are contained in the c_oflag member of the struct termios structure. The c_oflag member itself is an integer, and you change the flags and fields using the operators &, \|, and \^. Don't try to specify the entire value for c_oflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *OPOST* If this bit is set, output data is processed in some unspecified way so that it is displayed appropriately on the terminal device. This typically includes mapping newline characters ('\n') onto carriage return and linefeed pairs. If this bit isn't set, the characters are transmitted as-is. The following three bits are BSD features, and they exist only BSD systems and the GNU system. They are effective only if OPOST is set. --- Macro: tcflag_t *ONLCR* If this bit is set, convert the newline character on output into a pair of characters, carriage return followed by linefeed. --- Macro: tcflag_t *OXTABS* If this bit is set, convert tab characters on output into the appropriate number of spaces to emulate a tab stop every eight columns. --- Macro: tcflag_t *ONOEOT* If this bit is set, discard C-d characters (code 004) on output. These characters cause many dial-up terminals to disconnect. \\ h4. 17.4.6 Control Modes This section describes the terminal flags and fields that control parameters usually associated with asynchronous serial data transmission. These flags may not make sense for other kinds of terminal ports (such as a network connection pseudo-terminal). All of these are contained in the c_cflag member of the struct termios structure. The c_cflag member itself is an integer, and you change the flags and fields using the operators &, \|, and \^. Don't try to specify the entire value for c_cflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *CLOCAL* If this bit is set, it indicates that the terminal is connected "locally" and that the modem status lines (such as carrier detect) should be ignored. On many systems if this bit is not set and you call open without the O_NONBLOCK flag set, open blocks until a modem connection is established. If this bit is not set and a modem disconnect is detected, a SIGHUP signal is sent to the controlling process group for the terminal (if it has one). Normally, this causes the process to exit; see Signal Handling. Reading from the terminal after a disconnect causes an end-of-file condition, and writing causes an EIO error to be returned. The terminal device must be closed and reopened to clear the condition. --- Macro: tcflag_t *HUPCL* If this bit is set, a modem disconnect is generated when all processes that have the terminal device open have either closed the file or exited. --- Macro: tcflag_t *CREAD* If this bit is set, input can be read from the terminal. Otherwise, input is discarded when it arrives. --- Macro: tcflag_t *CSTOPB* If this bit is set, two stop bits are used. Otherwise, only one stop bit is used. --- Macro: tcflag_t *PARENB* If this bit is set, generation and detection of a parity bit are enabled. See Input Modes, for information on how input parity errors are handled. If this bit is not set, no parity bit is added to output characters, and input characters are not checked for correct parity. --- Macro: tcflag_t *PARODD* This bit is only useful if PARENB is set. If PARODD is set, odd parity is used, otherwise even parity is used. The control mode flags also includes a field for the number of bits per character. You can use the CSIZE macro as a mask to extract the value, like this: settings.c_cflag & CSIZE. --- Macro: tcflag_t *CSIZE* This is a mask for the number of bits per character. --- Macro: tcflag_t *CS5* This specifies five bits per byte. --- Macro: tcflag_t *CS6* This specifies six bits per byte. --- Macro: tcflag_t *CS7* This specifies seven bits per byte. --- Macro: tcflag_t *CS8* This specifies eight bits per byte. The following four bits are BSD extensions; this exist only on BSD systems and the GNU system. --- Macro: tcflag_t *CCTS_OFLOW* If this bit is set, enable flow control of output based on the CTS wire (RS232 protocol). --- Macro: tcflag_t *CRTS_IFLOW* If this bit is set, enable flow control of input based on the RTS wire (RS232 protocol). --- Macro: tcflag_t *MDMBUF* If this bit is set, enable carrier-based flow control of output. --- Macro: tcflag_t *CIGNORE* If this bit is set, it says to ignore the control modes and line speed values entirely. This is only meaningful in a call to tcsetattr. The c_cflag member and the line speed values returned by cfgetispeed and cfgetospeed will be unaffected by the call. CIGNORE is useful if you want to set all the software modes in the other members, but leave the hardware details in c_cflag unchanged. (This is how the TCSASOFT flag to tcsettattr works.) This bit is never set in the structure filled in by tcgetattr. \\ \\ h4. 17.4.7 Local Modes This section describes the flags for the c_lflag member of the struct termios structure. These flags generally control higher-level aspects of input processing than the input modes flags described in Input Modes, such as echoing, signals, and the choice of canonical or noncanonical input. The c_lflag member itself is an integer, and you change the flags and fields using the operators &, \|, and \^. Don't try to specify the entire value for c_lflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *ICANON* This bit, if set, enables canonical input processing mode. Otherwise, input is processed in noncanonical mode. See Canonical or Not. --- Macro: tcflag_t *ECHO* If this bit is set, echoing of input characters back to the terminal is enabled. --- Macro: tcflag_t *ECHOE* If this bit is set, echoing indicates erasure of input with the ERASE character by erasing the last character in the current line from the screen. Otherwise, the character erased is re-echoed to show what has happened (suitable for a printing terminal). This bit only controls the display behavior; the ICANON bit by itself controls actual recognition of the ERASE character and erasure of input, without which ECHOE is simply irrelevant. --- Macro: tcflag_t *ECHOPRT* This bit is like ECHOE, enables display of the ERASE character in a way that is geared to a hardcopy terminal. When you type the ERASE character, a `\' character is printed followed by the first character erased. Typing the ERASE character again just prints the next character erased. Then, the next time you type a normal character, a `/' character is printed before the character echoes. This is a BSD extension, and exists only in BSD systems and the GNU system. --- Macro: tcflag_t *ECHOK* This bit enables special display of the KILL character by moving to a new line after echoing the KILL character normally. The behavior of ECHOKE (below) is nicer to look at. If this bit is not set, the KILL character echoes just as it would if it were not the KILL character. Then it is up to the user to remember that the KILL character has erased the preceding input; there is no indication of this on the screen. This bit only controls the display behavior; the ICANON bit by itself controls actual recognition of the KILL character and erasure of input, without which ECHOK is simply irrelevant. --- Macro: tcflag_t *ECHOKE* This bit is similar to ECHOK. It enables special display of the KILL character by erasing on the screen the entire line that has been killed. This is a BSD extension, and exists only in BSD systems and the GNU system. --- Macro: tcflag_t *ECHONL* If this bit is set and the ICANON bit is also set, then the newline ('\n') character is echoed even if the ECHO bit is not set. --- Macro: tcflag_t *ECHOCTL* If this bit is set and the ECHO bit is also set, echo control characters with `^' followed by the corresponding text character. Thus, control-A echoes as `^A'. This is usually the preferred mode for interactive input, because echoing a control character back to the terminal could have some undesired effect on the terminal. This is a BSD extension, and exists only in BSD systems and the GNU system. --- Macro: tcflag_t *ISIG* This bit controls whether the INTR, QUIT, and SUSP characters are recognized. The functions associated with these characters are performed if and only if this bit is set. Being in canonical or noncanonical input mode has no affect on the interpretation of these characters. You should use caution when disabling recognition of these characters. Programs that cannot be interrupted interactively are very user-unfriendly. If you clear this bit, your program should provide some alternate interface that allows the user to interactively send the signals associated with these characters, or to escape from the program. See Signal Characters. --- Macro: tcflag_t *IEXTEN* POSIX.1 gives IEXTEN implementation-defined meaning, so you cannot rely on this interpretation on all systems. On BSD systems and the GNU system, it enables the LNEXT and DISCARD characters. See Other Special. --- Macro: tcflag_t *NOFLSH* Normally, the INTR, QUIT, and SUSP characters cause input and output queues for the terminal to be cleared. If this bit is set, the queues are not cleared. --- Macro: tcflag_t *TOSTOP* If this bit is set and the system supports job control, then SIGTTOU signals are generated by background processes that attempt to write to the terminal. See Access to the Terminal. The following bits are BSD extensions; they exist only in BSD systems and the GNU system. --- Macro: tcflag_t *ALTWERASE* This bit determines how far the WERASE character should erase. The WERASE character erases back to the beginning of a word; the question is, where do words begin? If this bit is clear, then the beginning of a word is a nonwhitespace character following a whitespace character. If the bit is set, then the beginning of a word is an alphanumeric character or underscore following a character which is none of those. See Editing Characters, for more information about the WERASE character. --- Macro: tcflag_t *FLUSHO* This is the bit that toggles when the user types the DISCARD character. While this bit is set, all output is discarded. See Other Special. --- Macro: tcflag_t *NOKERNINFO* Setting this bit disables handling of the STATUS character. See Other Special. --- Macro: tcflag_t *PENDIN* If this bit is set, it indicates that there is a line of input that needs to be reprinted. Typing the REPRINT character sets this bit; the bit remains set until reprinting is finished. See Editing Characters. \\ \\ h4. 17.4.10 Noncanonical Input In noncanonical input mode, the special editing characters such as ERASE and KILL are ignored. The system facilities for the user to edit input are disabled in noncanonical mode, so that all input characters (unless they are special for signal or flow-control purposes) are passed to the application program exactly as typed. It is up to the application program to give the user ways to edit the input, if appropriate. Noncanonical mode offers special parameters called MIN and TIME for controlling whether and how long to wait for input to be available. You can even use them to avoid ever waiting---to return immediately with whatever input is available, or with no input. The MIN and TIME are stored in elements of the c_cc array, which is a member of the struct termios structure. Each element of this array has a particular role, and each element has a symbolic constant that stands for the index of that element. VMIN and VMAX are the names for the indices in the array of the MIN and TIME slots. --- Macro: int *VMIN* This is the subscript for the MIN slot in the c_cc array. Thus, termios.c_cc[VMIN] is the value itself. The MIN slot is only meaningful in noncanonical input mode; it specifies the minimum number of bytes that must be available in the input queue in order for read to return. --- Macro: int *VTIME* This is the subscript for the TIME slot in the c_cc array. Thus, termios.c_cc[VTIME] is the value itself. The TIME slot is only meaningful in noncanonical input mode; it specifies how long to wait for input before returning, in units of 0.1 seconds. The MIN and TIME values interact to determine the criterion for when read should return; their precise meanings depend on which of them are nonzero. There are four possible cases: * Both TIME and MIN are nonzero. In this case, TIME specifies how long to wait after each input character to see if more input arrives. After the first character received, read keeps waiting until either MIN bytes have arrived in all, or TIME elapses with no further input. read always blocks until the first character arrives, even if TIME elapses first. read can return more than MIN characters if more than MIN happen to be in the queue. Both MIN and TIME are zero. In this case, read always returns immediately with as many characters as are available in the queue, up to the number requested. If no input is immediately available, read returns a value of zero. MIN is zero but TIME has a nonzero value. In this case, read waits for time TIME for input to become available; the availability of a single byte is enough to satisfy the read request and cause read to return. When it returns, it returns as many characters as are available, up to the number requested. If no input is available before the timer expires, read returns a value of zero. TIME is zero but MIN has a nonzero value. In this case, read waits until at least MIN bytes are available in the queue. At that time, read returns as many characters as are available, up to the number requested. read can return more than MIN characters if more than MIN happen to be in the queue. What happens if MIN is 50 and you ask to read just 10 bytes? Normally, read waits until there are 50 bytes in the buffer (or, more generally, the wait condition described above is satisfied), and then reads 10 of them, leaving the other 40 buffered in the operating system for a subsequent call to read. *Portability note:* On some systems, the MIN and TIME slots are actually the same as the EOF and EOL slots. This causes no serious problem because the MIN and TIME slots are used only in noncanonical input and the EOF and EOL slots are used only in canonical input, but it isn't very clean. The GNU library allocates separate slots for these uses. --- Function: void *cfmakeraw* (struct termios \*termios-p) This function provides an easy way to set up \*termios-p for what has traditionally been called "raw mode" in BSD. This uses noncanonical input, and turns off most processing to give an unmodified channel to the terminal. It does exactly this: termios-p->c_iflag &= \~(IGNBRK\|BRKINT\|PARMRK\|ISTRIP | INLCR | IGNCR | ICRNL | IXON);\\ termios-p->c_oflag &= \~OPOST;\\ termios-p->c_lflag &= \~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);\\ termios-p->c_cflag &= \~(CSIZE | PARENB);\\ termios-p->c_cflag | = CS8;\\  \\  \\ | \\ \--------------------------------------------------------------------------------\-\\ h3. IOCTL's: Buffer count and flushing FIONREAD int *argpGetthenumber ofbytesintheinput buffer.TIOCINQ int *argpSame as FIONREAD.TIOCOUTQ int *argpGetthenumber ofbytesintheoutput buffer.TCFLSH intargEquivalenttotcflush(fd, arg). Seetcflush(3)fortheargument values TCIFLUSH, TCOFLUSH, TCIOFLUSH.]]> 5374032 5406793 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj \\ \\ Notes from ConnectTech Support site for Xtreme104 Isolated 12 port serial card \\  Configuring the Kernel(2.6.x){color:black}The 2.6 kernel has support for the 8250/16650 UART in /drivers/serial/8250.c. You should be able to run our ISA serial cards(Echo, DFlex, Xtreme/104) with this driver and the proper Kernel configuration.{color}{color:black}You'll need to edit your serial.h file in /include/asm and add in the extra serial ports of the card.{color}{color:black}Here's what I added in red for a 4 port Xtreme/104 card at I/O 300 and IRQ 5. You can do the same with your card settings. If your card is using a higher clock than be sure to adjust your BAUD_BAUD value accordingly{color} /\* Base baud for CTI boards. Default Max Baud = 115200 bps \*/ define CTI_BAUD (1843200 /16){color:black}define STD_SERIAL_PORT_DFNS \{color}{color}{color:black} /\*{color} UARTCLKPORT{color:black}IRQ FLAGS \*/ \{color}{color} { 0, BASE_BAUD, 0x3F8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS0 \*/ \{color}{color} { 0, BASE_BAUD, 0x2F8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS1 \*/ \{color}{color} { 0, BASE_BAUD, 0x3E8, 4, STD_COM_FLAGS } {color:black}, /\* ttyS2 \*/ \{color}{color} { 0, BASE_BAUD, 0x2E8, 3, STD_COM_FLAGS } {color:black}, /\* ttyS3 \*/ \{color}{color} { 0, CTI_BAUD, 0x300, 5, STD_COM_FLAGS }{color:black}, /\* ttyS4 \*/ \{}{color} { 0, CTI_BAUD, 0x308, 5, STD_COM_FLAGS }{color:red}, /\* ttyS5 \*/ \{}{color} { 0, CTI_BAUD, 0x310, 5, STD_COM_FLAGS }{color:red}, /\* ttyS6 \*/ \{}{color} { 0, CTI_BAUD, 0x318, 5, STD_COM_FLAGS }{color:red}, /\* ttyS7 \*/{color} If your board has a difference clock, be sure to change the CTI_BAUD value appropriately. \\ \\ Re-Compiling the Kernel(Linux 2.6) \*# cd {Linux}* At this point, you have a choice of two configuration utilities that you can use to configure your kernel. One utility, named config, is text based, and the other, named menuconfig, has a simple GUI (Graphical User Interface). The menuconfig utility is easier to use than config, so unless you have specific reasons use the menuconfig utility. To use the menuconfig / config utility: *\# make menuconfig* Or *\# make config* Once the configuration utility you choose is running, make sure that the following options are selected. Below shows the setting that must be enabled using the menuconfig and config utilities. config: CONFIG_PCI menuconfig: (Bus Options \-> PCI Support)\\ config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> 8250/16550 and compatible serial support)   config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Extended 8250/16550 serial driver options) config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support more than 4 legacy serial ports)   config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Standard drivers \-> Support for sharing serial interrupts) After all of the options have been checked and enabled, select exit. You will be prompted to save the new kernel configuration. Select yes. After you have finished configuring your kernel, issue the two following commands: *\# make clean* *\# make bzImage* *\# make modules* *\# make modules_install{*}Building/Installing the Kernel NOTE: These instructions are for Red Hat standard installs. If you use a different distribution, or have set up your own system, these instructions will likely not help you. In that case please contact Connect Tech support at support@connecttech.com Copy the kernel and system map to the boot partition: The "make bzImage" step created the kernel in the subdirectory {Linux} /arch//boot. If you don't know what CPU type you're using, you can find the new kernel by: \\ # ls \-l {Linux}/arch/*/boot/bzImage The < cpu type > is the "*" part of the pathname of the newest kernel. /arch//boot will be referenced by {arch}. # cp {Linux} / {arch} /bzImage /boot/vmlinuz-bh # cp {Linux} /System.map /boot/System.map-bh You may choose any postfix, \-df is a handy one. The postfix merely distinguishes between the kernel you've just built and other kernels already installed. It has no other purpose.   Creating Nodes (Ports) For the Host Adapter NOTE: Depending on your kernel distribution and configuration, nodes(ports) are often created automatically and you can skip this step. Check to see if they exist before proceeding. Now that we have the new kernel in place capable of supporting the Blue Heat serial adapter we must create nodes, or ports, to allow the host adapter to communicate with other devices. To begin, boot the new kernel. After the kernel has booted, open up the messages file using Vi, or your favorite text editor: # vi {log_path}/messages Where {log_path} is where the system logs are stored. Typically, {log_path} = /var/log but this may be different in some distributions/systems. Go to the bottom of the file and search backwards for references to "ttySxx" where xx is a number. You should see ttyS0 and ttyS1 for the standard serial ports, as well as a ttySxx entrie for each installed Echo/Dflex port. In order to use the new ports, these ttySxx entries must exist in the /dev directory. If they do not exist (they aren't created automatically, but do persist after reboots) you must make them with the following command: # mknod -m [mode] /dev/ttySxx c 4 yy [mode] is the file mode (permissions) you wish the device to have. 600 is often good. xx is the number associated with the device which you have seen in the messages file. yy is just xx + 64 You may also wish to make the corresponding cuaxx devices, but they are being phased out: # mknod -m {mode} /dev/cuaxx c 5 yy xx and yy should match the xx and yy from the previous mknod command Here is an example of what you would do to add the nodes to your /dev directory: First I opened the Vi editor and search for ttyS*. The results of the search show me that I have ttyS00 and ttyS01 (the standard serial ports) entries, as well as four other entries: ttyS05, ttyS06, ttyS07 and ttyS08. These four entries correspond to the four new ports for my CTI host adapter. (Right now, we are assuming a four-port card. You may have fewer or more ports, depending on the type of card you have). I've written down the four entries on a sheet of paper, seeing how my memory is a little short. Now I would like to make the nodes. From the command line, I type in the four following entries: # mknod -m 600 /dev/ttyS05 c 4 69 # mknod -m 600 /dev/ttyS06 c 4 70 # mknod -m 600 /dev/ttyS06 c 4 71 # mknod -m 600 /dev/ttyS07 c 4 72 and optionally execute: # mknod -m 600 /dev/cua12 c 5 69 # mknod -m 600 /dev/cua13 c 5 70 # mknod -m 600 /dev/cua14 c 5 71 # mknod -m 600 /dev/cua15 c 5 72 With the nodes in place, this finishes off our installation   Multiport Support NOTE: Multiport support is not necessary for your boards to operate properly. This may safely be skipped. It is only a performance tweak available for users with older systems. Newer PCs do not gain much performance from this tweak. Check {log_path} /messages again. Each serial port will have a line; all the ports on each board will be listed in sequence. An eight port board might look like: ttyS4 at port 0x300 (irq = 5) is a ST16654 ttyS5 at port 0x308 (irq = 5) is a ST16654 ttyS6 at port 0x310 (irq = 5) is a ST16654 ttyS7 at port 0x318 (irq = 5) is a ST16654 ttyS8 at port 0x320 (irq = 5) is a ST16654 ttyS9 at port 0x328 (irq = 5) is a ST16654 ttyS10 at port 0x330 (irq = 5) is a ST16654 ttyS11 at port 0x338 (irq = 5) is a ST16654 "port" in the above listing is really short for "port address". To avoid confusion, I will refer to the port address as the "address" instead. Your board will have a table of the port addresses in the manual that came with it. You will need to look up the address that the board has been configured for; the line will also tell you what address the status port is at. {mask} is determined by the following table: Number of ports       {mask}              2         0x03             4         0x0f             8         0xffsetserial is used to inform the driver about the status port, in the following manner: \\ # setserial {port} set_multiport portX {status port address} maskX {mask} matchX 0x0 where {port} is any one port on a given board (using the first port is usually the best way), {status port address} is the address of the status port as determined above, {mask} is the appropriate mask value for the board from the table above, and X is a multiport setting number between 1 and 4. The multiport setting number will usually be 1, but can be other values. There may be other multiport settings on the irq that your board is using, set by other boards in your system, including other Connect Tech boards. # setserial {port} get_setserial where {port} is a port on a board that you are going to use the status port on, will reveal if there are other multiport settings in effect already. If so, take care to choose X to be the lowest empty setting number. This needs be done only once per board that you wish to have the status port used on. Example: You have two boards installed, an 8 port and a 2 port. The ports on each board are: ttyS4 at port 0x300 (irq = 5) is a ST16654 . . ttyS11 at port 0x338 (irq = 5) is a ST16654 ttyS12 at port 0x200 (irq = 10) is a ST16654 ttyS13 at port 0x208 (irq = 10) is a ST16654 Check to see if any other multiport settings are already in use: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0One multiport setting is already in use by another board. This works on a per irq basis, so each irq that is used by a board needs to be checked: # setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x0, mask=0x0, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0No multiport settings are in use. The commands to enable use of the status port on each board would be: # setserial /dev/ttyS4 set_multiport port2 0x340 mask2 0xff match2 0x00 # setserial /dev/ttyS12 set_multiport port1 0x240 mask1 0x03 match1 0x00 Check that the settings are in place: # setserial /dev/ttyS4 get_multiport Multiport config for irq 5:       Port Monitor = 0x0       Port1 = 0x1bf, mask=0xf, match=0xf       Port2 = 0x340, mask=0xff, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# setserial /dev/ttyS12 get_multiport Multiport config for irq 10:       Port Monitor = 0x0       Port1 = 0x240, mask=0x3, match=0x0       Port2 = 0x0, mask=0x0, match=0x0       Port3 = 0x0, mask=0x0, match=0x0       Port4 = 0x0, mask=0x0, match=0x0# man setserial may be of help also.   RS-485 Line Modes Support The utility set485 can be used to set the line mode interactively or from a startup script. Settings stick until changed or the system is rebooted. The Linux header file ioctls.h now contains definitions for TIOCSER485GET and TIOCSER485SET. These ioctls can be used on Connect Tech 485 capable boards to set the line mode. The mode (passed as an integer) can be one of TIOCSER485FULLDUPLEX, TIOCSER485HALFDUPLEX or TIOCSER485SLAVEMULTIPLEX for full or half duplex or slave multidrop mode, respectively.   The Linux 2.6 standard serial driver does not have advanced RS485 mode support as of yet. If you require this functionality please contactsupport@connecttech.comfor the latest status of patches available.]]> 5374034 1867828 1835064 1867827 1835063 1867830 1835066 1867829 1835065 1867832 1835068 1867831 1835067 1867833 1835069 21397657 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} h4. TREX version {panel} {panel:title=TREX version} * *format:* ** GET http:///rest/version * Gets information of the currently running version of trex * *output:* {code:javascript} { "version_major": "0", "version_minor": "5", "version_release": "0", "version_rc": "1", "svn_root": "trunk", "svn_rev": "1450", "version_str": "0.5.0-rc1 (svn:trunk[1450])" } {code} ** *note* svn_rev may not be a integer but is the output of the svnversion command. Which mean that ift can be a range of version (eg 1447:1450) and/or be postfixed by a modification flag letter (M for locally modified, S for a branch of tag instead of the trunk) {panel} h3. Tick and date related services h4. Current tick {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "2656", "date": "2013-06-04T15:29:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Next tick {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "2658", "date": "2013-06-04T15:31:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Initial tick {panel:title=Initial tick} * *format:* GET http:///rest/tick/initial * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/initial {code:javascript} { "value": "0", "date": "2013-06-02T19:13:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. Final tick {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "1000000", "date": "2015-04-28T05:53:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick info {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/2658 {code:javascript} { "value": "2658", "date": "2013-06-04T15:31:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick at a date {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-01-01 {code:javascript} { "value": "305566", "date": "2013-12-31T23:59:04.923976" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} h4. tick rate/duration {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} h4. Wait for new tick {panel:title=Wait for new tick} * *format:* GET http:///rest/tick/wait * This request implements a long pull in order for the client to be notified when the next tick occurs. The request will not respond until the next tick occurs. * *output:* similar to GET http:///rest/tick {panel} h3. Timelines and goals services h4. List of trex existing timelines {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/timelines ** GET http:///rest/timelines/timline_a/timeline_b ... * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "alive": "true", "accept_goals": "false", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "0", "duration": "00:00:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_state" }, { "name": "dorado_survey", "alive": "true", "accept_goals": "true", "latency": { "ticks": "0", "duration": "00:00:00" }, "look_ahead": { "ticks": "1", "duration": "00:01:00" }, "publish_plan": "false", "href": "/rest/timeline/dorado_survey" }, ... ] } {code} ** "timelines" is the table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) *** "alive" a boolean indicating whether this timeline is still managed or "dead" (resulting on a Failed state) *** "accept_goals" a boolean indicating if this timeline accept goals or not (for example position updates on assets do not accept goals) *** "publish_plan" a boolean indicating if this timeline will publish its future when it has a plan or can only display its past and current state *** "latency" The expected maximum delay until a received goal on this timeline will be processed *** "look_ahead" How far ahead in the future this timeline is usually planned for ** booth look_ahead and latency are json object giving their value both in term of TREX tick and real-time duration * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically). Similarly all the attached information (except for their name) can change as the mission advance (although we often avoid it). ** It is possible to restrict the set of timeline to a known subset by specifying them on the URI. For example get http:///rest/a/b/c will give information of only a, b and c {panel} h4. Contents of a timeline {panel:title=Contents of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{date\} ** GET http:///rest/timeline/\{name\}?from=\{date\}&to=\{date\} ** GET http:///rest/timeline/\{name\}?to=\{date\}&format=date ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\}&format=tick * *input:* ** \{name\} the name of the timeline ** _format_ the format used to specify _from_ and _to_ . Possible formats are: *** *date* : _from_ and _to_ are specified as date (eg 2013-06-03T16:04:57.330-07:00) *** *tick* : _from_ and _to_ are given as integer which are directly trex tick values *** If not specified the default format is *date* ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. Meaning all the token which *** can end after _from_ (ie their largest possible end time is >= to _from_) *** can start before _to_ (ie their smallest possible start time is <= to _to_) ** While the json format id still underwork here's an example of what I have now : (the request: http:///rest/timeline/dorado_survey?from=2013-06-03T16:04:57.330-07:00&to=2013-06-13T16:10:29.449-07:00) {code:javascript} { "name": "dorado_survey" "requested_tick_range": { "int": { "max": "16077", "min": "1671" } }, "tokens": [ { "pred": "None", "on": "dorado_survey" "Variable": [ { "name": "start", "type": "date", "date": { "value": "2013-06-02T19:13:04.923976" } }, { "name": "end", "type": "date", "date": { "min": "2013-06-04T15:36:04.923976" } }, { "name": "duration", "type": "duration", "duration": { "min": "44:23:00" } } ] } ] } {code} ** In this example the result has the following attributes : *** "name" : The name of the timeline *** "alive" : Indicates if this timeline is currently still managed *** "requested_tick_range" : an interval giving the range \[_from_, _to_\] into ticks *** "token" : A table with all the tokens that match this range. Tokens are sorted by occurrence order * *error:* ** 400: invalid request. The timeline name is either missing or non existent ** 400: parsing error from the optionals fields * *example:* ** GET http:///rest/timeline/dorado?from=2013-May-23&to=2013-may-31%2012:00:00 ** GET http:///rest/timeline/dorado?from=0&to=100&format=tick {panel} h4. Post a new goal {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** Associated data: the goal in json format (request header need to set Content-Type to application/json) * *example of a curl command:* {code:none} curl -X POST --header 'Content-Type:application/json' -d ' { "on": "dorado_survey", "pred": "Track", "Variable": [ { "name": "drifter", "type": "enum", "enum": { "elem": [ { "value": "MBARI21" } ] } }, { "name": "lagrangian", "type": "bool", "bool": { "value": "1" } }, { "name": "path", "enum": { "elem": [ { "value": "square" } ] } }, { "name": "size", "float": { "value": 1000.0 } }, { "name": "start", "type": "date", "date": { "min": "2013-May-16 15:53:00" } }, { "name": "duration" "duration": { "max": "18:00:00" }, "type": "duration" } ] } }' http:///rest/goal {code} * *output on success:* A json structure with the following attributes: ** _id_ : A unique identifier for the goal ** _href_: URL where this goal can be accessed (through GET or DELETE) ** _Goal_: The goal representation (should be fairly similar to what data was posted but with small tweaks such as updated start duration and end information) * *example output* from the command above: {code:javascript} { "id": "0xb0425cb0", "href": "/rest/goal/0xb0425cb0", "Goal": { "on": "dorado_survey", "pred": "Track", "Variable": [ { "enum": { "elem": [ { "value": "spotSim" } ] }, "type": "enum", "name": "drifter" }, { "bool": { "value": "1" }, "type": "bool", "name": "lagrangian" }, { "enum": { "elem": [ { "value": "square" } ] }, "type": "enum", "name": "path" }, { "float": { "value": "1000.0000000000000000" }, "type": "float", "name": "size" }, { "date": { "min": "2013-May-16 16:16:01.566673" }, "type": "date", "name": "start" }, { "date": { "min": "2013-May-16 16:17:01.566673" }, "type": "date", "name": "end" }, { "duration": { "min": "00:01:00", "max": "18:00:00" }, "type": "duration", "name": "duration" } ] } } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} h4. Modify an existing goal {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} h4. Cancel a goal {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 21364890 8946137 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} The compilation of TREX core libraries is done similarly {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * *.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * *.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings *.exec.nddl *.skipper.nddl *.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the *processes.cfg to see if it starts correct processes including statePublisher h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * -v for being verbose * -sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * -proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * -fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] [] {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * -fast indicates that the clock used would connect to auv-linux fast simulation clock * -sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on -fast or -sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim|-fast] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/! are used to manipulate how much data you want on the Debug.log starting from now. ]]> 8913396 3179427 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 *** Status **** In progress...   Getting an error from CORBA "unable to ping service worksite"... ** sonardyne ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone ****   *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test. ** Teledyne *** /dev/ser6 * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree]]> 3113942 3670115 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ** TODO ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Device Emulation to insure regression test and code coverage of error handlers \\ \\ Recommendation is to setup a build (and simulation execution) machine that has the same linux distribution as the auv  Serial port infrastructure SerTest test program Code Review Regression testing PC104 stack with Xtreme104  Serial Device emulation for regression testing. \\ \\ h4. \\ h3. *Driver porting and validation* \\ h4. Setup * Assuming a Debian and auv-linux software is installed, configured, built, setup, etc. (see below) and network and serial is working. ** Note:  omniORB.cfg located in prj/auv-pkgs/omniORB needs to have bootstrap enabled.    Done in auv-pkgs cvs module. ** auv@mvc-debian   pass: dorado1   ip  134.89.32.16 (static) \\ * Serial Port assignements (per Duane 3/7/08) ** *CPU Card* *** ttyS0 (console) Iridium *** ttyS1 Freewave ** *Xtreme/104 Isolated 12 port Card* *** ttyS2 Tailcone *** ttyS3 no connect *** ttyS4 Parosci *** ttyS5 teledyne DVL \- Navigator Broadband ADCP Version 9.18 *** ttyS6 ashtec GPS *** ttyS7 Gulper (RS485) *** ttyS8 no connect *** ttyS9 Bluefin Batteries (RS485) *** ttyS10 MVC_PIC *** ttyS11 3DM_GX1 *** ttyS12 Drop Weight *** ttyS13 USBL ** LanTronix terminal servers *** tcp:sci1-dmo1:10002 seabird *** tcp:sci1-dmo1:10001 seabird *** tcp:sci2-dmo1:14002 hydroscat *** tcp:sci3-dmo1:14001 lisst ***   h4.   \\ \\ h3. Driver Status   \\ h4. Navigation drivers (first priority) \\ *Status at a glance:* \\ {dynamictasklist:NavigationDrivers} \\ Status details: * ashtec(gps) ** devices.cfg change:  /dev/ser7 \-> /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637356 3179429 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 *** Status **** In progress...   Getting an error from CORBA "unable to ping service worksite"... ** sonardyne ***   ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone ****   *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test. ** Teledyne *** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 *** Status (-) **** missing dvl.cfg file in sampleConfig directory * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree]]> 3113944 3670117 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ** Serial Device driver. *** Verify serial port throughput (SerTest) and resolve linux kernel driver or IRQ assignments to fix byte drop. **** Write separate serial test program (SerTest) to validate linux kernel driver and hardware configuration (IRQ) \\ * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.\\ \\ \\ \\   h4. \\ h3. *Driver porting and validation* \\ h4. Setup * Assuming a Debian and auv-linux software is installed, configured, built, setup, etc. (see below) and network and serial is working. ** Note:  omniORB.cfg located in prj/auv-pkgs/omniORB needs to have bootstrap enabled.    Done in auv-pkgs cvs module. ** auv@mvc-debian   pass: dorado1   ip  134.89.32.16 (static) \\ * Serial Port assignements (per Duane 3/7/08) ** *CPU Card* *** ttyS0 (console) Iridium *** ttyS1 Freewave ** *Xtreme/104 Isolated 12 port Card* *** ttyS2 Tailcone *** ttyS3 no connect *** ttyS4 Parosci *** ttyS5 teledyne DVL \- Navigator Broadband ADCP Version 9.18 *** ttyS6 ashtec GPS *** ttyS7 Gulper (RS485) *** ttyS8 no connect *** ttyS9 Bluefin Batteries (RS485) *** ttyS10 MVC_PIC *** ttyS11 3DM_GX1 *** ttyS12 Drop Weight *** ttyS13 USBL ** LanTronix terminal servers *** tcp:sci1-dmo1:10002 seabird *** tcp:sci1-dmo1:10001 seabird *** tcp:sci2-dmo1:14002 hydroscat *** tcp:sci3-dmo1:14001 lisst ***   h4.   \\ \\ h3. Driver Status   \\ h4. Navigation drivers (first priority) \\ *Status at a glance:* \\ {dynamictasklist:NavigationDrivers} \\ Status details: * ashtec(gps) ** devices.cfg change:  /dev/ser7 \-> /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637358 3670119 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ** Serial Device driver. *** Verify serial port throughput (SerTest) and resolve linux kernel driver or IRQ assignments to fix byte drop. **** Write separate serial test program (SerTest) to validate linux kernel driver and hardware configuration (IRQ) \\ * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers. \\ \\ \\ \\   h4. \\ h3. *Driver porting and validation* \\ h4. Setup * Assuming a Debian and auv-linux software is installed, configured, built, setup, etc. (see below) and network and serial is working. ** Note:  omniORB.cfg located in prj/auv-pkgs/omniORB needs to have bootstrap enabled.    Done in auv-pkgs cvs module. ** auv@mvc-debian   pass: dorado1   ip  134.89.32.16 (static) \\ * Serial Port assignements (per Duane 3/7/08) ** *CPU Card* *** ttyS0 (console) Iridium *** ttyS1 Freewave ** *Xtreme/104 Isolated 12 port Card* *** ttyS2 Tailcone *** ttyS3 no connect *** ttyS4 Parosci *** ttyS5 teledyne DVL \- Navigator Broadband ADCP Version 9.18 *** ttyS6 ashtec GPS *** ttyS7 Gulper (RS485) *** ttyS8 no connect *** ttyS9 Bluefin Batteries (RS485) *** ttyS10 MVC_PIC *** ttyS11 3DM_GX1 *** ttyS12 Drop Weight *** ttyS13 USBL ** LanTronix terminal servers *** tcp:sci1-dmo1:10002 seabird *** tcp:sci1-dmo1:10001 seabird *** tcp:sci2-dmo1:14002 hydroscat *** tcp:sci3-dmo1:14001 lisst ***   h4.   \\ \\ h3. Driver Status   \\ h4. Navigation drivers (first priority) \\ *Status at a glance:* \\ {dynamictasklist:NavigationDrivers} \\ Status details: * ashtec(gps) ** devices.cfg change:  /dev/ser7 \-> /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637360 3179437 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 *** Status **** In progress...   Getting an error from CORBA "unable to ping service worksite"... ** sonardyne *** No test executable available ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone **** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test. ** Teledyne *** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 *** Status (-) **** missing dvl.cfg file in sampleConfig directory * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree]]> 3113952 3179438 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 *** Status (-) **** In progress...   Getting an error from CORBA "unable to ping service worksite"... ** sonardyne *** No test executable available ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone **** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test. ** Teledyne dvl *** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 *** Actions **** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Status (-) **** In progress...   Getting an error from CORBA "unable to ping service worksite"... * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree]]> 3113953 3179440 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 *** Status (-) **** In progress...   Getting an error from CORBA "unable to ping service worksite"... ** sonardyne *** No test executable available ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone **** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. ** Teledyne dvl *** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 *** Actions **** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Status (-) **** In progress...   Getting an error from CORBA "unable to ping service worksite"... * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree]]> 3113955 3179441 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 *** Status (-) **** In progress...   Getting an error from CORBA "unable to ping service worksite"... ** sonardyne *** No test executable available ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone **** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. ** Teledyne dvl *** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 *** Actions **** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Status (-) **** In progress...   Getting an error from CORBA "unable to ping service worksite"... * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree\\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3113956 3179443 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 *** Status (-) **** In progress...   Getting an error from CORBA "unable to ping service worksite"... ** sonardyne *** No test executable available ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone **** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. ** Teledyne dvl *** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 *** Actions **** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Status (-) **** In progress...   Getting an error from CORBA "unable to ping service worksite"... * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3113958 873 876 3179445 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 **** wait a while for 'ping service worksite' to timeout *** Actions: **** added parosci.cfg to auv-linux/onboard/sampleConfig ****   *** Status (-) **** In progress...   Getting an error "Failed to read serial number" ***** 06:43:56.058 DEBUG \[Parosci\] parsed PR (30) and TempInterval (10) 06:43:56.066 DEBUG \[SerialDevice\] Current ispeed setting: 13 ***** 06:43:56.068 DEBUG \[SerialDevice\] Current ospeed setting: 13 ***** 06:43:56.070 DEBUG \[SerialDevice\] change to speed setting 9600 ***** 06:43:56.072 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:43:56.074 ERROR \[SerialDevice\] cfsetospeed() failed 06:43:56.075 DEBUG \[SerialDevice\] New ispeed setting: 13 ***** 06:43:56.077 DEBUG \[SerialDevice\] New ospeed setting: 13 ***** 06:43:56.079 DEBUG \[SerialDevice\] SerialDevice: done... ***** 06:43:56.200 ERROR \[Parosci\] Failed to read serial number 06:43:56.204 ERROR \[AuvService\] Failed to read serial numbre 06:46:15.026 DEBUG \[AuvService\] AuvService::signalHandler() - call cleanup() ** sonardyne *** No test executable available ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone **** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. ** Teledyne dvl *** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 *** Actions **** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Status (-) **** In progress...   * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 *** Actions: *** Status (-) **** In progress...  getting and error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD att ributes file "tcp:sci1-dmo1:10002" ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes)\\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D\\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries\\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne *** 06:49:34.623 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 06:49:34.625 ERROR \[SerialDevice\] cfsetospeed() failed 06:49:34.627 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:49:34.629 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:49:34.631 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:49:34.632 INFO \[TeledyneDvl\] initialize - Baud rate set to 38400. *** 06:49:34.635 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 8 chars: EX10011 06:49:34.637 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.640 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.642 DEBUG \[SerialDevice\] readUntil: read C 06:49:34.644 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3994 *** 06:49:34.646 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.648 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.650 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3987 *** 06:49:34.652 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.654 DEBUG \[SerialDevice\] readUntil: read 6 06:49:34.656 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 *** 06:49:34.658 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.660 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.662 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3976 *** 06:49:34.664 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.666 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.667 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3970 *** 06:49:34.670 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.672 DEBUG \[SerialDevice\] readUntil: read 06:49:34.673 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3964 *** 06:49:34.676 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.677 DEBUG \[SerialDevice\] readUntil: read *** 06:49:34.679 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3958 *** 06:49:34.682 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.683 DEBUG \[SerialDevice\] readUntil: read > 06:49:34.685 DEBUG \[SerialDevice\] readUntil: succeeded in 48 msec *** 06:49:34.687 INFO \[TeledyneDvl\] CB611 > 06:49:34.689 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 9 chars: EA+04500 06:49:34.692 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.694 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.696 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.698 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3993 *** 06:49:34.701 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.703 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.705 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:49:34.707 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.709 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.711 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3980 *** 06:49:34.713 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.715 DEBUG \[SerialDevice\] readUntil: read J 06:49:34.717 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3974 *** 06:49:34.719 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.721 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.723 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3969 *** 06:49:34.725 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.727 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.728 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3963 *** 06:49:34.731 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.733 DEBUG \[SerialDevice\] readUntil: read o 06:49:34.734 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3957 *** 06:49:34.736 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.738 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.740 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3951 *** 06:49:34.742 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.744 DEBUG \[SerialDevice\] readUntil: read c 06:49:34.746 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3945 *** 06:49:34.748 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.750 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.752 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3939 *** 06:49:34.755 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.757 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.759 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3933 *** 06:49:44.058 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:44.059 DEBUG \[SerialDevice\] readUntil: read 06:49:44.060 ERROR \[TeledyneDvl\] readAscii() timed out.  12 bytes read. *** 06:49:44.061 ERROR \[TeledyneDvl\] O?BJ?Oo?c?? 06:49:44.062 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent EA+04500. Recei ved O?BJ?Oo?c??. *** 06:49:44.062 ERROR \[TeledyneDvl\] initialize - Error setting command EA+04500. *** 06:49:44.064 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 7 chars: WP0001 06:49:44.065 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:44.067 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.068 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.069 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:49:44.071 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.072 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.072 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3992 *** 06:49:44.075 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.076 DEBUG \[SerialDevice\] readUntil: read B 06:49:44.077 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:49:44.078 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.079 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.079 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3985 *** 06:49:44.080 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.081 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.083 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3981 *** 06:49:58.182 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:58.183 DEBUG \[SerialDevice\] readUntil: read 06:49:58.184 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:49:58.185 ERROR \[TeledyneDvl\] ??B?? 06:49:58.186 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WP0001. Receive d ??B??. *** 06:49:58.187 ERROR \[TeledyneDvl\] initialize - Error setting command WP0001. *** 06:49:58.188 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 5 chars: WN25 06:49:58.189 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:58.191 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.192 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.192 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3997 *** 06:49:58.195 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.197 DEBUG \[SerialDevice\] readUntil: read N 06:49:58.199 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3990 *** 06:49:58.201 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.203 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.205 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3984 *** 06:49:58.207 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.209 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.211 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3979 *** 06:49:58.213 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.215 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.217 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3973 *** 06:50:11.518 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:50:11.519 DEBUG \[SerialDevice\] readUntil: read 06:50:11.520 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:50:11.521 ERROR \[TeledyneDvl\] ?N??? 06:50:11.523 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WN25. Received ?N???. *** 06:50:11.524 ERROR \[TeledyneDvl\] initialize - Error setting command WN25. *** 06:50:11.525 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 06:50:11.526 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 6 chars: WV210 06:50:11.527 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:50:11.531 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.531 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.532 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:50:11.533 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.535 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.536 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3991 *** 06:50:11.537 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.538 DEBUG \[SerialDevice\] readUntil: read 2 06:50:11.539 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:50:11.540 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.541 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.541 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:50:11.544 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.545 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.546 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3113960 871 874 870 873 3179447 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 **** wait a while for 'ping service worksite' to timeout *** Actions: **** added parosci.cfg to auv-linux/onboard/sampleConfig ****   *** Status (-) **** In progress...   Getting an error "Failed to read serial number" ***** 06:43:56.058 DEBUG \[Parosci\] parsed PR (30) and TempInterval (10) 06:43:56.066 DEBUG \[SerialDevice\] Current ispeed setting: 13 ***** 06:43:56.068 DEBUG \[SerialDevice\] Current ospeed setting: 13 ***** 06:43:56.070 DEBUG \[SerialDevice\] change to speed setting 9600 ***** 06:43:56.072 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:43:56.074 ERROR \[SerialDevice\] cfsetospeed() failed 06:43:56.075 DEBUG \[SerialDevice\] New ispeed setting: 13 ***** 06:43:56.077 DEBUG \[SerialDevice\] New ospeed setting: 13 ***** 06:43:56.079 DEBUG \[SerialDevice\] SerialDevice: done... ***** 06:43:56.200 ERROR \[Parosci\] Failed to read serial number 06:43:56.204 ERROR \[AuvService\] Failed to read serial numbre 06:46:15.026 DEBUG \[AuvService\] AuvService::signalHandler() - call cleanup() ** sonardyne *** No test executable available ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone **** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. ** Teledyne dvl *** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 *** Actions **** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Status (-) **** In progress...   * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 *** Actions: *** Status (-) **** In progress...  getting and error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD att ributes file "tcp:sci1-dmo1:10002" ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne *** 06:49:34.623 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 06:49:34.625 ERROR \[SerialDevice\] cfsetospeed() failed 06:49:34.627 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:49:34.629 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:49:34.631 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:49:34.632 INFO \[TeledyneDvl\] initialize - Baud rate set to 38400. *** 06:49:34.635 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 8 chars: EX10011 06:49:34.637 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.640 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.642 DEBUG \[SerialDevice\] readUntil: read C 06:49:34.644 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3994 *** 06:49:34.646 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.648 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.650 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3987 *** 06:49:34.652 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.654 DEBUG \[SerialDevice\] readUntil: read 6 06:49:34.656 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 *** 06:49:34.658 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.660 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.662 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3976 *** 06:49:34.664 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.666 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.667 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3970 *** 06:49:34.670 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.672 DEBUG \[SerialDevice\] readUntil: read 06:49:34.673 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3964 *** 06:49:34.676 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.677 DEBUG \[SerialDevice\] readUntil: read *** 06:49:34.679 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3958 *** 06:49:34.682 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.683 DEBUG \[SerialDevice\] readUntil: read > 06:49:34.685 DEBUG \[SerialDevice\] readUntil: succeeded in 48 msec *** 06:49:34.687 INFO \[TeledyneDvl\] CB611 > 06:49:34.689 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 9 chars: EA+04500 06:49:34.692 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.694 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.696 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.698 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3993 *** 06:49:34.701 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.703 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.705 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:49:34.707 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.709 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.711 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3980 *** 06:49:34.713 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.715 DEBUG \[SerialDevice\] readUntil: read J 06:49:34.717 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3974 *** 06:49:34.719 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.721 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.723 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3969 *** 06:49:34.725 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.727 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.728 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3963 *** 06:49:34.731 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.733 DEBUG \[SerialDevice\] readUntil: read o 06:49:34.734 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3957 *** 06:49:34.736 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.738 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.740 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3951 *** 06:49:34.742 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.744 DEBUG \[SerialDevice\] readUntil: read c 06:49:34.746 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3945 *** 06:49:34.748 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.750 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.752 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3939 *** 06:49:34.755 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.757 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.759 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3933 *** 06:49:44.058 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:44.059 DEBUG \[SerialDevice\] readUntil: read 06:49:44.060 ERROR \[TeledyneDvl\] readAscii() timed out.  12 bytes read. *** 06:49:44.061 ERROR \[TeledyneDvl\] O?BJ?Oo?c?? 06:49:44.062 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent EA+04500. Recei ved O?BJ?Oo?c??. *** 06:49:44.062 ERROR \[TeledyneDvl\] initialize - Error setting command EA+04500. *** 06:49:44.064 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 7 chars: WP0001 06:49:44.065 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:44.067 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.068 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.069 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:49:44.071 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.072 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.072 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3992 *** 06:49:44.075 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.076 DEBUG \[SerialDevice\] readUntil: read B 06:49:44.077 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:49:44.078 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.079 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.079 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3985 *** 06:49:44.080 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.081 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.083 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3981 *** 06:49:58.182 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:58.183 DEBUG \[SerialDevice\] readUntil: read 06:49:58.184 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:49:58.185 ERROR \[TeledyneDvl\] ??B?? 06:49:58.186 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WP0001. Receive d ??B??. *** 06:49:58.187 ERROR \[TeledyneDvl\] initialize - Error setting command WP0001. *** 06:49:58.188 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 5 chars: WN25 06:49:58.189 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:58.191 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.192 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.192 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3997 *** 06:49:58.195 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.197 DEBUG \[SerialDevice\] readUntil: read N 06:49:58.199 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3990 *** 06:49:58.201 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.203 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.205 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3984 *** 06:49:58.207 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.209 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.211 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3979 *** 06:49:58.213 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.215 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.217 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3973 *** 06:50:11.518 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:50:11.519 DEBUG \[SerialDevice\] readUntil: read 06:50:11.520 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:50:11.521 ERROR \[TeledyneDvl\] ?N??? 06:50:11.523 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WN25. Received ?N???. *** 06:50:11.524 ERROR \[TeledyneDvl\] initialize - Error setting command WN25. *** 06:50:11.525 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 06:50:11.526 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 6 chars: WV210 06:50:11.527 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:50:11.531 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.531 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.532 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:50:11.533 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.535 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.536 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3991 *** 06:50:11.537 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.538 DEBUG \[SerialDevice\] readUntil: read 2 06:50:11.539 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:50:11.540 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.541 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.541 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:50:11.544 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.545 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.546 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3113962 869 872 868 871 867 870 855 858 3179398 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 ***   *** || Parm || Description || Range (FUL) || Range (STD) || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | | | c3 | Latitude sector | N or S | | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | | | c5 | Longitude sector | E or W | | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | | | d7 | Number of satellites used in position computation | 3 to 14 | | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | | | c10 | Altitude unit of measure (always M) | M | | | d11 | Geoidal separation value | \-999.99 to 999.99 | | | c12 | Geoidal separation unit of measure (always M) | M | | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | | | d14 | Differential base station ID number | 0 to 1023 | | | hh | Checksum | 2-character hex | | | | | | | \\ ** AshtecApp Test results *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45]]> 3113913 8945674 8912906 3179396 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 ***   *** || Parm || Description || Range (FUL) || Range (STD) || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | | | c3 | Latitude sector | N or S | | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | | | c5 | Longitude sector | E or W | | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | | | d7 | Number of satellites used in position computation | 3 to 14 | | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | | | c10 | Altitude unit of measure (always M) | M | | | d11 | Geoidal separation value | \-999.99 to 999.99 | | | c12 | Geoidal separation unit of measure (always M) | M | | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | | | d14 | Differential base station ID number | 0 to 1023 | | | hh | Checksum | 2-character hex | | | | | | | \\ ** AshtecApp Test results *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45]]> 3113911 8945673 8912905 3179402 /dev/ttyS6 *** 9600 8N1 *** Status: **** 'Partial' Basic functional - tested with no statellite acquisition. ** bluefinBatt *** /dev/ser10 ** crossbow ** parosci *** /dev/ser5 ** sonardyne ** tailcone *** /dev/ser3 ** Teledyne *** /dev/ser6 * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status **** Basic functional ** Biolume *** tcp:sci3-dmo1:14002 ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status **** Basic functional ** imagenex * Other (from QNX cfg file) ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** dropWeightServer \-dev /dev/ser13 ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D]]> 3113917 852 We will need an IDLE behavior 7. Aborting a mission will be based on what the AMC sees. Do so by ensuring no tokens on are on the behavior stack. 8. Have a loop back to test the path between the MVC and AMC. Use "setpoint" (tells vehicle to run with a command heading angle or depth). Can test with a simulator. init behavior get state back 9. State ought to be in binary form to handle the quantity of data coming back. 10. From a timing perspective, call to a behavior can be blocked on the AMC's side since a single 'tick' inside the AMC could be longer than 200ms. Blocking on MVC will happen to a max of 200ms and will return when a behavior is spawned. If the behavior does not come back within 400ms , then there is a problem on the MVC and so abort the entire mission 11. Who does what/when; Baseline integration: AMC - init for timer and depth envelope - activate set point behaviour - obtain state information with telemetry - client adaptor implementation - "exec" to invoke client MVC - set up socket connections - stub out behavior connection - taking the string and putting it onto the stack - get the stack to execute (different from current, since entire mission script is run) - run all the code on a QNX box by 7th - telemetry process Rob M 12. To start the AMC it might be done with a script while logging in as is currently done in AUV Ops. H/w in loop test in March; attempt to do at-sea tests beginning of April. 13. We will meet every week regularly Monday morning 10am for a quick half hour in Surface Commons. 14. Rob telemetry: grab data from Layered Control and send chunks of it to AMC; Rich H: modify layered control to take commands and modify the command stack Hans: AMC h/w bolted on AUV by 2/15 (CTD is inhouse for next 2 weeks so Hans can integrate) ]]> 855 853 856 3179400 /dev/ttyS6 *** 9600 8N1 ** bluefinBatt *** /dev/ser10 ** crossbow ** parosci *** /dev/ser5 ** sonardyne ** tailcone *** /dev/ser3 ** Teledyne *** /dev/ser6 * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status **** Basic functional ** Biolume *** tcp:sci3-dmo1:14002 ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status **** Basic functional ** imagenex * Other (from QNX cfg file) ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** dropWeightServer \-dev /dev/ser13 ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D]]> 3113915 3179406 /dev/ttyS6 *** 9600 8N1 *** Status: **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition. ** bluefinBatt *** /dev/ser10 *** Status: **** Not functional.   Unable to establish serial connection - tried ./bluefinBatt \-n 3 \-dev /dev/ttySn (where n is 7, 8, 9, 10, 11), also tried ./bluefinBatt \-dev /dev/ttySN ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 ** parosci *** /dev/ser5 ** sonardyne ** tailcone *** /dev/ser3 ** Teledyne *** /dev/ser6 * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status **** Basic functional ** Biolume *** tcp:sci3-dmo1:14002 ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status **** Basic functional ** imagenex * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!?\\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree]]> 3113921 865 868 3179404 /dev/ttyS6 *** 9600 8N1 *** Status: **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition. ** bluefinBatt *** /dev/ser10 *** Status: **** Not functional.   Unable to establish serial connection - tried ./bluefinBatt \-n 3 \-dev /dev/ttySn (where n is 7, 8, 9, 10, 11) ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** parosci *** /dev/ser5 ** sonardyne ** tailcone *** /dev/ser3 ** Teledyne *** /dev/ser6 * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status **** Basic functional ** Biolume *** tcp:sci3-dmo1:14002 ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status **** Basic functional ** imagenex * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D]]> 3113919 840 843 8945687 */ class VCSAdapter: public Adapter { public: /** @brief Constructor * * This consdtructor is usually called by the factory that manages * configuration parsing * * @param agentName Name of the agent that will execute this reactor. * @param confgData CXonfiguration data for this reactor */ VCSAdapter(LabelStr const &agentName, TiXmlElement const &configData); /** @brief Destructor */ ~VCSAdapter(); /** @brief handle agent initialization signal. * * This callback is called to indicate to reactors that the agent wait for * them to initialize. * In this case this is where TREX is initailizing the connections to * VCS and wait for feedback from the VCS to be ready to start the misssion. * * @param initialTick value of the initial tick (usually 0) * @param serversByTimeline mapping from timeline name to the connection to its owner * @param observer reference to the place where observation of thi reactor should be sent to */ void handleInit(TICK initialTick, std::map const &serversByTimeline, ObserverId const &observer); /** @brief Obsservation production * * For uch a reactor this method is called while the agent ex-pect the reactort to produce its new * observations. In this case this is whaen the reactor collect all the informations sent from VCS and convert it in * @c Observations * * @retval true if no specific problem * @retval false in case of a critical issue */ bool synchronize(); /** @brief Signal sent by the agent to indicate that a new tick has been started */ void handleTickStart(); /** @brief Notification of a new observation coming from an external agent * * @note This hould never happen with this reactor as it does not obsserve anything in the agent */ void notify(Observation const &obs); /** @brief Notification of a goal request * * This method indicate a new objective received fromn anopther reactor. In the case of this reactor * this goal is generally reflecting the execution of a new behavior. * * @param goal The objective as requested by the reactor */ void handleRequest(GoalId const &goal); /** @brief Notification of a goal recall * * This method indicate to the reactor that a previously requested objective * is not part of the plan anymore and should -- if possible -- canceled. * * @param goal The objective as requested by the reactor */ void handleRecall(GoalId const &goal); private: /* Internal things specific to this reactor */ }; // TREX::VCSAdapter } // TREX #endif // H_VCSAdapter {code}]]> 8912920 839 842 836 839 835 838 8945684 # include # include "Adapter.hh" # include "tcp_client.hh" # include "udp_server.hh" // From AUV # include "StatePacket.h" namespace TREX { /** @brief Linux Interface to VCS and StatePublisher * * This class implenments a TREX reactor that provides a connection * to VcsServer and StatePublisher. * * @author Frederic Py */ class VCSAdapter: public Adapter { public: /** @brief Constructor * * This consdtructor is usually called by the factory that manages * configuration parsing * * @param agentName Name of the agent that will execute this reactor. * @param confgData CXonfiguration data for this reactor */ VCSAdapter(LabelStr const &agentName, TiXmlElement const &configData); /** @brief Destructor */ ~VCSAdapter(); /** @brief handle agent initialization signal. * * This callback is called to indicate to reactors that the agent wait for * them to initialize. * In this case this is where TREX is initailizing the connections to * VCS and wait for feedback from the VCS to be ready to start the misssion. * * @param initialTick value of the initial tick (usually 0) * @param serversByTimeline mapping from timeline name to the connection to its owner * @param observer reference to the place where observation of thi reactor should be sent to */ void handleInit(TICK initialTick, std::map const &serversByTimeline, ObserverId const &observer); /** @brief Obsservation production * * For uch a reactor this method is called while the agent ex-pect the reactort to produce its new * observations. In this case this is whaen the reactor collect all the informations sent from VCS and convert it in * @c Observations * * @retval true if no specific problem * @retval false in case of a critical issue */ bool synchronize(); /** @brief Signal sent by the agent to indicate that a new tick has been started */ void handleTickStart(); /** @brief Notification of a new observation coming from an external agent * * @note This hould never happen with this reactor as it does not obsserve anything in the agent */ void notify(Observation const &obs); /** @brief Notification of a goal request * * This method indicate a new objective received fromn anopther reactor. In the case of this reactor * this goal is generally reflecting the execution of a new behavior. * * @param goal The objective as requested by the reactor */ void handleRequest(GoalId const &goal); /** @brief Notification of a goal recall * * This method indicate to the reactor that a previously requested objective * is not part of the plan anymore and should -- if possible -- canceled. * * @param goal The objective as requested by the reactor */ void handleRecall(GoalId const &goal); private: /* Internal things specific to this reactor */ }; // TREX::VCSAdapter } // TREX #endif // H_VCSAdapter {code}]]> 8912917 3179421 /dev/ttyS6 *** 9600 8N1 *** Status: **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition. ** bluefinBatt *** /dev/ser10 *** Status: **** Not functional.   Unable to establish serial connection - tried ./bluefinBatt \-n 3 \-dev /dev/ttySn (where n is 7, 8, 9, 10, 11), also tried ./bluefinBatt \-dev /dev/ttySN ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 ** parosci *** /dev/ser5 ** sonardyne ** tailcone *** /dev/ser3 ** Teledyne *** /dev/ser6 * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status **** Basic functional ** Biolume *** tcp:sci3-dmo1:14002 ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status **** Basic functional ** imagenex * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree]]> 3113936 3670113 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ** TODO ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Device Emulation to insure regression test and code coverage of error handlers \\ \\ Recommendation is to setup a build (and simulation execution) machine that has the same linux distribution as the auv  Serial port infrastructure SerTest test program Code Review Regression testing PC104 stack with Xtreme104  Serial Device emulation for regression testing. \\ \\ h4. \\ h3. *Driver porting and validation* \\ h4. Setup * Assuming a Debian and auv-linux software is installed, configured, built, setup, etc. (see below) and network and serial is working. ** Note:  omniORB.cfg located in prj/auv-pkgs/omniORB needs to have bootstrap enabled.    Done in auv-pkgs cvs module. ** auv@mvc-debian   pass: dorado1   ip  134.89.32.16 (static) \\ * Serial Port assignements (per Duane 3/7/08) ** *CPU Card* *** ttyS0 (console) Iridium *** ttyS1 Freewave ** *Xtreme/104 Isolated 12 port Card* *** ttyS2 Tailcone *** ttyS3 no connect *** ttyS4 Parosci *** ttyS5 teledyne DVL \- Navigator Broadband ADCP Version 9.18 *** ttyS6 ashtec GPS *** ttyS7 Gulper (RS485) *** ttyS8 no connect *** ttyS9 Bluefin Batteries (RS485) *** ttyS10 MVC_PIC *** ttyS11 3DM_GX1 *** ttyS12 Drop Weight *** ttyS13 USBL ** LanTronix terminal servers *** tcp:sci1-dmo1:10002 seabird *** tcp:sci1-dmo1:10001 seabird *** tcp:sci2-dmo1:14002 hydroscat *** tcp:sci3-dmo1:14001 lisst ***   h4.   \\ \\ h3. Driver Status   \\ h4. Navigation drivers (first priority) \\ *Status at a glance:* \\ {dynamictasklist:NavigationDrivers} \\ Status details: * ashtec(gps) ** devices.cfg change:  /dev/ser7 \-> /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637354 8945691 */ class VCSAdapter: public Adapter { public: /** @brief Constructor * * This consdtructor is usually called by the factory that manages * configuration parsing * * @param agentName Name of the agent that will execute this reactor. * @param confgData CXonfiguration data for this reactor */ VCSAdapter(LabelStr const &agentName, TiXmlElement const &configData); /** @brief Destructor */ ~VCSAdapter(); /** @brief handle agent initialization signal. * * This callback is called to indicate to reactors that the agent wait for * them to initialize. * In this case this is where TREX is initailizing the connections to * VCS and wait for feedback from the VCS to be ready to start the misssion. * * @param initialTick value of the initial tick (usually 0) * @param serversByTimeline mapping from timeline name to the connection to its owner * @param observer reference to the place where observation of thi reactor should be sent to */ void handleInit(TICK initialTick, std::map const &serversByTimeline, ObserverId const &observer); /** @brief Obsservation production * * For uch a reactor this method is called while the agent ex-pect the reactort to produce its new * observations. In this case this is whaen the reactor collect all the informations sent from VCS and convert it in * @c Observations * * @retval true if no specific problem * @retval false in case of a critical issue */ bool synchronize(); /** @brief Signal sent by the agent to indicate that a new tick has been started */ void handleTickStart(); /** @brief Notification of a new observation coming from an external agent * * @note This hould never happen with this reactor as it does not obsserve anything in the agent */ void notify(Observation const &obs); /** @brief Notification of a goal request * * This method indicate a new objective received fromn anopther reactor. In the case of this reactor * this goal is generally reflecting the execution of a new behavior. * * @param goal The objective as requested by the reactor */ void handleRequest(GoalId const &goal); /** @brief Notification of a goal recall * * This method indicate to the reactor that a previously requested objective * is not part of the plan anymore and should -- if possible -- canceled. * * @param goal The objective as requested by the reactor */ void handleRecall(GoalId const &goal); private: /* Internal things specific to this reactor */ }; // TREX::VCSAdapter } // TREX #endif // H_VCSAdapter {code} h2. Declare a new reactor type to the factory At the beginning of VCSAdapter.cc one can see {code} namespace TREX { namespace { DeclareReactor decl("VCSAdapter"); } } {code} This static variable generate a new factory producer that will call the VCSAdapter constructor when it will identify a "VCSAdapter" configuration in the XZML file. For example the following xml file will trigger this : {code:xml|name=amc.vcs.new.xml} {code} ]]> 8912924 3179425 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition. ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci *** /dev/ser5 ** sonardyne ** tailcone *** /dev/ser3 *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test. ** Teledyne *** /dev/ser6 * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree]]> 3113940 3179423 /dev/ttyS6 *** 9600 8N1 *** Status: **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition. ** bluefinBatt *** /dev/ser10 *** Status: **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status: **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci *** /dev/ser5 ** sonardyne ** tailcone *** /dev/ser3 *** Status: **** Ran the tailcone gui with Tom O.    Driver passes basic functional test. ** Teledyne *** /dev/ser6 * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status **** Driver passes basic functional test/ ** imagenex * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001             \\ \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' ****   *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run a sample driver ****   **** mkdir /home/auv/prj/auv-linux/onboard/logs/latest \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree]]> 3113938 8945694 8912927 18645142 18579624 18645141 18579623 18645140 18579622 18645139 18579621 18645146 18579628 18645145 18579627 18645143 18579625 18645149 18579631 8945771 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Initializing TREX environment variables The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} The compilation of TREX core libraries is done similarly {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated vi a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * *.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * *.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings *.exec.nddl *.skipper.nddl *.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the *processes.cfg to see if it starts correct processes including statePublisher h2. Starting a mission h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * -v for being verbose * -sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * -proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * -fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] [] {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * -fast indicates that the clock used would connect to auv-linux fast simulation clock * -sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on -fast or -sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim|-fast] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick (n), etc commands R/+/-/! are used to manipulate how much data you want on the Debug.log starting from now. ]]> 8913008 18645147 18579629 833 836 18645153 18579635 18645152 18579634 18645151 18579633 18645133 18579615 18645138 18579620 3179517 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Next step is to detach parosci from AUV and run on desktop with protocol analyzer. ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ***   ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** exit back to user auv *** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . **** update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3114034 18645136 18579618 3179464 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit).\\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo.\\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first).\\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait a while for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig ***   ** Status (-) *** In progress...   Getting an error "Failed to read serial number" **** 06:43:56.058 DEBUG \[Parosci\] parsed PR (30) and TempInterval (10) 06:43:56.066 DEBUG \[SerialDevice\] Current ispeed setting: 13 **** 06:43:56.068 DEBUG \[SerialDevice\] Current ospeed setting: 13 **** 06:43:56.070 DEBUG \[SerialDevice\] change to speed setting 9600 **** 06:43:56.072 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:43:56.074 ERROR \[SerialDevice\] cfsetospeed() failed 06:43:56.075 DEBUG \[SerialDevice\] New ispeed setting: 13 **** 06:43:56.077 DEBUG \[SerialDevice\] New ospeed setting: 13 **** 06:43:56.079 DEBUG \[SerialDevice\] SerialDevice: done... **** 06:43:56.200 ERROR \[Parosci\] Failed to read serial number 06:43:56.204 ERROR \[AuvService\] Failed to read serial numbre 06:46:15.026 DEBUG \[AuvService\] AuvService::signalHandler() - call cleanup()\\ * sonardyne usbl ** No test executable available * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Status (-) *** In progress...  {dynamictasklist:ScienceDrivers} * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 *** Actions: *** Status (-) **** In progress...  getting and error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD att ributes file "tcp:sci1-dmo1:10002" ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne *** 06:49:34.623 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 06:49:34.625 ERROR \[SerialDevice\] cfsetospeed() failed 06:49:34.627 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:49:34.629 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:49:34.631 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:49:34.632 INFO \[TeledyneDvl\] initialize - Baud rate set to 38400. *** 06:49:34.635 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 8 chars: EX10011 06:49:34.637 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.640 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.642 DEBUG \[SerialDevice\] readUntil: read C 06:49:34.644 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3994 *** 06:49:34.646 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.648 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.650 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3987 *** 06:49:34.652 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.654 DEBUG \[SerialDevice\] readUntil: read 6 06:49:34.656 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 *** 06:49:34.658 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.660 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.662 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3976 *** 06:49:34.664 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.666 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.667 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3970 *** 06:49:34.670 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.672 DEBUG \[SerialDevice\] readUntil: read 06:49:34.673 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3964 *** 06:49:34.676 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.677 DEBUG \[SerialDevice\] readUntil: read *** 06:49:34.679 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3958 *** 06:49:34.682 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.683 DEBUG \[SerialDevice\] readUntil: read > 06:49:34.685 DEBUG \[SerialDevice\] readUntil: succeeded in 48 msec *** 06:49:34.687 INFO \[TeledyneDvl\] CB611 > 06:49:34.689 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 9 chars: EA+04500 06:49:34.692 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.694 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.696 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.698 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3993 *** 06:49:34.701 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.703 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.705 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:49:34.707 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.709 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.711 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3980 *** 06:49:34.713 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.715 DEBUG \[SerialDevice\] readUntil: read J 06:49:34.717 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3974 *** 06:49:34.719 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.721 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.723 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3969 *** 06:49:34.725 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.727 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.728 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3963 *** 06:49:34.731 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.733 DEBUG \[SerialDevice\] readUntil: read o 06:49:34.734 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3957 *** 06:49:34.736 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.738 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.740 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3951 *** 06:49:34.742 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.744 DEBUG \[SerialDevice\] readUntil: read c 06:49:34.746 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3945 *** 06:49:34.748 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.750 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.752 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3939 *** 06:49:34.755 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.757 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.759 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3933 *** 06:49:44.058 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:44.059 DEBUG \[SerialDevice\] readUntil: read 06:49:44.060 ERROR \[TeledyneDvl\] readAscii() timed out.  12 bytes read. *** 06:49:44.061 ERROR \[TeledyneDvl\] O?BJ?Oo?c?? 06:49:44.062 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent EA+04500. Recei ved O?BJ?Oo?c??. *** 06:49:44.062 ERROR \[TeledyneDvl\] initialize - Error setting command EA+04500. *** 06:49:44.064 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 7 chars: WP0001 06:49:44.065 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:44.067 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.068 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.069 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:49:44.071 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.072 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.072 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3992 *** 06:49:44.075 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.076 DEBUG \[SerialDevice\] readUntil: read B 06:49:44.077 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:49:44.078 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.079 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.079 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3985 *** 06:49:44.080 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.081 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.083 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3981 *** 06:49:58.182 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:58.183 DEBUG \[SerialDevice\] readUntil: read 06:49:58.184 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:49:58.185 ERROR \[TeledyneDvl\] ??B?? 06:49:58.186 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WP0001. Receive d ??B??. *** 06:49:58.187 ERROR \[TeledyneDvl\] initialize - Error setting command WP0001. *** 06:49:58.188 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 5 chars: WN25 06:49:58.189 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:58.191 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.192 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.192 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3997 *** 06:49:58.195 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.197 DEBUG \[SerialDevice\] readUntil: read N 06:49:58.199 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3990 *** 06:49:58.201 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.203 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.205 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3984 *** 06:49:58.207 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.209 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.211 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3979 *** 06:49:58.213 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.215 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.217 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3973 *** 06:50:11.518 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:50:11.519 DEBUG \[SerialDevice\] readUntil: read 06:50:11.520 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:50:11.521 ERROR \[TeledyneDvl\] ?N??? 06:50:11.523 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WN25. Received ?N???. *** 06:50:11.524 ERROR \[TeledyneDvl\] initialize - Error setting command WN25. *** 06:50:11.525 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 06:50:11.526 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 6 chars: WV210 06:50:11.527 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:50:11.531 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.531 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.532 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:50:11.533 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.535 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.536 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3991 *** 06:50:11.537 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.538 DEBUG \[SerialDevice\] readUntil: read 2 06:50:11.539 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:50:11.540 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.541 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.541 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:50:11.544 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.545 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.546 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3113979 3179462 /dev/ttyS6 *** 9600 8N1 *** Status (+)   **** ./ashtechapp \-dev /dev/ttyS6 **** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). ** bluefinBatt *** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 *** Status (-)   **** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. ** crossbow *** m3dmgx1Server \-dev /dev/ser12     \-useForNav *** ./crossbow \-dev /dev/ttyS11 *** Status (-)   **** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). ** parosci \-  Paroscientific pressure sensor *** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 *** ./parosci \-dev /dev/ttyS4 **** wait a while for 'ping service worksite' to timeout *** Actions: **** added parosci.cfg to auv-linux/onboard/sampleConfig ****   *** Status (-) **** In progress...   Getting an error "Failed to read serial number" ***** 06:43:56.058 DEBUG \[Parosci\] parsed PR (30) and TempInterval (10) 06:43:56.066 DEBUG \[SerialDevice\] Current ispeed setting: 13 ***** 06:43:56.068 DEBUG \[SerialDevice\] Current ospeed setting: 13 ***** 06:43:56.070 DEBUG \[SerialDevice\] change to speed setting 9600 ***** 06:43:56.072 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:43:56.074 ERROR \[SerialDevice\] cfsetospeed() failed 06:43:56.075 DEBUG \[SerialDevice\] New ispeed setting: 13 ***** 06:43:56.077 DEBUG \[SerialDevice\] New ospeed setting: 13 ***** 06:43:56.079 DEBUG \[SerialDevice\] SerialDevice: done... ***** 06:43:56.200 ERROR \[Parosci\] Failed to read serial number 06:43:56.204 ERROR \[AuvService\] Failed to read serial numbre 06:46:15.026 DEBUG \[AuvService\] AuvService::signalHandler() - call cleanup() ** sonardyne *** No test executable available ** tailcone *** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 *** ./tailcone \-dev /dev/ttyS2 *** Cautions: **** Recommend running tailcone tests while observing the tailcone **** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) *** Status (/) **** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. ** Teledyne dvl *** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 *** Actions **** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Status (-) **** In progress...   {dynamictasklist:ScienceDrivers} * Science drivers ** Seabird *** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 *** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 *** Actions: *** Status (-) **** In progress...  getting and error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD att ributes file "tcp:sci1-dmo1:10002" ** Hydroscat *** tcp:sci2-dmo1:14002  *** Actions **** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. *** Status (/) **** Driver passes basic functional test. ** Biolume *** tcp:sci3-dmo1:14002 *** Actions *** Status (?) **** Not tested yet ** lisst *** tcp:sci3-dmo1:14001  *** Actions **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 *** Status (/) **** Driver passes basic functional test ** imagenex ** Gulper *** no linux driver currently available (should be a simple 'fire' command) * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne *** 06:49:34.623 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 06:49:34.625 ERROR \[SerialDevice\] cfsetospeed() failed 06:49:34.627 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:49:34.629 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:49:34.631 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:49:34.632 INFO \[TeledyneDvl\] initialize - Baud rate set to 38400. *** 06:49:34.635 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 8 chars: EX10011 06:49:34.637 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.640 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.642 DEBUG \[SerialDevice\] readUntil: read C 06:49:34.644 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3994 *** 06:49:34.646 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.648 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.650 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3987 *** 06:49:34.652 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.654 DEBUG \[SerialDevice\] readUntil: read 6 06:49:34.656 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 *** 06:49:34.658 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.660 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.662 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3976 *** 06:49:34.664 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.666 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.667 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3970 *** 06:49:34.670 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.672 DEBUG \[SerialDevice\] readUntil: read 06:49:34.673 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3964 *** 06:49:34.676 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.677 DEBUG \[SerialDevice\] readUntil: read *** 06:49:34.679 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3958 *** 06:49:34.682 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.683 DEBUG \[SerialDevice\] readUntil: read > 06:49:34.685 DEBUG \[SerialDevice\] readUntil: succeeded in 48 msec *** 06:49:34.687 INFO \[TeledyneDvl\] CB611 > 06:49:34.689 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 9 chars: EA+04500 06:49:34.692 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.694 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.696 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.698 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3993 *** 06:49:34.701 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.703 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.705 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:49:34.707 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.709 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.711 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3980 *** 06:49:34.713 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.715 DEBUG \[SerialDevice\] readUntil: read J 06:49:34.717 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3974 *** 06:49:34.719 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.721 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.723 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3969 *** 06:49:34.725 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.727 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.728 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3963 *** 06:49:34.731 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.733 DEBUG \[SerialDevice\] readUntil: read o 06:49:34.734 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3957 *** 06:49:34.736 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.738 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.740 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3951 *** 06:49:34.742 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.744 DEBUG \[SerialDevice\] readUntil: read c 06:49:34.746 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3945 *** 06:49:34.748 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.750 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.752 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3939 *** 06:49:34.755 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.757 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.759 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3933 *** 06:49:44.058 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:44.059 DEBUG \[SerialDevice\] readUntil: read 06:49:44.060 ERROR \[TeledyneDvl\] readAscii() timed out.  12 bytes read. *** 06:49:44.061 ERROR \[TeledyneDvl\] O?BJ?Oo?c?? 06:49:44.062 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent EA+04500. Recei ved O?BJ?Oo?c??. *** 06:49:44.062 ERROR \[TeledyneDvl\] initialize - Error setting command EA+04500. *** 06:49:44.064 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 7 chars: WP0001 06:49:44.065 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:44.067 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.068 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.069 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:49:44.071 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.072 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.072 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3992 *** 06:49:44.075 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.076 DEBUG \[SerialDevice\] readUntil: read B 06:49:44.077 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:49:44.078 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.079 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.079 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3985 *** 06:49:44.080 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.081 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.083 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3981 *** 06:49:58.182 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:58.183 DEBUG \[SerialDevice\] readUntil: read 06:49:58.184 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:49:58.185 ERROR \[TeledyneDvl\] ??B?? 06:49:58.186 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WP0001. Receive d ??B??. *** 06:49:58.187 ERROR \[TeledyneDvl\] initialize - Error setting command WP0001. *** 06:49:58.188 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 5 chars: WN25 06:49:58.189 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:58.191 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.192 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.192 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3997 *** 06:49:58.195 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.197 DEBUG \[SerialDevice\] readUntil: read N 06:49:58.199 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3990 *** 06:49:58.201 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.203 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.205 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3984 *** 06:49:58.207 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.209 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.211 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3979 *** 06:49:58.213 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.215 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.217 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3973 *** 06:50:11.518 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:50:11.519 DEBUG \[SerialDevice\] readUntil: read 06:50:11.520 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:50:11.521 ERROR \[TeledyneDvl\] ?N??? 06:50:11.523 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WN25. Received ?N???. *** 06:50:11.524 ERROR \[TeledyneDvl\] initialize - Error setting command WN25. *** 06:50:11.525 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 06:50:11.526 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 6 chars: WV210 06:50:11.527 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:50:11.531 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.531 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.532 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:50:11.533 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.535 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.536 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3991 *** 06:50:11.537 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.538 DEBUG \[SerialDevice\] readUntil: read 2 06:50:11.539 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:50:11.540 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.541 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.541 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:50:11.544 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.545 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.546 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3113977 3670030 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ** TODO ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Device Emulation to insure regression test and code coverage of error handlers \\ \\ Recommendation is to setup a build (and simulation execution) machine that has the same linux distribution as the auv  Serial port infrastructure SerTest test program Code Review Regression testing PC104 stack with Xtreme104  Serial Device emulation for regression testing. \\ \\ h4. \\ h3. *Driver porting and validation* \\ h4. Setup * Assuming a Debian and auv-linux software is installed, configured, built, setup, etc. (see below) and network and serial is working. ** Note:  omniORB.cfg located in prj/auv-pkgs/omniORB needs to have bootstrap enabled.    Done in auv-pkgs cvs module. ** auv@mvc-debian   pass: dorado1   ip  134.89.32.16 (static) \\ * Serial Port assignements (per Duane 3/7/08) ** *CPU Card* *** ttyS0 (console) Iridium *** ttyS1 Freewave ** *Xtreme/104 Isolated 12 port Card* *** ttyS2 Tailcone *** ttyS3 no connect *** ttyS4 Parosci *** ttyS5 teledyne DVL \- Navigator Broadband ADCP Version 9.18 *** ttyS6 ashtec GPS *** ttyS7 Gulper (RS485) *** ttyS8 no connect *** ttyS9 Bluefin Batteries (RS485) *** ttyS10 MVC_PIC *** ttyS11 3DM_GX1 *** ttyS12 Drop Weight *** ttyS13 USBL ** LanTronix terminal servers *** tcp:sci1-dmo1:10002 seabird *** tcp:sci1-dmo1:10001 seabird *** tcp:sci2-dmo1:14002 hydroscat *** tcp:sci3-dmo1:14001 lisst ***   h4.   \\ \\ h3. Driver Status   \\ h4. Navigation drivers (first priority) \\ *Status at a glance:* \\ {dynamictasklist:NavigationDrivers} \\ Status details: * ashtec(gps) ** devices.cfg change:  /dev/ser7 \-> /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637262 3179478 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait a while for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig ***   ** Status (-) *** In progress...   Getting an error "Failed to read serial number" **** 06:43:56.058 DEBUG \[Parosci\] parsed PR (30) and TempInterval (10) 06:43:56.066 DEBUG \[SerialDevice\] Current ispeed setting: 13 **** 06:43:56.068 DEBUG \[SerialDevice\] Current ospeed setting: 13 **** 06:43:56.070 DEBUG \[SerialDevice\] change to speed setting 9600 **** 06:43:56.072 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:43:56.074 ERROR \[SerialDevice\] cfsetospeed() failed 06:43:56.075 DEBUG \[SerialDevice\] New ispeed setting: 13 **** 06:43:56.077 DEBUG \[SerialDevice\] New ospeed setting: 13 **** 06:43:56.079 DEBUG \[SerialDevice\] SerialDevice: done... **** 06:43:56.200 ERROR \[Parosci\] Failed to read serial number 06:43:56.204 ERROR \[AuvService\] Failed to read serial numbre 06:46:15.026 DEBUG \[AuvService\] AuvService::signalHandler() - call cleanup() \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Status (-) *** In progress...   ***   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3113993 3179477 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait a while for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig ***   ** Status (-) *** In progress...   Getting an error "Failed to read serial number" **** 06:43:56.058 DEBUG \[Parosci\] parsed PR (30) and TempInterval (10) 06:43:56.066 DEBUG \[SerialDevice\] Current ispeed setting: 13 **** 06:43:56.068 DEBUG \[SerialDevice\] Current ospeed setting: 13 **** 06:43:56.070 DEBUG \[SerialDevice\] change to speed setting 9600 **** 06:43:56.072 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:43:56.074 ERROR \[SerialDevice\] cfsetospeed() failed 06:43:56.075 DEBUG \[SerialDevice\] New ispeed setting: 13 **** 06:43:56.077 DEBUG \[SerialDevice\] New ospeed setting: 13 **** 06:43:56.079 DEBUG \[SerialDevice\] SerialDevice: done... **** 06:43:56.200 ERROR \[Parosci\] Failed to read serial number 06:43:56.204 ERROR \[AuvService\] Failed to read serial numbre 06:46:15.026 DEBUG \[AuvService\] AuvService::signalHandler() - call cleanup() \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Status (-) *** In progress...   ***   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 11:39:30.368 WARN \[TeledyneDvl\] Using default soundspeed: 0.0 IOR:010000001200000049444c3a6175762f44766c49463a312e3000000001000000000000006400 0000010102000d0000003133342e38392e33322e31360000880e0e000000fea5bade470000117200 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 11:39:30.376 INFO \[TeledyneDvl\]  Starting DVL Initialization. *** 11:39:30.379 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 11:39:30.380 ERROR \[SerialDevice\] cfsetospeed() failed 11:39:30.683 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 11:39:30.684 ERROR \[SerialDevice\] cfsetospeed() failed 11:39:30.825 INFO \[AuvApplication\] You should override AuvApplication::run() *** 11:39:31.588 INFO \[TeledyneDvl\] CR1 \[Parameters set to FACTORY defaults\] > 11:39:31.600 INFO \[TeledyneDvl\] PD0 > 11:39:31.612 INFO \[TeledyneDvl\] BK1 > 11:39:31.632 INFO \[TeledyneDvl\] TP00:00.33 > 11:39:31.652 INFO \[TeledyneDvl\] TE00:00:0.00 > 11:39:31.675 INFO \[TeledyneDvl\] BL,10,010,100 > 11:39:31.688 INFO \[TeledyneDvl\] BP001 > 11:39:31.707 INFO \[TeledyneDvl\] CF11010 > 11:39:31.720 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 11:39:31.721 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 11:39:31.722 ERROR \[SerialDevice\] cfsetospeed() failed 11:39:31.724 INFO \[TeledyneDvl\] initialize - Baud rate set to 38400. *** 11:39:46.240 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 11:39:46.241 ERROR \[TeledyneDvl\] O?BJ? 11:39:46.242 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent EX10011. Receiv 11:41:33.642 ERROR \[TeledyneDvl\] TM DBG: bytes \-1236990972, record read is: *** 11:41:33.646 ERROR \[StreamSerialDriver\] run() - Got error from readRecord(). *** 11:40:00.760 ERROR \[TeledyneDvl\] readAscii() timed out.  7 bytes read. *** 11:40:00.761 ERROR \[TeledyneDvl\] Oo?c?? 11:40:00.762 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent EA+04500. Recei ved Oo?c??. *** 11:40:00.762 ERROR \[TeledyneDvl\] initialize - Error setting command EA+04500. *** 11:40:15.576 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 11:40:15.577 ERROR \[TeledyneDvl\] ??B?? 11:40:15.578 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WP0001. Receive d ??B??. *** 11:40:15.579 ERROR \[TeledyneDvl\] initialize - Error setting command WP0001. *** 11:40:30.789 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 11:40:30.789 ERROR \[TeledyneDvl\] ?N??? 11:40:30.790 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WN25. Received ?N???. *** 11:40:30.791 ERROR \[TeledyneDvl\] initialize - Error setting command WN25. *** 11:40:30.792 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 11:40:45.705 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 11:40:45.706 ERROR \[TeledyneDvl\] ??2?? 11:40:45.706 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WV210. Received  ??2??. *** 11:40:45.707 ERROR \[TeledyneDvl\] initialize - Error setting command WV210. *** 11:40:45.710 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 11:41:00.721 ERROR \[TeledyneDvl\] readAscii() timed out.  7 bytes read. *** 11:41:00.722 ERROR \[TeledyneDvl\] O??c?? . Received O??c??. \[TeledyneDvl\]  writeReadAscii() - Error. Sent EC1490 *** .1:41:00.723 ERROR \[TeledyneDvl\] initialize - Error setting command EC1490 *** 11:41:01.577 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 11:41:01.578 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 11:41:01.579 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 11:41:01.589 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 11:41:01.590 ERROR \[TeledyneDvl\] TM DBG: bytes \-1236990972, record read is: ?CS *** 11:41:01.594 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 11:41:01.598 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 11:41:01.599 ERROR \[TeledyneDvl\] TM DBG: bytes \-1236990972, record read is:   ER R 01 *** 11:41:01.603 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 11:41:01.608 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 11:41:01.610 ERROR \[TeledyneDvl\] TM DBG: bytes \-1236990972, record read is: 0: UNRE *** 11:41:01.614 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 11:41:01.618 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 11:41:01.619 ERROR \[TeledyneDvl\] TM DBG: bytes \-1236990972, record read is: COGN IZED CO *** 11:41:01.623 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 11:41:01.627 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 11:41:01.628 ERROR \[TeledyneDvl\] TM DBG: bytes \-1236990972, record read is: MMAN D > *** 11:41:01.632 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 11:41:17.633 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 11:41:17.634 ERROR \[TeledyneDvl\] TM DBG: bytes \-1236990972, record read is: *** 11:41:17.638 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 11:41:33.641 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3113992 3179475 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait a while for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig ***   ** Status (-) *** In progress...   Getting an error "Failed to read serial number" **** 06:43:56.058 DEBUG \[Parosci\] parsed PR (30) and TempInterval (10) 06:43:56.066 DEBUG \[SerialDevice\] Current ispeed setting: 13 **** 06:43:56.068 DEBUG \[SerialDevice\] Current ospeed setting: 13 **** 06:43:56.070 DEBUG \[SerialDevice\] change to speed setting 9600 **** 06:43:56.072 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:43:56.074 ERROR \[SerialDevice\] cfsetospeed() failed 06:43:56.075 DEBUG \[SerialDevice\] New ispeed setting: 13 **** 06:43:56.077 DEBUG \[SerialDevice\] New ospeed setting: 13 **** 06:43:56.079 DEBUG \[SerialDevice\] SerialDevice: done... **** 06:43:56.200 ERROR \[Parosci\] Failed to read serial number 06:43:56.204 ERROR \[AuvService\] Failed to read serial numbre 06:46:15.026 DEBUG \[AuvService\] AuvService::signalHandler() - call cleanup() \\ * sonardyne usbl ** No test executable available\\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.\\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Status (-) *** In progress...   ***  \\ {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002"\\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test.\\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet\\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test\\ * imagenex\\ * Gulper ** no linux driver currently available (should be a simple 'fire' command)\\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' **** exit back to user auv *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg \\ ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne *** 06:49:34.623 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 06:49:34.625 ERROR \[SerialDevice\] cfsetospeed() failed 06:49:34.627 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:49:34.629 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:49:34.631 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:49:34.632 INFO \[TeledyneDvl\] initialize - Baud rate set to 38400. *** 06:49:34.635 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 8 chars: EX10011 06:49:34.637 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.640 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.642 DEBUG \[SerialDevice\] readUntil: read C 06:49:34.644 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3994 *** 06:49:34.646 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.648 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.650 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3987 *** 06:49:34.652 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.654 DEBUG \[SerialDevice\] readUntil: read 6 06:49:34.656 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 *** 06:49:34.658 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.660 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.662 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3976 *** 06:49:34.664 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.666 DEBUG \[SerialDevice\] readUntil: read 1 06:49:34.667 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3970 *** 06:49:34.670 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.672 DEBUG \[SerialDevice\] readUntil: read 06:49:34.673 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3964 *** 06:49:34.676 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.677 DEBUG \[SerialDevice\] readUntil: read *** 06:49:34.679 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3958 *** 06:49:34.682 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.683 DEBUG \[SerialDevice\] readUntil: read > 06:49:34.685 DEBUG \[SerialDevice\] readUntil: succeeded in 48 msec *** 06:49:34.687 INFO \[TeledyneDvl\] CB611 > 06:49:34.689 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 9 chars: EA+04500 06:49:34.692 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:34.694 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.696 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.698 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3993 *** 06:49:34.701 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.703 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.705 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:49:34.707 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.709 DEBUG \[SerialDevice\] readUntil: read B 06:49:34.711 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3980 *** 06:49:34.713 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.715 DEBUG \[SerialDevice\] readUntil: read J 06:49:34.717 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3974 *** 06:49:34.719 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.721 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.723 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3969 *** 06:49:34.725 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.727 DEBUG \[SerialDevice\] readUntil: read O 06:49:34.728 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3963 *** 06:49:34.731 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.733 DEBUG \[SerialDevice\] readUntil: read o 06:49:34.734 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3957 *** 06:49:34.736 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.738 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.740 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3951 *** 06:49:34.742 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.744 DEBUG \[SerialDevice\] readUntil: read c 06:49:34.746 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3945 *** 06:49:34.748 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.750 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.752 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3939 *** 06:49:34.755 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:34.757 DEBUG \[SerialDevice\] readUntil: read ? 06:49:34.759 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3933 *** 06:49:44.058 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:44.059 DEBUG \[SerialDevice\] readUntil: read 06:49:44.060 ERROR \[TeledyneDvl\] readAscii() timed out.  12 bytes read. *** 06:49:44.061 ERROR \[TeledyneDvl\] O?BJ?Oo?c?? 06:49:44.062 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent EA+04500. Recei ved O?BJ?Oo?c??. *** 06:49:44.062 ERROR \[TeledyneDvl\] initialize - Error setting command EA+04500. *** 06:49:44.064 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 7 chars: WP0001 06:49:44.065 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:44.067 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.068 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.069 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:49:44.071 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.072 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.072 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3992 *** 06:49:44.075 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.076 DEBUG \[SerialDevice\] readUntil: read B 06:49:44.077 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:49:44.078 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.079 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.079 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3985 *** 06:49:44.080 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:44.081 DEBUG \[SerialDevice\] readUntil: read ? 06:49:44.083 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3981 *** 06:49:58.182 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:49:58.183 DEBUG \[SerialDevice\] readUntil: read 06:49:58.184 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:49:58.185 ERROR \[TeledyneDvl\] ??B?? 06:49:58.186 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WP0001. Receive d ??B??. *** 06:49:58.187 ERROR \[TeledyneDvl\] initialize - Error setting command WP0001. *** 06:49:58.188 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 5 chars: WN25 06:49:58.189 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:49:58.191 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.192 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.192 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3997 *** 06:49:58.195 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.197 DEBUG \[SerialDevice\] readUntil: read N 06:49:58.199 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3990 *** 06:49:58.201 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.203 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.205 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3984 *** 06:49:58.207 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.209 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.211 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3979 *** 06:49:58.213 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:49:58.215 DEBUG \[SerialDevice\] readUntil: read ? 06:49:58.217 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3973 *** 06:50:11.518 DEBUG \[SerialDevice\] read 0 chars from dev /dev/ttyS5 *** 06:50:11.519 DEBUG \[SerialDevice\] readUntil: read 06:50:11.520 ERROR \[TeledyneDvl\] readAscii() timed out.  6 bytes read. *** 06:50:11.521 ERROR \[TeledyneDvl\] ?N??? 06:50:11.523 ERROR \[TeledyneDvl\]  writeReadAscii() - Error. Sent WN25. Received ?N???. *** 06:50:11.524 ERROR \[TeledyneDvl\] initialize - Error setting command WN25. *** 06:50:11.525 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 06:50:11.526 DEBUG \[SerialDevice\] /dev/ttyS5: wrote 6 chars: WV210 06:50:11.527 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=4000 *** 06:50:11.531 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.531 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.532 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3995 *** 06:50:11.533 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.535 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.536 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3991 *** 06:50:11.537 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.538 DEBUG \[SerialDevice\] readUntil: read 2 06:50:11.539 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3988 *** 06:50:11.540 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.541 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.541 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3986 *** 06:50:11.544 DEBUG \[SerialDevice\] read 1 chars from dev /dev/ttyS5 *** 06:50:11.545 DEBUG \[SerialDevice\] readUntil: read ? 06:50:11.546 DEBUG \[SerialDevice\] SerialDevice::readNChars() - timeout=3982 ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #  ]]> 3113990 3179490 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait a while for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig ***   ** Status (-) *** In progress...   Getting an error "Failed to read serial number" **** 06:43:56.058 DEBUG \[Parosci\] parsed PR (30) and TempInterval (10) 06:43:56.066 DEBUG \[SerialDevice\] Current ispeed setting: 13 **** 06:43:56.068 DEBUG \[SerialDevice\] Current ospeed setting: 13 **** 06:43:56.070 DEBUG \[SerialDevice\] change to speed setting 9600 **** 06:43:56.072 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:43:56.074 ERROR \[SerialDevice\] cfsetospeed() failed 06:43:56.075 DEBUG \[SerialDevice\] New ispeed setting: 13 **** 06:43:56.077 DEBUG \[SerialDevice\] New ospeed setting: 13 **** 06:43:56.079 DEBUG \[SerialDevice\] SerialDevice: done... **** 06:43:56.200 ERROR \[Parosci\] Failed to read serial number 06:43:56.204 ERROR \[AuvService\] Failed to read serial numbre 06:46:15.026 DEBUG \[AuvService\] AuvService::signalHandler() - call cleanup() \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory ** Status (-) *** In progress...   ***   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** exit back to user auv *** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . **** update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   ]]> 3114005 11272255 11239489 984 987 3670216 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers. \\ \\ [Driver Porting Details] \\ \\   h4. \\ h3.]]> 3637461 3179376 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_. \\ \\ Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) * Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    ** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result ** ifup eth0 will also show the error \\ * Network Settings (/etc/network/interfaces) ** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) *** edit /etc/hosts and change mvc-debian4 to mvc-debian *** 127.0.0.1 localhost.localdomain localhost *** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian *** hostname mvc-debian.shore.mbari.org *** copy the interfaces (see attachment to this wiki) file to /etc/network **** address 134.89.32.16 **** netmask 255.255.254.0 **** gateway 134.89.32.1 **** broadcast 134.89.32.255 *** to check the hostname is set properly **** uname \-n **** hostname \-a **** hostname \-s **** hostname \-d **** hostname \-f **** hostname \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: ** Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600009d080e000000fef0e0ce4700 003491000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:36.896 INFO \[AuvApplication\] You should override AuvApplication::run() ** 10:05:36.900 INFO \[Hydroscat\] stopping Hydroscat... Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e31360000330e0e000000fefae0ce4700 003499000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:46.321 INFO \[Hydroscat\] stopping Hydroscat... 10:05:46.337 INFO \[AuvApplication\] You should override AuvApplication::run() ** Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$]]> 3113891 3179378 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: ** Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600009d080e000000fef0e0ce4700 003491000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:36.896 INFO \[AuvApplication\] You should override AuvApplication::run() ** 10:05:36.900 INFO \[Hydroscat\] stopping Hydroscat... Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e31360000330e0e000000fefae0ce4700 003499000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:46.321 INFO \[Hydroscat\] stopping Hydroscat... 10:05:46.337 INFO \[AuvApplication\] You should override AuvApplication::run() ** Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$]]> 3113893 3179372 Character devices ***** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) ***** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) ***** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) ***** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) ***** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) ***** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. **** make-kpkg clean **** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) ***** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). **** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb **** _Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_. \\ \\ * Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) ** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    *** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result *** ifup eth0 will also show the error \\ ** Network Settings (/etc/network/interfaces) *** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) **** edit /etc/hosts and change mvc-debian4 to mvc-debian **** 127.0.0.1 localhost.localdomain localhost **** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian **** hostname mvc-debian.shore.mbari.org **** copy the interfaces (see attachment to this wiki) file to /etc/network ***** address 134.89.32.16 ***** netmask 255.255.254.0 ***** gateway 134.89.32.1 ***** broadcast 134.89.32.255 **** to check the hostname is set properly ***** uname \-n ***** hostname \-a ***** hostname \-s ***** hostname \-d ***** hostname \-f ***** hostname ***   **   ** Notes: *** Corba **** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. *** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above *** Tar up the built prj directory for transfer to another hard disk: **** tar \-pczf auv-prj-built.tar.gz prj ** Drivers: *** Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600009d080e000000fef0e0ce4700 003491000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:36.896 INFO \[AuvApplication\] You should override AuvApplication::run() *** 10:05:36.900 INFO \[Hydroscat\] stopping Hydroscat... Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e31360000330e0e000000fefae0ce4700 003499000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:46.321 INFO \[Hydroscat\] stopping Hydroscat... 10:05:46.337 INFO \[AuvApplication\] You should override AuvApplication::run() *** Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$]]> 3113887 3179374 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_. \\ \\ Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) * Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    ** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result ** ifup eth0 will also show the error \\ * Network Settings (/etc/network/interfaces) ** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) *** edit /etc/hosts and change mvc-debian4 to mvc-debian *** 127.0.0.1 localhost.localdomain localhost *** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian *** hostname mvc-debian.shore.mbari.org *** copy the interfaces (see attachment to this wiki) file to /etc/network **** address 134.89.32.16 **** netmask 255.255.254.0 **** gateway 134.89.32.1 **** broadcast 134.89.32.255 *** to check the hostname is set properly **** uname \-n **** hostname \-a **** hostname \-s **** hostname \-d **** hostname \-f **** hostname\\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: ** Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600009d080e000000fef0e0ce4700 003491000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:36.896 INFO \[AuvApplication\] You should override AuvApplication::run() ** 10:05:36.900 INFO \[Hydroscat\] stopping Hydroscat... Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e31360000330e0e000000fefae0ce4700 003499000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:46.321 INFO \[Hydroscat\] stopping Hydroscat... 10:05:46.337 INFO \[AuvApplication\] You should override AuvApplication::run() ** Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$]]> 3113889 11272286 11239519 11272275 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Building our old version of Europa/Plasma  To apply the patch and build Europa/Plasma with GCC 4.3: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 11239508 3670208 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637453 3670207 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637452 3179392 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with *$PASHR*,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** *$PASHQ,STA (crlf) to query which satellites are locked and signal strength.* *** *TIME: 18:38:31 UTC*\\ *LOCKED:03 23 16*\\ *COUNT :54 26 17* ** *NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by* *exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*).  Messages end with the standard NMEA message terminator characters \[CRLF\].* ** * * ** *$PASHS,NME,POS,A,ON,1  * *comprehensive position information through port A at a set rate (1HZ)* *** *$PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20*\\ \\ ** AshtecApp Test results *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() **  ]]> 3113907 11272271 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C++ library (http://www.boost.org/) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 11239504 8945915 8913157 11272273 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Building our old version of Europa/Plasma  One most apply the attached patch to build our old version of the Europa/Plasma NDDL compiler/evaluator with GCC 4.3  To apply the patch and build it: {code:none} % cd $PLASMA_HOME % patch -p1 < plasma-gcc4.3.patch % jam && jam {code} \\ h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} To compile TREX libraries, first download the Boost C+\+ library ([http://www.boost.org/]) and install it following the instructions outlined in the site. Then compile TREX in a similar manner as Europa: {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 11239506 3670204 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers} \\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00 E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080 007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF468 19F04C10088000000000000000000000000010A0031004400008000800080008000800080008000800 08000800080008000800080008000800080008000800080008000800080008000800080008000800080 00800080008000800080008000800080008000800080008000800080008000800080008000800080008 00080008000800080008000800080008000800080008000800080008000800080008000800080008000 80008000800080008000800080008000800080008000800080008000800080008000800080008000800 080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C06 0E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090 306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F45393 5362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B 2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B 2625272B2625272B2625282B2625282B00046400000000006400000064000000640000006400000064 00000064000000640000006400000064000000640000006400000064000000640000006400000064000 00064000000640000006400000064000000640000006400000064000000640000006400000601000000 DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A 0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637449 3179388 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: ** Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 ** Output on March 10: *** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. *** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) *** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) *** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: *** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) *** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 *** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs *** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW *** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN *** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. *** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 *** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) *** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. *** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: *** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds *** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds *** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 *** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 *** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . *** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds *** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) *** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) *** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) *** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: *** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) *** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 *** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs *** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW *** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN *** The driver then processes records normally without fault (tested for 20 minutes) **  \\ ** Ashtec GPS driver ***  Upon application of power, **** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. **** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  **** *$PASHQ,HST to view results of self-diagnostic* **** *Time to First Fix (TTFF).** *Re-acquisition 3 seconds* * *Hot Start 11 seconds* * *Warm Start 35 seconds* * *Cold Start 90 seconds* ****  The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc** f1 Receiver name (maximum 10 characters) * f2 Main processor firmware version (maximum 10 characters) * f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty * f4 Option setting (maximum 42 characters). ASCII characters represent installed options. * f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields * cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*) characters **** *Option Description:   (typical string looks like* \\ *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D:)** Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], * \[O\] Raw data output * \[P\] Carrier phase tracking * \[U\] Differential RTCM - remote station * \[B\] Differential RTCM - base station * \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) * \[L\] Timing pulse output (1PPS) * \[E\] Photogrammetry event marker * \[C\] Strobe correlator * \[N\] Beacon (Not applicable to DG14) * \[Y\] SBAS * \[X\] User-defined messaging (Not applicable to DG14) * \[D\] Multi-base differential * \[R\] Third serial port (C) (Not applicable to DG14) * \[A\] Altitude limit removed * \[V\] Speed limit removed*** Test results  *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ***  ]]> 3113903 3670205 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers. \\ \\ [Driver Porting Details] \\ \\   h4. \\ h3.]]> 3637450 3179390 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) *   * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic\* *** Time to First Fix (TTFF). *** Re-acquisition 3 seconds *** Hot Start 11 seconds *** Warm Start 35 seconds *** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed **** Test results ** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF ** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON ** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out ** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() **  ]]> 3113905 3670200 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers. \\ \\ [Driver Porting Details] \\ \\   h4. \\ h3. *Driver porting and validation* \\ h4. Setup * Assuming a Debian and auv-linux software is installed, configured, built, setup, etc. (see below) and network and serial is working. ** Note:  omniORB.cfg located in prj/auv-pkgs/omniORB needs to have bootstrap enabled.    Done in auv-pkgs cvs module. ** auv@mvc-debian   pass: dorado1   ip  134.89.32.16 (static) \\ * Serial Port assignements (per Duane 3/7/08) ** *CPU Card* *** ttyS0 (console) Iridium *** ttyS1 Freewave ** *Xtreme/104 Isolated 12 port Card* *** ttyS2 Tailcone *** ttyS3 no connect *** ttyS4 Parosci *** ttyS5 teledyne DVL \- Navigator Broadband ADCP Version 9.18 *** ttyS6 ashtec GPS *** ttyS7 Gulper (RS485) *** ttyS8 no connect *** ttyS9 Bluefin Batteries (RS485) *** ttyS10 MVC_PIC *** ttyS11 3DM_GX1 *** ttyS12 Drop Weight *** ttyS13 USBL ** LanTronix terminal servers *** tcp:sci1-dmo1:10002 seabird *** tcp:sci1-dmo1:10001 seabird *** tcp:sci2-dmo1:14002 hydroscat *** tcp:sci3-dmo1:14001 lisst ***   h4.   \\ \\ h3. Driver Status   \\ h4. Navigation drivers (first priority) \\ *Status at a glance:* \\ {dynamictasklist:NavigationDrivers} \\ Status details: * ashtec(gps) ** devices.cfg change:  /dev/ser7 \-> /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637445 3179384 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: ** Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 ** Output on March 10: *** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. *** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) *** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) *** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: *** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) *** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 *** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs *** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW *** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN *** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. *** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 *** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) *** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. *** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: *** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds *** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds *** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 *** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 *** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off). *** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds *** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) *** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) *** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) *** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: *** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) *** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 *** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs *** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW *** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ***  ]]> 3113899 3670199 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ** Serial Device driver. *** Verify serial port throughput (SerTest) and resolve linux kernel driver or IRQ assignments to fix byte drop. **** Write separate serial test program (SerTest) to validate linux kernel driver and hardware configuration (IRQ) \\ * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers. \\ \\ [Driver Porting Details] \\ \\   h4. \\ h3. *Driver porting and validation* \\ h4. Setup * Assuming a Debian and auv-linux software is installed, configured, built, setup, etc. (see below) and network and serial is working. ** Note:  omniORB.cfg located in prj/auv-pkgs/omniORB needs to have bootstrap enabled.    Done in auv-pkgs cvs module. ** auv@mvc-debian   pass: dorado1   ip  134.89.32.16 (static) \\ * Serial Port assignements (per Duane 3/7/08) ** *CPU Card* *** ttyS0 (console) Iridium *** ttyS1 Freewave ** *Xtreme/104 Isolated 12 port Card* *** ttyS2 Tailcone *** ttyS3 no connect *** ttyS4 Parosci *** ttyS5 teledyne DVL \- Navigator Broadband ADCP Version 9.18 *** ttyS6 ashtec GPS *** ttyS7 Gulper (RS485) *** ttyS8 no connect *** ttyS9 Bluefin Batteries (RS485) *** ttyS10 MVC_PIC *** ttyS11 3DM_GX1 *** ttyS12 Drop Weight *** ttyS13 USBL ** LanTronix terminal servers *** tcp:sci1-dmo1:10002 seabird *** tcp:sci1-dmo1:10001 seabird *** tcp:sci2-dmo1:14002 hydroscat *** tcp:sci3-dmo1:14001 lisst ***   h4.   \\ \\ h3. Driver Status   \\ h4. Navigation drivers (first priority) \\ *Status at a glance:* \\ {dynamictasklist:NavigationDrivers} \\ Status details: * ashtec(gps) ** devices.cfg change:  /dev/ser7 \-> /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637444 3670202 3637447 3179386 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: ** Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 ** Output on March 10: *** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. *** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) *** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) *** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: *** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) *** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 *** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs *** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW *** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN *** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. *** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 *** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) *** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. *** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: *** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds *** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds *** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 *** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 *** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . *** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds *** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) *** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) *** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) *** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: *** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) *** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 *** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs *** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW *** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN *** The driver then processes records normally without fault (tested for 20 minutes)]]> 3113901 3670196 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ** Serial Device driver. *** Verify serial port throughput (SerTest) and resolve linux kernel driver or IRQ assignments to fix byte drop. **** Write separate serial test program (SerTest) to validate linux kernel driver and hardware configuration (IRQ) \\ * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers. \\ \\ \\ \\   h4. \\ h3. *Driver porting and validation* \\ h4. Setup * Assuming a Debian and auv-linux software is installed, configured, built, setup, etc. (see below) and network and serial is working. ** Note:  omniORB.cfg located in prj/auv-pkgs/omniORB needs to have bootstrap enabled.    Done in auv-pkgs cvs module. ** auv@mvc-debian   pass: dorado1   ip  134.89.32.16 (static) \\ * Serial Port assignements (per Duane 3/7/08) ** *CPU Card* *** ttyS0 (console) Iridium *** ttyS1 Freewave ** *Xtreme/104 Isolated 12 port Card* *** ttyS2 Tailcone *** ttyS3 no connect *** ttyS4 Parosci *** ttyS5 teledyne DVL \- Navigator Broadband ADCP Version 9.18 *** ttyS6 ashtec GPS *** ttyS7 Gulper (RS485) *** ttyS8 no connect *** ttyS9 Bluefin Batteries (RS485) *** ttyS10 MVC_PIC *** ttyS11 3DM_GX1 *** ttyS12 Drop Weight *** ttyS13 USBL ** LanTronix terminal servers *** tcp:sci1-dmo1:10002 seabird *** tcp:sci1-dmo1:10001 seabird *** tcp:sci2-dmo1:14002 hydroscat *** tcp:sci3-dmo1:14001 lisst ***   h4.   \\ \\ h3. Driver Status   \\ h4. Navigation drivers (first priority) \\ *Status at a glance:* \\ {dynamictasklist:NavigationDrivers} \\ Status details: * ashtec(gps) ** devices.cfg change:  /dev/ser7 \-> /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   * A good DVL record in PD0 format (1466 bytes) looks like 7F7FDB02000714004F0088005201B8011E028402000009124A42002C041901009001B00001400B00E80300003C13941100007D1D5A029E010105320026004D00000248B1150900000000000000000080007E0008040A04193A1000000003060000AA2C27FFB9002300790A000007000000FFFF4DFFFF46819F04C10088000000000000000000000000010A003100440000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800080008000800002485252305F6823264F551F0C25270E0814180D05120D050A090C060E0C0A03090A09071302090D0402080908080D0B0407080C070A0406060C08030A0A0A0A0603090306060C060C040705070C0E060A0906070A0C0B0805070708070A07060D0708060D0003483F453935362E2D2D2D2B2B2A29292A2827272A2826272A2726282A2625292B2624282B2625282B2624292B2625262A2625282B2625282A2624262B2624272B2625272B2625262B2624282B2625292A2625282B2625272B2625272B2625282B2625282B000464000000000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000064000000640000006400000601000000DC1E0005E80300000000000000000000000000800080008000800000000000000000000064000A000A0064000700D6002700AA00C0CA88850000000000000064C40900000000000000000001000100C03A6D74 \\ h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3637440 3179380 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: ** Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600009d080e000000fef0e0ce4700 003491000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:36.896 INFO \[AuvApplication\] You should override AuvApplication::run() ** 10:05:36.900 INFO \[Hydroscat\] stopping Hydroscat... Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e31360000330e0e000000fefae0ce4700 003499000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:46.321 INFO \[Hydroscat\] stopping Hydroscat... 10:05:46.337 INFO \[AuvApplication\] You should override AuvApplication::run() ** Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$]]> 3113895 8945913 8913155 11272259 11239492 11272262 11239495 3179382 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj * Drivers: ** Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600009d080e000000fef0e0ce4700 003491000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:36.896 INFO \[AuvApplication\] You should override AuvApplication::run() ** 10:05:36.900 INFO \[Hydroscat\] stopping Hydroscat... Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e31360000330e0e000000fefae0ce4700 003499000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 10:05:46.321 INFO \[Hydroscat\] stopping Hydroscat... 10:05:46.337 INFO \[AuvApplication\] You should override AuvApplication::run() ** Segmentation fault auv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$]]> 3113897 11272261 11239494 918 921 917 920 920 923 919 922 30867461 6422536 750 2019-01-07 16:00:23.610 2019-01-07 16:00:23.610 9011204 9142273 750 2009-02-02 11:27:26.187 2009-02-02 11:27:26.187 10387545 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window (Term 2), login to trex2:    *% ssh* dorado1@trex2* *  # \[dorado1@trex2 \~\]$ *cd amc* # \[dorado1@trex2 amc\]$ *. config.amc* # Check the Iridium Modem ## *% minicom iridium*   (dev/ttyS0 9600 8N1) ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, switch back to Term1 (mvc-dmo1 qnx) ### bash-2.00$ *cd $AUV/bin* ### bash-2.00$ *reset_a3la*   (toggle modem power)  ## Switch back to Term2 (trex2) minicom session  ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In Term 3: ### \[dorado1@trex2 amc\]$ *nal \-dev /dev/ttyS0* ### should see startup, and then:   \[AuvApplication\] run() - just sleeps by default ## In Term 2: ### \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/devices/iridium/tests* ### \[dorado1@trex2 tests\]$ *storefwdclient \-f test-a3la.sbd* ### Observe the nal driver output in Term3 and also examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # in Term3 Start the nal driver for the vsim test ## \[dorado1@trex2 amc\]$ *nohup nal \-dev /dev/ttyS0 &* ## \[dorado1@trex2 amc\]$ *tail \-f nohup.out*    (check the nal driver is running - look for \[AuvApplication\] run() - just sleeps by default) # Test the modem with a text file ## \[dorado1@trex2 tests\]$ *storefwdclient  *   (enter a meaningful test message and then wait) ## tail \-f nohup.out in Term3 or tail \-f modem.log ## If the storefwdclient fails to send the message, start storefwdclient again with no messages (enter, enter) ## A successful message from Term2 (storefwdclient looks like: {code} "StoreAndForward.Downlink succeeded" payload: This is Thom running VSIM at 2:45 on 2 May 2009 Got StoreAndForward event: ConnectModem complete Done. terminate called after throwing an instance of 'omni_thread_fatal' {code} # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # In Term2 (trex2), make sure the config file is correct for vsim  ## % \[dorado1@trex2 tests\]$ *cd \~/amc/missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In Term1 (mvc-dmo1), startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # In Term2 Move back to the T-REX stack to fire up the T-REX client # \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt front.cfg  &*    (For the time being, mission file is front.cfg).   # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* ## in Term1, bash-2.00$ *ps \-a* {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)    22     7   0 10r  RECV     0  216K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)    87     7   0 10o  WAIT    -1   28K (//9/bin/tinit)    90     7   0 10o  RECV     0   20K (//9/bin/tinit)    91     7   0 14o  RECV     0   68K (//9/bin/Mqueue) 28928 28123   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno 28942 28123   2 10o REPLY    22   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog 28951 28123   2 10o  RECV     0   28K eventLogServer 28953 28123   2 18o  RECV     0   64K workSite 22812 28123   2 14o  RECV     0   72K vehicleConfigurationServer 28959 28123   2 10o  RECV     0   32K externalCommsServer 28963 28123   2 14o  RECV     0  112K navigationServer 22820 28123   2 10o  RECV 28983   32K externalComms 28968 28123   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort 28970 28123   2 18o  RECV     0  132K navigation 28972 28123   2 14o  RECV     0   56K dynamicControlServer 28973 28123   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg 28985 28123   2 14o  RECV     0  148K simulator 22331 28123   2 14o  RECV     0   28K simTailCone 22333 28123   2 18o  RECV     0   32K simAhrs 28991 28123   2 18o  RECV     0   72K simGps 28993 28123   2 18o  RECV     0   28K simDepthSensor  2375 28123   2 10o  RECV     0   60K seabirdServer -n CtdIFServer -dev tcp:sci1-dmo1:10001 22857 28123   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002 29003 28123   2 10o  RECV 29009   92K seabirdDriver -n CtdIFServer -serial tcp:sci1-dmo1:10001,9600,8,n,1 29004 28123   2 10o  RECV 29010   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1 22862 28123   2 18o  RECV     0   48K simDvl 29011 28123   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13 22869 28123   2 10o  RECV     0   64K statePublisher 22872 28123   2 10o REPLY    17   52K dropWeight -serial /dev/ser13,9600,8,n,1 28125 28123   2 10o  RECV 28926   64K ./vcsServer -v [1]+  Exit 221                nohup ./vcsServer -v {code} h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ping trex2* (waiting for the boot)  *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd missions* \[dorado1@trex2 missions\]$ *cat vcs.cfg* {code}                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out* \\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg* \\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ *cd ../logs* bash-2.00$ *tail \-f VcsServer.log.0* h5. In Term2: \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt msg.timing.1.cfg &* \[dorado1@trex2 missions\]$ *cd ../log/* \[dorado1@trex2 log\]$ *tail \-f latest/TREX.log* \\ bash-2.00$ *tail \-f VcsServer.log.0* \\ {code} 62940673.813, ######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer -- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer[t=0, delta=0]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer[t=1.86987, delta=1.86987]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer[t=184.167, delta=0.43997]: Grabbing data   62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) !!! 62941055.697, Received a NULL message : should no happen. {code}\\ \\ \\ \\ \\ \\ bash-2.00$ ps \-a {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer -dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server -dev /dev/ser12 -useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver -dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer -r ashtech -dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 -serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer -dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver -serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver -dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci -serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver -serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer -dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer -dev /dev/ser6    94     7   0 10o  WAIT    -1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver -dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl -serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight -serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer -v  8658  8344   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno  8667  8344   2 10o REPLY    23   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort {code} bash-2.00$ *slay supervisor* bash-2.00$ *ps \-a  * h5. In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ *ps \-elf \| grep amc* 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ *grep relax latest/TREX.log* \[dorado1@trex2 log\]$ \\ Before turning off the power to the vehicle, shutdown the OS on TREX2 and mvc-dmo1 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b h4. Testing goal posting through iridium starts the mission msg.timing.1.cfg \[dorado1@trex2 missions\]$ *../exec/amc_o_rt msg.timing.1.cfg* look for the creation of the pipe on TREX.log \[dorado1@trex2 missions\]$ *tail -f ../log/latest/TREX.log | grep listening* \[downlink\] listening to "msg.timing.1.downlink" (fid=) The pipe msg.timing.1.downlink (naming convention is .downlink) has been created in the directory where TREX has been started (in this case ~/amc/missions). You can then send the goal through this pipe. Create a file goal.sbd with following content : {code} {code} And send it in the pipe : \[dorado1@trex2 missions\] *cat goal.sbd > msg.timing.1.cfg {note} this has to be done relatively quickly to avoid to miss the only communication window in msg.timing.1 {note} then check that the goal has been correctly collected and dispatched before the end of the mission. You should see a message similar to this in TREX.log \[downlink\]\[\]Dispatching Front.Info() \[exec\]\[\]Request received: ON front REQ Front.Info()... ]]> 10354778 10945022 10912267 9830867 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ping trex2* (waiting for the boot)  *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd missions* \[dorado1@trex2 missions\]$ *cat vcs.cfg* {code}                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out* \\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg* \\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ *cd ../logs* bash-2.00$ *tail \-f VcsServer.log.0* h5. In Term2: \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt msg.timing.1.cfg &* \[dorado1@trex2 missions\]$ *cd ../log/* \[dorado1@trex2 log\]$ *tail \-f latest/TREX.log* \\ bash-2.00$ *tail \-f VcsServer.log.0* \\ {code} 62940673.813, ######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer -- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer[t=0, delta=0]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer[t=1.86987, delta=1.86987]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer[t=184.167, delta=0.43997]: Grabbing data   62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) !!! 62941055.697, Received a NULL message : should no happen. {code}\\ \\ \\ \\ bash-2.00$ ps \-a {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer -dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server -dev /dev/ser12 -useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver -dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer -r ashtech -dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 -serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer -dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver -serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver -dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci -serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver -serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer -dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer -dev /dev/ser6    94     7   0 10o  WAIT    -1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver -dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl -serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight -serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer -v  8658  8344   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno  8667  8344   2 10o REPLY    23   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort {code} bash-2.00$ *slay supervisor* bash-2.00$ *ps \-a  * h5. In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ *ps \-elf \| grep amc* 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ *grep relax latest/TREX.log* \[dorado1@trex2 log\]$ \\ Before turning off the power to the vehicle, shutdown the OS on TREX2 and mvc-dmo1 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9798112 9830869 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window (Term 2), login to trex2:    *% ssh* dorado1@trex2* *  # \[dorado1@trex2 \~\]$ *cd amc* # \[dorado1@trex2 amc\]$ *. config.amc* # Check the Iridium Modem ## *% minicom iridium*   (dev/ttyS0 9600 8N1) ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, switch back to Term1 (mvc-dmo1 qnx) ### bash-2.00$ *cd $AUV/bin* ### bash-2.00$ *reset_a3la*   (toggle modem power)  ## Switch back to Term2 (trex2) minicom session  ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ping trex2* (waiting for the boot)  *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd missions* \[dorado1@trex2 missions\]$ *cat vcs.cfg* {code}                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out* \\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg* \\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ *cd ../logs* bash-2.00$ *tail \-f VcsServer.log.0* h5. In Term2: \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt msg.timing.1.cfg &* \[dorado1@trex2 missions\]$ *cd ../log/* \[dorado1@trex2 log\]$ *tail \-f latest/TREX.log* \\ bash-2.00$ *tail \-f VcsServer.log.0* \\ {code} 62940673.813, ######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer -- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer[t=0, delta=0]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer[t=1.86987, delta=1.86987]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer[t=184.167, delta=0.43997]: Grabbing data   62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) !!! 62941055.697, Received a NULL message : should no happen. {code}\\ \\ \\ \\ \\ bash-2.00$ ps \-a {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer -dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server -dev /dev/ser12 -useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver -dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer -r ashtech -dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 -serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer -dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver -serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver -dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci -serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver -serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer -dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer -dev /dev/ser6    94     7   0 10o  WAIT    -1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver -dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl -serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight -serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer -v  8658  8344   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno  8667  8344   2 10o REPLY    23   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort {code} bash-2.00$ *slay supervisor* bash-2.00$ *ps \-a  * h5. In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ *ps \-elf \| grep amc* 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ *grep relax latest/TREX.log* \[dorado1@trex2 log\]$ \\ Before turning off the power to the vehicle, shutdown the OS on TREX2 and mvc-dmo1 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9798114 9830859 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ping trex2* (waiting for the boot)  *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) {code} [dorado1@trex2 amc]$ . config.amc[dorado1@trex2 amc]$ cd missions [dorado1@trex2 missions]$ cat vcs.cfg                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out* \\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg* \\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ *tail \-f VcsServer.log.0* h5. In Term2: \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt msg.timing.1.cfg &* \[dorado1@trex2 missions\]$ *cd ../log/* \[dorado1@trex2 log\]$ *tail \-f latest/TREX.log* \\ bash-2.00$ *tail \-f VcsServer.log.0* \\ {code} 62940673.813, ######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer -- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer[t=0, delta=0]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer[t=1.86987, delta=1.86987]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer[t=184.167, delta=0.43997]: Grabbing data   62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) !!! 62941055.697, Received a NULL message : should no happen. {code}\\ \\ bash-2.00$ ps \-a {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer -dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server -dev /dev/ser12 -useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver -dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer -r ashtech -dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 -serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer -dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver -serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver -dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci -serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver -serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer -dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer -dev /dev/ser6    94     7   0 10o  WAIT    -1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver -dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl -serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight -serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer -v  8658  8344   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno  8667  8344   2 10o REPLY    23   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort {code} bash-2.00$ *slay supervisor* bash-2.00$ *ps \-a  * h5. In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ *ps \-elf \| grep amc* 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ *grep relax latest/TREX.log* \[dorado1@trex2 log\]$ \\ Before turning off the power to the vehicle, shutdown the OS on TREX2 and mvc-dmo1 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9798103 9830861 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ping trex2* (waiting for the boot)  *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd missions* \[dorado1@trex2 missions\]$ *cat vcs.cfg* {code}                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out* \\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg* \\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ *tail \-f VcsServer.log.0* h5. In Term2: \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt msg.timing.1.cfg &* \[dorado1@trex2 missions\]$ *cd ../log/* \[dorado1@trex2 log\]$ *tail \-f latest/TREX.log* \\ bash-2.00$ *tail \-f VcsServer.log.0* \\ {code} 62940673.813, ######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer -- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer[t=0, delta=0]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer[t=1.86987, delta=1.86987]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer[t=184.167, delta=0.43997]: Grabbing data   62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) !!! 62941055.697, Received a NULL message : should no happen. {code}\\ \\ \\ bash-2.00$ ps \-a {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer -dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server -dev /dev/ser12 -useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver -dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer -r ashtech -dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 -serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer -dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver -serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver -dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci -serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver -serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer -dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer -dev /dev/ser6    94     7   0 10o  WAIT    -1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver -dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl -serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight -serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer -v  8658  8344   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno  8667  8344   2 10o REPLY    23   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort {code} bash-2.00$ *slay supervisor* bash-2.00$ *ps \-a  * h5. In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ *ps \-elf \| grep amc* 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ *grep relax latest/TREX.log* \[dorado1@trex2 log\]$ \\ Before turning off the power to the vehicle, shutdown the OS on TREX2 and mvc-dmo1 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9798105 9830857 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) {code} [dorado1@trex2 amc]$ . config.amc[dorado1@trex2 amc]$ cd missions [dorado1@trex2 missions]$ cat vcs.cfg                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out* \\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg* \\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ *tail \-f VcsServer.log.0* h5. In Term2: \[dorado1@trex2 missions\]$ *nohup ../exec/amc_o_rt msg.timing.1.cfg &* \[dorado1@trex2 missions\]$ *cd ../log/* \[dorado1@trex2 log\]$ *tail \-f latest/TREX.log* \\ bash-2.00$ *tail \-f VcsServer.log.0*\\ {code} 62940673.813, ######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer -- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer[t=0, delta=0]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer[t=1.86987, delta=1.86987]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer[t=184.167, delta=0.43997]: Grabbing data   62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) !!! 62941055.697, Received a NULL message : should no happen. {code}\\ bash-2.00$ ps \-a {code}   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl -dyno -plan AmcPlan.cfg -abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer -dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server -dev /dev/ser12 -useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver -dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer -r ashtech -dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 -serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer -dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver -serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver -dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci -serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer -n ctdDriver2 -dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver -serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver -n ctdDriver2 -serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer -dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer -dev /dev/ser6    94     7   0 10o  WAIT    -1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver -dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl -serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer -dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight -serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer -v  8658  8344   2 10o REPLY     0   36K supervisor -plan AmcPlan.cfg -dyno  8667  8344   2 10o REPLY    23   16K tee -i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver -dyno -plan AmcPlan.cfg -abort {code} bash-2.00$ *slay supervisor* bash-2.00$ *ps \-a  * h5. In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ *ps \-elf \| grep amc* 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ *grep relax latest/TREX.log* \[dorado1@trex2 log\]$\\ Before turning off the power to the vehicle, shutdown the OS on TREX2 and mvc-dmo1 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9798101 10944948 10912191 10944949 10912192 1061 1064 10944944 10912187 3179551 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** startup omniNames & and notifd \-c $OMNINOTIFY_DIR/channel.cfg & * Investigate update to newer kernel (2.6.24 recommended since it's slated for next debian release 'lenny').    This is to fix the timing issue found in tailcone test (off by 4msec). \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) *** (not needed) apt-get install khexedit (for debug of parosci serial port problems) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue **** chmod 777 /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . ***** Note to remove: update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** exit back to user 'auv' *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114069 3179554 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** startup omniNames & and notifd \-c $OMNINOTIFY_DIR/channel.cfg & * Investigate update to newer kernel (2.6.24 recommended since it's slated for next debian release 'lenny').    This is to fix the timing issue found in tailcone test (off by 4msec). \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) *** (not needed) apt-get install khexedit (for debug of parosci serial port problems) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue **** chmod 777 /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . ***** Note to remove: update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** exit back to user 'auv' *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114072 3179550 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** startup omniNames & and notifd \-c $OMNINOTIFY_DIR/channel.cfg & * Investigate update to newer kernel (2.6.24 recommended since it's slated for next debian release 'lenny').    This is to fix the timing issue found in tailcone test (off by 4msec). \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) *** (not needed) apt-get install khexedit (for debug of parosci serial port problems) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue **** chmod 777 /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . ***** Note to remove: update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** exit back to user 'auv' *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114068 3179543 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) *** (not needed) apt-get install khexedit (for debug of parosci serial port problems) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue **** chmod 777 /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . ***** Note to remove: update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** exit back to user 'auv' *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114059 3179545 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) *** (not needed) apt-get install khexedit (for debug of parosci serial port problems) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue **** chmod 777 /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . ***** Note to remove: update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** exit back to user 'auv' *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114061 20 2007-02-14 14:01:03.380 2015-01-06 11:30:35.870 21 2007-02-20 13:11:29.503 2013-04-09 13:21:55.577 3179541 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** *9900VR<0x0d><0x0a> responds with *0001VR=R1.0 *** *0100SN<0x0d><0x0a> responds with *0001SN=87761 *** *0100P3<0x0d><0x0a> responds with *000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ***   ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) *** (not needed) apt-get install khexedit (for debug of parosci serial port problems) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue **** chmod 777 /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . ***** Note to remove: update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** exit back to user 'auv' *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114057 21004849 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "href": "\/rest\/timeline\/dorado_state" }, { "name": "dorado_survey", "href": "\/rest\/timeline\/dorado_survey" }, { "name": "drifterFollow", "href": "\/rest\/timeline\/drifterFollow" }, { "name": "iridium", "href": "\/rest\/timeline\/iridium" }, { "name": "mbfd", "href": "\/rest\/timeline\/mbfd" }, { "name": "trex_data", "href": "\/rest\/timeline\/trex_data" }, { "name": "wgOA", "href": "\/rest\/timeline\/wgOA" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically) ** I will probably add in the future extra attributes per timeline indicating information such as ehether this timeline accept goals or not, ... {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{int\} ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///rest/timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** *attachment:* A json file describing the goal {code:javascript} { "pred" : _string_, "on" : _timeline_, "early_start" : _date_time_, "late_start" : _date_time_, "early_end" : _date_time_, "late_end" : _date_time_, } {code} {panel} * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972086 3179538 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt is echoing characters which is not compatible with the driver.   HT thinks the Xtreme104 can be strapped for 'no echo'.   Will come back to driver validation after investigation of serial card settings.   Plan B will be to mod the driver to handle the echo. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Next step is to detach parosci from AUV and run on desktop with protocol analyzer - minicom may not be terminating with pair. ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. ***   ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** chmod 777 /dev/ttyS\* * Investigate update to newer kernel (2.6.23 recommended) \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) *** (not needed) apt-get install khexedit (for debug of parosci serial port problems) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue **** chmod 777 /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . ***** Note to remove: update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** exit back to user 'auv' *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114055 21004844 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "href": "\/rest\/timeline\/dorado_state" }, { "name": "dorado_survey", "href": "\/rest\/timeline\/dorado_survey" }, { "name": "drifterFollow", "href": "\/rest\/timeline\/drifterFollow" }, { "name": "iridium", "href": "\/rest\/timeline\/iridium" }, { "name": "mbfd", "href": "\/rest\/timeline\/mbfd" }, { "name": "trex_data", "href": "\/rest\/timeline\/trex_data" }, { "name": "wgOA", "href": "\/rest\/timeline\/wgOA" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically) ** I will probably add in the future extra attributes per timeline indicating information such as ehether this timeline accept goals or not, ... {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{int\} ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///rest/timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972081 3179581 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114099 3179577 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114095 21004819 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/initial * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/initial {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}?from=\{int\} ** GET http:///timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972056 21004820 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/initial * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/initial {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as \[H*\]HH:MM:SS\[.SUBSECOND\] {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "dorado_state", "href": "\/rest\/timeline\/dorado_state" }, { "name": "dorado_survey", "href": "\/rest\/timeline\/dorado_survey" }, { "name": "drifterFollow", "href": "\/rest\/timeline\/drifterFollow" }, { "name": "iridium", "href": "\/rest\/timeline\/iridium" }, { "name": "mbfd", "href": "\/rest\/timeline\/mbfd" }, { "name": "trex_data", "href": "\/rest\/timeline\/trex_data" }, { "name": "wgOA", "href": "\/rest\/timeline\/wgOA" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) * *notes:* ** The set of timelines may be dynamic and can grow as time advance (e.g. A new asset is added dynamically) ** I will probably add in the future extra attributes per timeline indicating information such as ehether this timeline accept goals or not, ... {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///rest/timeline/\{name\} ** GET http:///rest/timeline/\{name\}?from=\{int\} ** GET http:///rest/timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///rest/timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///rest/timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///rest/goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///rest/goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972057 3179572 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114090 21004816 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} h3. Tick and date related services h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=current tick} * *input:* none * *output:* The date (UTC) and value (an integer) of the current tick of trex This call may have a push based counterpart in the future. Indeed the current tick changes in trex as time advance. in my ODSS version I currently use a tick running at a 1 mn period {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}?from=\{int\} ** GET http:///timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972053 3179568 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** startup omniNames & and notifd \-c $OMNINOTIFY_DIR/channel.cfg & * Investigate update to newer kernel (2.6.24 recommended since it's slated for next debian release 'lenny').    This is to fix the timing issue found in tailcone test (off by 4msec). \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) *** (not needed) apt-get install khexedit (for debug of parosci serial port problems) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue **** chmod 777 /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . ***** Note to remove: update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** exit back to user 'auv' *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114086 21004817 /rest/help ** GET http:///rest/help/\{cmd-path\} * Gets the list of services -- under \{cmd-path\} if provided -- along with a short help message * *output example:* GET http:///rest/help/help {code:javascript} { "help": [ { "href": "\/rest\/help", "info": "List REST commands availables.\nArgument restrict the help to command matching given path." } ] } {code} {panel} h3. Tick and date related services {panel:title=Current tick} * *format:* GET http:///rest/tick * Give information about the next tick of trex * *output:* GET http::///rest/tick {code:javascript} { "value": "10", "date": "2013-May-13 21:25:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Next tick} * *format:* GET http:///rest/tick/next * Give information about the current tick of trex * *output:* GET http::///rest/tick/next {code:javascript} { "value": "11", "date": "2013-May-13 21:26:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/next * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/next {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Initial tick} * *format:* GET http:///rest/tick/initial * Give information about the first tick of trex (usually 0) * *output:* GET http::///rest/tick/initial {code:javascript} { "value": "0", "date": "2013-May-13 21:15:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=Final tick} * *format:* GET http:///rest/tick/final * Give information about the last tick of trex. The last tick of trex is the date where it will quit. * *output:* GET http::///rest/tick/final {code:javascript} { "value": "4200563684", "date": "9999-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick info} * *format:* GET http:///rest/tick/\{number\} * Give information about the tick \{number\} * *output example:* GET http::///rest/tick/200 {code:javascript} { "value": "200", "date": "2013-May-14 00:35:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick at a date} * *format:* GET http:///rest/tick/at/\{date\} * Give information about the largest tick before or at the provide UTC \{date\} * *output example:* GET http::///rest/tick/at/2014-Jan-01%2000:00:00 {code:javascript} { "value": "334244", "date": "2013-Dec-31 23:59:54.702062" } {code} ** _value_ : the tick value as represented by trex ** _date_ : the corresponding UTM date {panel} {panel:title=tick rate/duration} * *format:* GET http:///rest/tick/rate * Give information about the duration of a tick * *output:* GET http::///rest/tick/rate {code:javascript} { "nanoseconds": "60000000000", "duration": "00:01:00" } {code} ** _nanoseconds_ : the duration in ns ** _duration_ : same duration as [H*]HH:MM:SS[.SUBSECOND] {panel} h3. Timelines and goals services {panel:title=List of trex existing timelines} * *format:* ** GET http:///rest/timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}?from=\{int\} ** GET http:///timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972054 3179566 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj]]> 3114084 9830723 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) {code} [dorado1@trex2 amc]$ . config.amc[dorado1@trex2 amc]$ cd missions [dorado1@trex2 missions]$ cat vcs.cfg                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5.   Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code}\\ Type ctrl-a, then x to leave minicom \\ In Term4: \[dorado1@trex2 \~\]$ cd amc \[dorado1@trex2 amc\]$ . config.amc \[dorado1@trex2 amc\]$ cd $AUV_HOME/onboard/bin \[dorado1@trex2 auv-linux\]$ pwd /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ nohup ./nal \-dev /dev/ttyS0 & \[1\] 1968 \[dorado1@trex2 bin\]$ nohup: appending output to `nohup.out' \[dorado1@trex2 bin\]$ tail \-f nohup.out terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG \[NALDriver\] read \+GCMI response 14:20:15.623 INFO \[NALDriver\] manufacturer: OK 14:20:15.623 INFO \[NALDriver\] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e30000000010000000000000064000000010102000d0000003133342e38392e33322e333900002aa60e000000fe8ac4f849000007b0000000000200000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100 14:20:15.643 DEBUG \[NALApp\] Leaving NALApp.initialize() 14:20:15.644 INFO \[AuvApplication\] run() - just sleeps by default Then tail the modem.log \[dorado1@trex2 bin\]$ cd $AUV_LOG_DIR \[dorado1@trex2 logs\]$ tail \-f modem.log cd $AUV\_ \\ In Term3:  \[dorado1@trex2 bin\]$ storefwdclient    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ In Term1: bash-2.00$ cd $AUV_CONFIG_DIR  bash-2.00$ cp devices.test.cfg devices.cfg In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ pwd /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ cat init.cfg behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; In Term1 (mvc-dmo1) bash-2.00$ cd $AUV/bin bash-2.00$ nohup ./vcsServer \-v & \[1\] 8344 bash-2.00$ ps \-a  8346  8344   2 10o REPLY    82   64K ./vcsServer \-v \[1\]+  Exit 154                nohup ./vcsServer \-v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 bash-2.00$ tail \-f VcsServer.log.0 In Term2: \[dorado1@trex2 missions\]$ nohup ../exec/amc_o_rt msg.timing.1.cfg & \[dorado1@trex2 missions\]$ cd ../log/ \[dorado1@trex2 log\]$ tail \-f latest/TREX.log \\ bash-2.00$ tail \-f VcsServer.log.0 62940673.813, \######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer \-\- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer\[t=0, delta=0\]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer\[t=1.86987, delta=1.86987\]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62940956.784, VcsServer: handling insertBehavior 62940957.024, VcsServer: ack - STARTED:140 62940960.284, VcsServer: ack - FINISHED:140 62940965.603, VcsServer: handling insertBehavior 62940966.183, VcsServer: ack - STARTED:1888 62940976.943, VcsServer\[t=123.142, delta=0.429971\]: Grabbing data 62940977.213, VcsServer: ack - FINISHED:1888 62940982.762, VcsServer: handling insertBehavior 62940982.992, VcsServer: ack - STARTED:3023 62940992.952, VcsServer\[t=139.15, delta=0.43997\]: Grabbing data 62940994.242, VcsServer: ack - FINISHED:3023 62940999.701, VcsServer: handling insertBehavior 62940999.931, VcsServer: ack - STARTED:4108 62941002.001, VcsServer\[t=148.2, delta=0.479967\]: Grabbing data 62941005.941, VcsServer\[t=152.14, delta=0.429971\]: Grabbing data 62941008.961, VcsServer\[t=155.159, delta=0.43997\]: Grabbing data 62941011.090, VcsServer: ack - FINISHED:4108 62941016.650, VcsServer: handling insertBehavior 62941017.190, VcsServer: ack - STARTED:5167 62941018.940, VcsServer\[t=165.139, delta=0.429971\]: Grabbing data 62941021.960, VcsServer\[t=168.158, delta=0.43997\]: Grabbing data 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer\[t=184.167, delta=0.43997\]: Grabbing data 62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) \!\!\! 62941055.697, Received a NULL message : should no happen. bash-2.00$ ps \-a   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl \-dyno \-plan AmcPlan.cfg \-abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer \-dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server \-dev /dev/ser12 \-useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver \-dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer \-r ashtech \-dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 \-serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer \-dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver \-serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci \-serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver \-n ctdDriver \-serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver \-n ctdDriver2 \-serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer \-dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer \-dev /dev/ser6    94     7   0 10o  WAIT    \-1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver \-dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl \-serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer \-dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight \-serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer \-v  8658  8344   2 10o REPLY     0   36K supervisor \-plan AmcPlan.cfg \-dyno  8667  8344   2 10o REPLY    23   16K tee \-i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver \-dyno \-plan AmcPlan.cfg \-abort bash-2.00$ bash-2.00$ slay supervisor bash-2.00$ ps \-a   In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ ps \-elf \| grep amc 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ grep relax latest/TREX.log \[dorado1@trex2 log\]$  Now, shutdown the OS on TREX2 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9797956 3179564 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj]]> 3114082 9830725 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) {code} [dorado1@trex2 amc]$ . config.amc[dorado1@trex2 amc]$ cd missions [dorado1@trex2 missions]$ cat vcs.cfg                                                         {code} \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* {code}                                                 {code} h5. Term3: *slogin trex2*    (or ssh trex2) \[dorado1@trex2 amc\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 \~\]$ *minicom iridium* Then type "*AT*" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power h5. Term1: Switch back to Term1 (QNX mvc-dmo1) to toggle the modem power bash-2.00$ *cd $AUV/bin* bash-2.00$ *reset_a3la* h5. Term3:  Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: {code} Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK +SBDI: 0, 1602, 0, 0, 0, 0 OK {code} type ctrl-a, then x to leave minicom \\ h5. Term4 (trex2): \[dorado1@trex2 \~\]$ *cd amc* \[dorado1@trex2 amc\]$ *. config.amc* \[dorado1@trex2 amc\]$ *cd $AUV_HOME/onboard/bin* \[dorado1@trex2 auv-linux\]$ *pwd* /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ *nohup ./nal \-dev /dev/ttyS0 &* {code} [1] 1968 [dorado1@trex2 bin]$ nohup: appending output to `nohup.out' {code} \[dorado1@trex2 bin\]$ *tail \-f nohup.out*\\ {code} terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG [NALDriver] read +GCMI response 14:20:15.623 INFO [NALDriver] manufacturer: OK 14:20:15.623 INFO [NALDriver] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e300000 14:20:15.643 DEBUG [NALApp] Leaving NALApp.initialize() 14:20:15.644 INFO [AuvApplication] run() - just sleeps by default {code} Then tail the modem.log \[dorado1@trex2 bin\]$ *cd $AUV_LOG_DIR* \[dorado1@trex2 logs\]$ *tail \-f modem.log* \\   h5. In Term3:  \[dorado1@trex2 bin\]$ *storefwdclient*    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ h5. In Term1: bash-2.00$ *cd $AUV_CONFIG_DIR*  bash-2.00$ *cp devices.test.cfg devices.cfg* h5. In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ *pwd* /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ *cat init.cfg*\\ {code} behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; {code} h5. In Term1 (mvc-dmo1): bash-2.00$ *cd $AUV/bin* bash-2.00$ *nohup ./vcsServer \-v &* \[1\] 8344 bash-2.00$ *ps \-a* {code}  8346  8344   2 10o REPLY    82   64K ./vcsServer -v [1]+  Exit 154                nohup ./vcsServer -v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 {code} bash-2.00$ tail \-f VcsServer.log.0 In Term2: \[dorado1@trex2 missions\]$ nohup ../exec/amc_o_rt msg.timing.1.cfg & \[dorado1@trex2 missions\]$ cd ../log/ \[dorado1@trex2 log\]$ tail \-f latest/TREX.log \\ bash-2.00$ tail \-f VcsServer.log.0 62940673.813, \######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer \-\- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer\[t=0, delta=0\]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer\[t=1.86987, delta=1.86987\]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62940956.784, VcsServer: handling insertBehavior 62940957.024, VcsServer: ack - STARTED:140 62940960.284, VcsServer: ack - FINISHED:140 62940965.603, VcsServer: handling insertBehavior 62940966.183, VcsServer: ack - STARTED:1888 62940976.943, VcsServer\[t=123.142, delta=0.429971\]: Grabbing data 62940977.213, VcsServer: ack - FINISHED:1888 62940982.762, VcsServer: handling insertBehavior 62940982.992, VcsServer: ack - STARTED:3023 62940992.952, VcsServer\[t=139.15, delta=0.43997\]: Grabbing data 62940994.242, VcsServer: ack - FINISHED:3023 62940999.701, VcsServer: handling insertBehavior 62940999.931, VcsServer: ack - STARTED:4108 62941002.001, VcsServer\[t=148.2, delta=0.479967\]: Grabbing data 62941005.941, VcsServer\[t=152.14, delta=0.429971\]: Grabbing data 62941008.961, VcsServer\[t=155.159, delta=0.43997\]: Grabbing data 62941011.090, VcsServer: ack - FINISHED:4108 62941016.650, VcsServer: handling insertBehavior 62941017.190, VcsServer: ack - STARTED:5167 62941018.940, VcsServer\[t=165.139, delta=0.429971\]: Grabbing data 62941021.960, VcsServer\[t=168.158, delta=0.43997\]: Grabbing data 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer\[t=184.167, delta=0.43997\]: Grabbing data 62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) \!\!\! 62941055.697, Received a NULL message : should no happen. bash-2.00$ ps \-a   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl \-dyno \-plan AmcPlan.cfg \-abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer \-dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server \-dev /dev/ser12 \-useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver \-dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer \-r ashtech \-dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 \-serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer \-dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver \-serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci \-serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver \-n ctdDriver \-serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver \-n ctdDriver2 \-serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer \-dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer \-dev /dev/ser6    94     7   0 10o  WAIT    \-1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver \-dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl \-serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer \-dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight \-serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer \-v  8658  8344   2 10o REPLY     0   36K supervisor \-plan AmcPlan.cfg \-dyno  8667  8344   2 10o REPLY    23   16K tee \-i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver \-dyno \-plan AmcPlan.cfg \-abort bash-2.00$ bash-2.00$ slay supervisor bash-2.00$ ps \-a   In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ ps \-elf \| grep amc 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ grep relax latest/TREX.log \[dorado1@trex2 log\]$  Now, shutdown the OS on TREX2 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9797958 21004814 /timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=current tick} * *input:* none * *output:* The date (UTC) and value (an integer) of the current tick of trex This call may have a push based counterpart in the future. Indeed the current tick changes in trex as time advance. in my ODSS version I currently use a tick running at a 1 mn period {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}?from=\{int\} ** GET http:///timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {note} This operation will not be implemented initially. For any modification, first DELETE then (re)POST the goal. {note} {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972051 3179562 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h5. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h6.            \\ Debian Linux Setup (todo): * eth1 (wifi) * config out the audio support * two serial ports not setup (ttyS12 adn ttyS13) * startup ** startup omniNames & and notifd \-c $OMNINOTIFY_DIR/channel.cfg & * Investigate update to newer kernel (2.6.24 recommended since it's slated for next debian release 'lenny').    This is to fix the timing issue found in tailcone test (off by 4msec). \\ *Issues* Native development: auv-linux software is not compatible with version 3.1 of debian due to gcc/glibc issues. * Resolution:  install latest stable debian release (4.0 etch) as this is closer in compatibility to Fedora Core 6 currently in use by the development team ** Recommendation:  install the same linux on workstations as on embedded PC104 (test what you fly, fly what you test).   The problem with installing Fedora Core 6 is that it is no longer available for download (7 and 8 are available) and is not currently supported by Red Hat.  Fedora is the experimental branch that feeds the product Red Hat Enteprise releases and may not have the level of sustained support to be used long term in the AUV. * Experiemented with Fedora Core 8 installation.    auv-linux build failed with a seg fault in doxygen - this likely could be patched, but didn't want to spend the time. ** Which Distro? *** Debian Pro's **** Widely used in embedded systems (as well as servers and back-end equipment with strong uptime requirements) **** Robust, supported, production release avaible **** Retargettable to other embedded instruction set architectures (ARM, PowerPC, etc.) **** Debian and it's derivatives are made by and used by hardcore linux developers / experts *** Debian Con's **** RedHat and Fedora have a broader user familiarity at MBARI than Debian - 'Debian is different' **** Debian is not installed on development workstations - time impact to install.    (A mitigation option could be to make a VMWare or Xen image of Debian). *** Fedora Core 6 Pro's **** Used by auv-linux developers on their workstations  **** Used by T-Rex team on workstations and embedded PC104 processor **** Familiar to MBARI development engineers *** Fedora Core 6 Con's **** Fedora is Red Hat's experimental code stream not intended for production use.   Lacks long term support.   **** Fedora Core 6 is NO LONGER AVAILABLE for download **** Fedora Core 6 is ad hoc updated by developers.   An informal poll shows one machine at 2.6.22, and another at 2.6.20.    Stock FC6 is 2.6.18 (same as Debian 4.0). ***  Recommend selecting an up to date production distro that can have a service life of 2 to 3 years. h4. Native Development Environment: Debian 4.0 Install and auv-linux software install * Install Debian 4.0 (etch): ** Warning: 5GB harddisk will run out of space if config'd during debian install for separate /home partition when building linux kernel to config the serial port.      ** Burn DVD with net install and boot PC from DVD ** Hostname:   mvc-debian4 ** Domain: shore.mbari.org ** Partitioning: Guided - use entire disk.    Either "all files in one partion' (or 'separate /home partition).   This creates ext3 file system in the partitions. ** root password:  dorado1 ** users:  auv (for development) and dorado1 (for runtime) ** Use network mirror for complete package list (if internet connected) ** Software install: Standard (only) ** Install Grub to the master boot record ** Remove DVD and allow boot from harddisk ** Time: (~45 min depending on harddisk format time) ** After boot, login as root and re-insert Debian 4 r3 net install DVD. ** Run aptitude (as root), browse to 'Not Installed Packages' and select:  (15 min) *** ant - XML build system *** ant-optional *** autoconf *** autogen *** automake (should already be selected) *** binutils - GNU assembler, linker and binary utils *** bison  - (fixes error in auv-shared build where lex not found) *** cccc - c and c+\+ code counter, software metrics tool (optional) *** curves - cvs console app (optional) *** cvs *** doxygen *** electric-fence - malloc debugger *** flex - lexical analyzer generator for auv builds (fixes error in auv-shared build where lex not found) *** g+\+ (4.1 pulls in gcc 4.1) *** libtool    (fixes error in log4cxx build 'libtoolize not found') *** linux-source-2.6.18 *** make *** (omniidl and omniorb are tempting - talk to Tom) *** oprofile - performance profiling tool *** subversion     (for pulling log4cxx from apache)  *** editors (elvis-console for vi with multiple files, qemacs, vim) *** linux-source (under virtual packages, needed for rebuilding kernel to config the serial drivers) \\ ** Install the following with apt-get (could also install these packages with aptitude):  (10 min) *** \*apt-get install subversion   *** \*apt-get install libtool *** apt-get install gdb *** apt-get install openssl *** apt-get install ssh (secure shell server) *** apt-get install minicom *** apt-get install python-all *** apt-get install python-all-dev  (needed for omniORB build) *** apt-get install lirc setserial *** \*apt-get install linux-source-2.6.18 *** apt-get install kernel-package libncurses5-dev fakeroot wget build-essential (kernel build and debian package create) *** apt-get install xutils-dev  (auv-shared needs gccmakedep utility) *** (not needed) apt-get install khexedit (for debug of parosci serial port problems) \\ ** Setup the auv-linux development environment (build and install auv-pkgs (1.5hrs), auv-shared and auv-linux)  *** as 'auv', mkdir /home/auv/prj.   cd /home/auv/prj *** export CVSROOT=':pserver:tm@moonjelly.shore.mbari.org:/home/cvs' *** cvs login *** cvs checkout auv-pkgs *** cvs checkout auv-shared *** cvs checkout auv-linux *** cd /home/auv/prj/auv-pkgs *** source set-auv-env (or ". set-auv-env") *** edit /home/auv/.bash_profile, add source /home/auv/prj/auv-pkgs/set-auv-env for persistance *** setup, build and install auv-pkgs **** su root **** cd $AUV_PKGS **** . 1_omniORB.bat **** . 2_omniNotify.bat **** . 3_gctpc.bat **** . 4_apr.bat **** . 5_apr-util.bat **** . 6_log4cxx.bat **** . 7_netcdb.bat **** . 8_newmat.bat **** . 9_cppunit.bat **** . final.bat   (changes owner ship of prj directory to 'auv' *** add auv startup script:   /etc/rcS/S80auv-startup.sh **** \#\!/bin/sh \# auv startup script **** \# initialize Posix mqueue infrastructure mkdir /dev/mqueue mount \-t mqueue none /dev/mqueue **** chmod 777 /dev/mqueue *** Then (as root) update the startup sequence: update-rc.d \-f S80auv-startup.sh start 99 2 3 4 5 . ***** Note to remove: update-rc.d S80auv-startup.sh remove **** to disable the script - rename S80auv-startup.sh to K80auv-startup.sh.     read the README in /etc/rcS.d/README *** exit back to user 'auv' *** build auv-shared **** in auv-shared/utility/Makefile - change  LIBPATH to: LIBPATH     = $AUV_PKGS/omniORB/build/lib/ **** apt-get install xutils-dev to get gccmakedep *** build auv-linux **** edit taskIF Makefile - comment out idlj and javac lines *** Run supervisor (this creates logs/latest link) **** from auv-linux/onboard, run ***** supervisor \-proc sampleConfig/simprocess.cfg \-plan sampleConfig/simWaypoint.cfg *****   ** Rebuilding the linux kernel to enable the serial drivers on the Xtreme PC104 serial card (start 3:45 *** Note: Procedure for Xtreme 104 12 port serial card is at [http://www.connecttech.com/ftp/installguides/s_install_EC-LN26.htm ]; *** logged in as root *** cp serial.conf /etc  *** cd /usr/src *** tar jxf linux-source-2.6.18.tar.bz2 *** cd linux-source-2.6.18 *** make clean && make mrproper *** uname \-r to get /boot/config-'uname \-r' name *** cp /boot/config-2.6.18-6-686 ./.config    (copy the previous kernel config) *** make menuconfig **** Go to _Load an Alternate Configuration File_ (page down) and choose _.config_ (which contains the configuration of your current working kernel) **** Device Drivers  \--> Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj h5. Drivers: * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114080 3179561 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj]]> 3114079 21004807 /timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=current tick} * *input:* none * *output:* The date (UTC) and value (an integer) of the current tick of trex This call may have a push based counterpart in the future. Indeed the current tick changes in trex as time advance. in my ODSS version I currently use a tick running at a 1 mn period {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}?from=\{int\} ** GET http:///timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the response to a "Post new goal" command ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972044 3179560 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj]]> 3114078 3179558 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj ]]> 3114076 21004803 /timelines * *input:* none * *output:* ** a list of all the timelines trex currently have as a json object with a format as given in this example {code:javascript} { "timelines": [ { "name": "bar", "href": "/timeline/bar" }, { "name": "baz", "href": "/timeline/baz" }, { "name": "blop", "href": "/timeline/blop" }, { "name": "foo", "href": "/timeline/foo" } ] } {code} ** "timelines" is thea table containing all the timelines descriptors ** A timeline descriptor have the following fields: *** "name" the symbolic name of the timeline *** "href" the URI pointing to the timeline (see "Content of timeline" below) {panel} {panel:title=current tick} * *input:* none * *output:* The date (UTC) and value (an integer) of the current tick of trex This call may have a push based counterpart in the future. Indeed the current tick changes in trex as time advance. in my ODSS version I currently use a tick running at a 1 mn period {panel} {panel:title=Content of a timeline} * *formats:* ** GET http:///timeline/\{name\} ** GET http:///timeline/\{name\}?from=\{int\} ** GET http:///timeline/\{name\}?from=\{int\}&to=\{int\} ** GET http:///timeline/\{name\}?to=\{int\} * *input:* ** \{name\} the name of the timeline ** _from_ lower bound of the time window of interest _(optional)_ ** _to_ upper bound of the time window of interest _(optional)_ * *output:* ** The list of all the tokens of this timeline that overlaps the given time interval. (format TBD) * *error:* ** 400: invalid request. The timeline name is either missing or non existent * *example:* ** GET http:///timeline/dorado?from=0&to=100 {panel} {panel:title=Post a new goal} * *format:* ** POST http:///goal ** *attachment:* A json file describing the goal * *output:* ** a json file giving the goal id along with its related URI. Still TBD but should look as follow: {code:javascript} { "id": "0x29ee90df", "href": "/goal/0x29ee90df" } {code} * *error:* ** 400: invalid request the goal is not well formatted * *note:* This feedback of this call only indicate whether the goal is properly formatted or not. An OK do not mean that the goal has been included in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline has been notified of this new goal {panel} {panel:title=Modify an existing goal} * *format:* ** PUT http:///goal/\{goal_id\} ** *attachment:* A json file describing the goal * *output:* ** 200 OK * *error:* ** 404: Goal not found (invalid goal id) ** 400: invalid request the goal is not well formatted * *note:* An OK does not mean that the goal has been updated in the plan yet (which is asynchronous and dynamic) but only that the reactors that manage the associated timeline have been notified of this new goal {panel} {panel:title=Cancel a goal} * *format:* ** DELETE http:///goal/\{id\} * *input:* ** \{id\} the identifier of the goal as given by the feedback of "Post new goal" command * *output:* none * *error:* ** 400: unknown goal id * *effect:* ** remove the goal with the associated id from the plan {panel} This 3 simple calls will be the first basis of interaction. We envision later on to add extra calls as we see fit. h2. Push services envisioned {panel:title=new tick} This service will notify the client whenever the tick in trex advance {panel} {panel:title=new plan} This service will notify the client whenever trex produced a new plan As trex is composed to multiple planners, each of them dealing with its specific set of timlines. It may be better for the user to specify which set of timelines it want to be notified on similarly the event should give the set of timelines that have been updated {panel} ]]> 20972040 9830717 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*\\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions Term1:  telnet mvc-dmo1  bash-2.00$ cd /home/dorado1/auv_autonomy bash-2.00$ . configSrc bash-2.00$ qtalk \-m /dev/ser13 \!a  (look for gulperFB=1), then ctrl-a, x\\ \\ Term2:   ssh trex2 cd amc  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ . config.amc \[dorado1@trex2 amc\]$ cd missions \[dorado1@trex2 missions\]$ cat vcs.cfg <\!-\- Configuration file used byt VCS/CORBA adapter and others to \-\-   \-\- declare the timelines which interface with the vehicle and other \-\-   \-\- parameters.      Note : the remoteName should preferably be  by default (at least \-\-   \-\- on svn) mvc-dmo1 other attributes of the main tag ashould \_not\_ \-\-   \-\- be changed \! (except you know exactly what you are doing) \-->                                                         \[dorado1@trex2 missions\]$\\ \[dorado1@trex2 missions\]$ cat amc.cfg <\!-\- This file is the basic configuration for:      - connecting to the auv (QNX or Linux)      - and send/receive messages through the iridium modem.      As fo now the connect is set to 1 by default as this file should      be used on "real" conditions. \-->         <\!-\- Use this component when running onboard \-->                                 <\!-\- Skipper has 10 Hour lookahead. \-->         \[dorado1@trex2 missions\]$   Term3: slogin trex2    (or ssh trex2) \[dorado1@trex2 amc\]$ cd amc \[dorado1@trex2 amc\]$ . config.amc \[dorado1@trex2 \~\]$ minicom iridium Then type "AT" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power Switch back to Term1 (QNX mvc-dmo1) bash-2.00$ cd $AUV/bin bash-2.00$ reset_a3la Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK \+SBDI: 0, 1602, 0, 0, 0, 0 OK   Type ctrl-a, then x to leave minicom\\ In Term4: \[dorado1@trex2 \~\]$ cd amc \[dorado1@trex2 amc\]$ . config.amc \[dorado1@trex2 amc\]$ cd $AUV_HOME/onboard/bin \[dorado1@trex2 auv-linux\]$ pwd /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ nohup ./nal \-dev /dev/ttyS0 & \[1\] 1968 \[dorado1@trex2 bin\]$ nohup: appending output to `nohup.out' \[dorado1@trex2 bin\]$ tail \-f nohup.out terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG \[NALDriver\] read \+GCMI response 14:20:15.623 INFO \[NALDriver\] manufacturer: OK 14:20:15.623 INFO \[NALDriver\] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e30000000010000000000000064000000010102000d0000003133342e38392e33322e333900002aa60e000000fe8ac4f849000007b0000000000200000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100 14:20:15.643 DEBUG \[NALApp\] Leaving NALApp.initialize() 14:20:15.644 INFO \[AuvApplication\] run() - just sleeps by default Then tail the modem.log \[dorado1@trex2 bin\]$ cd $AUV_LOG_DIR \[dorado1@trex2 logs\]$ tail \-f modem.log cd $AUV\_\\ In Term3:  \[dorado1@trex2 bin\]$ storefwdclient    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message\\ In Term1: bash-2.00$ cd $AUV_CONFIG_DIR  bash-2.00$ cp devices.test.cfg devices.cfg In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ pwd /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ cat init.cfg behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; In Term1 (mvc-dmo1) bash-2.00$ cd $AUV/bin bash-2.00$ nohup ./vcsServer \-v & \[1\] 8344 bash-2.00$ ps \-a  8346  8344   2 10o REPLY    82   64K ./vcsServer \-v \[1\]+  Exit 154                nohup ./vcsServer \-v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 bash-2.00$ tail \-f VcsServer.log.0 In Term2: \[dorado1@trex2 missions\]$ nohup ../exec/amc_o_rt msg.timing.1.cfg & \[dorado1@trex2 missions\]$ cd ../log/ \[dorado1@trex2 log\]$ tail \-f latest/TREX.log \\ \\]]> 9797950 21135362 2013-04-09 13:22:09.590 2013-04-09 13:22:09.600 9830721 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions h5. Term1:  *telnet mvc-dmo1* bash-2.00$ *cd /home/dorado1/auv_autonomy* bash-2.00$ *. configSrc* bash-2.00$ *qtalk \-m /dev/ser13* *\!a*  (look for gulperFB=1), then *ctrl-a, x* \\ \\ h5. Term2:   *ssh trex2* \[dorado1@trex2 dorado1\]$ *cd amc*  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ *. config.amc*\[dorado1@trex2 amc\]$ *cd missions* \[dorado1@trex2 missions\]$ *cat vcs.cfg* <\!-\- Configuration file used byt VCS/CORBA adapter and others to \-\-   \-\- declare the timelines which interface with the vehicle and other \-\-   \-\- parameters.      Note : the remoteName should preferably be  by default (at least \-\-   \-\- on svn) mvc-dmo1 other attributes of the main tag ashould \_not\_ \-\-   \-\- be changed \! (except you know exactly what you are doing) \-->                                                         \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ *cat amc.cfg* <\!-\- This file is the basic configuration for:      - connecting to the auv (QNX or Linux)      - and send/receive messages through the iridium modem.      As fo now the connect is set to 1 by default as this file should      be used on "real" conditions. \-->         <\!-\- Use this component when running onboard \-->                                 <\!-\- Skipper has 10 Hour lookahead. \-->         \[dorado1@trex2 missions\]$   Term3: slogin trex2    (or ssh trex2) \[dorado1@trex2 amc\]$ cd amc \[dorado1@trex2 amc\]$ . config.amc \[dorado1@trex2 \~\]$ minicom iridium Then type "AT" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power Switch back to Term1 (QNX mvc-dmo1) bash-2.00$ cd $AUV/bin bash-2.00$ reset_a3la Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK \+SBDI: 0, 1602, 0, 0, 0, 0 OK   Type ctrl-a, then x to leave minicom \\ In Term4: \[dorado1@trex2 \~\]$ cd amc \[dorado1@trex2 amc\]$ . config.amc \[dorado1@trex2 amc\]$ cd $AUV_HOME/onboard/bin \[dorado1@trex2 auv-linux\]$ pwd /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ nohup ./nal \-dev /dev/ttyS0 & \[1\] 1968 \[dorado1@trex2 bin\]$ nohup: appending output to `nohup.out' \[dorado1@trex2 bin\]$ tail \-f nohup.out terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG \[NALDriver\] read \+GCMI response 14:20:15.623 INFO \[NALDriver\] manufacturer: OK 14:20:15.623 INFO \[NALDriver\] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e30000000010000000000000064000000010102000d0000003133342e38392e33322e333900002aa60e000000fe8ac4f849000007b0000000000200000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100 14:20:15.643 DEBUG \[NALApp\] Leaving NALApp.initialize() 14:20:15.644 INFO \[AuvApplication\] run() - just sleeps by default Then tail the modem.log \[dorado1@trex2 bin\]$ cd $AUV_LOG_DIR \[dorado1@trex2 logs\]$ tail \-f modem.log cd $AUV\_ \\ In Term3:  \[dorado1@trex2 bin\]$ storefwdclient    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ In Term1: bash-2.00$ cd $AUV_CONFIG_DIR  bash-2.00$ cp devices.test.cfg devices.cfg In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ pwd /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ cat init.cfg behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; In Term1 (mvc-dmo1) bash-2.00$ cd $AUV/bin bash-2.00$ nohup ./vcsServer \-v & \[1\] 8344 bash-2.00$ ps \-a  8346  8344   2 10o REPLY    82   64K ./vcsServer \-v \[1\]+  Exit 154                nohup ./vcsServer \-v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 bash-2.00$ tail \-f VcsServer.log.0 In Term2: \[dorado1@trex2 missions\]$ nohup ../exec/amc_o_rt msg.timing.1.cfg & \[dorado1@trex2 missions\]$ cd ../log/ \[dorado1@trex2 log\]$ tail \-f latest/TREX.log \\ bash-2.00$ tail \-f VcsServer.log.0 62940673.813, \######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer \-\- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer\[t=0, delta=0\]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer\[t=1.86987, delta=1.86987\]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62940956.784, VcsServer: handling insertBehavior 62940957.024, VcsServer: ack - STARTED:140 62940960.284, VcsServer: ack - FINISHED:140 62940965.603, VcsServer: handling insertBehavior 62940966.183, VcsServer: ack - STARTED:1888 62940976.943, VcsServer\[t=123.142, delta=0.429971\]: Grabbing data 62940977.213, VcsServer: ack - FINISHED:1888 62940982.762, VcsServer: handling insertBehavior 62940982.992, VcsServer: ack - STARTED:3023 62940992.952, VcsServer\[t=139.15, delta=0.43997\]: Grabbing data 62940994.242, VcsServer: ack - FINISHED:3023 62940999.701, VcsServer: handling insertBehavior 62940999.931, VcsServer: ack - STARTED:4108 62941002.001, VcsServer\[t=148.2, delta=0.479967\]: Grabbing data 62941005.941, VcsServer\[t=152.14, delta=0.429971\]: Grabbing data 62941008.961, VcsServer\[t=155.159, delta=0.43997\]: Grabbing data 62941011.090, VcsServer: ack - FINISHED:4108 62941016.650, VcsServer: handling insertBehavior 62941017.190, VcsServer: ack - STARTED:5167 62941018.940, VcsServer\[t=165.139, delta=0.429971\]: Grabbing data 62941021.960, VcsServer\[t=168.158, delta=0.43997\]: Grabbing data 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer\[t=184.167, delta=0.43997\]: Grabbing data 62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) \!\!\! 62941055.697, Received a NULL message : should no happen. bash-2.00$ ps \-a   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl \-dyno \-plan AmcPlan.cfg \-abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer \-dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server \-dev /dev/ser12 \-useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver \-dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer \-r ashtech \-dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 \-serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer \-dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver \-serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci \-serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver \-n ctdDriver \-serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver \-n ctdDriver2 \-serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer \-dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer \-dev /dev/ser6    94     7   0 10o  WAIT    \-1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver \-dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl \-serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer \-dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight \-serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer \-v  8658  8344   2 10o REPLY     0   36K supervisor \-plan AmcPlan.cfg \-dyno  8667  8344   2 10o REPLY    23   16K tee \-i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver \-dyno \-plan AmcPlan.cfg \-abort bash-2.00$ bash-2.00$ slay supervisor bash-2.00$ ps \-a   In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ ps \-elf \| grep amc 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ grep relax latest/TREX.log \[dorado1@trex2 log\]$  Now, shutdown the OS on TREX2 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9797954 9830719 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ \\ h1. Hardware-in-the-loop Test Open 4 terminal sessions Term1:  telnet mvc-dmo1  bash-2.00$ cd /home/dorado1/auv_autonomy bash-2.00$ . configSrc bash-2.00$ qtalk \-m /dev/ser13 \!a  (look for gulperFB=1), then ctrl-a, x \\ \\ Term2:   ssh trex2 cd amc  (/home/dorado1/amc) \[dorado1@trex2 amc\]$ . config.amc \[dorado1@trex2 amc\]$ cd missions \[dorado1@trex2 missions\]$ cat vcs.cfg <\!-\- Configuration file used byt VCS/CORBA adapter and others to \-\-   \-\- declare the timelines which interface with the vehicle and other \-\-   \-\- parameters.      Note : the remoteName should preferably be  by default (at least \-\-   \-\- on svn) mvc-dmo1 other attributes of the main tag ashould \_not\_ \-\-   \-\- be changed \! (except you know exactly what you are doing) \-->                                                         \[dorado1@trex2 missions\]$ \\ \[dorado1@trex2 missions\]$ cat amc.cfg <\!-\- This file is the basic configuration for:      - connecting to the auv (QNX or Linux)      - and send/receive messages through the iridium modem.      As fo now the connect is set to 1 by default as this file should      be used on "real" conditions. \-->         <\!-\- Use this component when running onboard -->                                 <\!-\- Skipper has 10 Hour lookahead. -->         \[dorado1@trex2 missions\]$   Term3: slogin trex2    (or ssh trex2) \[dorado1@trex2 amc\]$ cd amc \[dorado1@trex2 amc\]$ . config.amc \[dorado1@trex2 \~\]$ minicom iridium Then type "AT" and look for "OK" (no quotes) If the vehicle has just been powered up, there is no response so you'll need to enable the A3LA modem power Switch back to Term1 (QNX mvc-dmo1) bash-2.00$ cd $AUV/bin bash-2.00$ reset_a3la Switch back to Term3 where minicom is running and type "AT", sometimes it says ERROR, just type AT again Here's a sample of the minicom session: Welcome to minicom 2.1 OPTIONS: History Buffer, F-key Macros, Search History Buffer, I18n Compiled on Jul 26 2006, 06:38:09. Press CTRL-A Z for help on special keys ERROR OK \+SBDI: 0, 1602, 0, 0, 0, 0 OK   Type ctrl-a, then x to leave minicom \\ In Term4: \[dorado1@trex2 \~\]$ cd amc \[dorado1@trex2 amc\]$ . config.amc \[dorado1@trex2 amc\]$ cd $AUV_HOME/onboard/bin \[dorado1@trex2 auv-linux\]$ pwd /home/dorado1/auv-linux/onboard/bin \[dorado1@trex2 bin\]$ nohup ./nal \-dev /dev/ttyS0 & \[1\] 1968 \[dorado1@trex2 bin\]$ nohup: appending output to `nohup.out' \[dorado1@trex2 bin\]$ tail \-f nohup.out terminate called after throwing an instance of 'omni_thread_fatal' Reading log4cxx configuration file "/home/dorado1/auv-linux/onboard//sampleConfig/log4cxx.cfg" 14:20:15.598 DEBUG \[NALDriver\] read \+GCMI response 14:20:15.623 INFO \[NALDriver\] manufacturer: OK 14:20:15.623 INFO \[NALDriver\] initialize() complete IOR:010000001a00000049444c3a6175762f53746f7265416e6446776449463a312e30000000010000000000000064000000010102000d0000003133342e38392e33322e333900002aa60e000000fe8ac4f849000007b0000000000200000200000000000000080000000100000000545441010000001c00000001000000010001000100000001000105090101000100000009010100 14:20:15.643 DEBUG \[NALApp\] Leaving NALApp.initialize() 14:20:15.644 INFO \[AuvApplication\] run() - just sleeps by default Then tail the modem.log \[dorado1@trex2 bin\]$ cd $AUV_LOG_DIR \[dorado1@trex2 logs\]$ tail \-f modem.log cd $AUV\_ \\ In Term3:  \[dorado1@trex2 bin\]$ storefwdclient    (type in a descriptive test string like "This is the vehicle on the zephyr hardware in the loop test by Thom") Check to see that the email arrived, \[auvsbd\] SBD Msg From Unit: 300003000227440, with an \*.sbd as attachment.   Open the attachment with a text editor to verify the message \\ In Term1: bash-2.00$ cd $AUV_CONFIG_DIR  bash-2.00$ cp devices.test.cfg devices.cfg In Term2 (trex2 in missions dir) Verify the settings in init.cfg \[dorado1@trex2 missions\]$ pwd /home/dorado1/amc/missions \[dorado1@trex2 missions\]$ cat init.cfg behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; In Term1 (mvc-dmo1) bash-2.00$ cd $AUV/bin bash-2.00$ nohup ./vcsServer \-v & \[1\] 8344 bash-2.00$ ps \-a  8346  8344   2 10o REPLY    82   64K ./vcsServer \-v \[1\]+  Exit 154                nohup ./vcsServer \-v bash-2.00$ cd $AUV_LOG_DIR bash-2.00$ ls 2009.117.00/              2009.119.00/              latest@ 2009.118.00/              2009.119.01/              nov.13th.vcs.tar 2009.118.05/              CVS/                      testLogs/ 2009.118.06/              VcsServer.log.0 bash-2.00$ tail \-f VcsServer.log.0 In Term2: \[dorado1@trex2 missions\]$ nohup ../exec/amc_o_rt msg.timing.1.cfg & \[dorado1@trex2 missions\]$ cd ../log/ \[dorado1@trex2 log\]$ tail \-f latest/TREX.log \\ bash-2.00$ tail \-f VcsServer.log.0 62940673.813, \######################### Wed Apr 29 21:31:13 2009 62940673.943, VcsServer \-\- configuration:         Port = 8004 ms 62940673.943, VcsServer: Socket created on fd 6 62940673.993, VcsServer - running 62940853.801, VcsServer: Connected to client on 134.89.32.39 62940853.801, VcsServer\[t=0, delta=0\]: Grabbing data 62940853.981, VcsServer:initMission: behavior missionTimer {         timeOut = 26000; } behavior depthEnvelope {         minDepth = 0;         maxDepth = 175;         abortDepth = 185;         abortAltitude = 15.0; } behavior setpoint {         id=0;         heading=0;         speed=0.0;         verticalMode=pitch;         pitch=0;         duration=60; } 62940854.331, VcsServer::initMission() - starting supervisor 62940855.371, VcsServer::openLC() - created IF with LayeredControl 62940855.671, VcsServer\[t=1.86987, delta=1.86987\]: Grabbing data 62940891.739, VcsServer: ack - STARTED:0 62940952.044, VcsServer::handleLCMessages() - AMC mission started 62940952.044, VcsServer: ack - FINISHED:0 62940956.784, VcsServer: handling insertBehavior 62940957.024, VcsServer: ack - STARTED:140 62940960.284, VcsServer: ack - FINISHED:140 62940965.603, VcsServer: handling insertBehavior 62940966.183, VcsServer: ack - STARTED:1888 62940976.943, VcsServer\[t=123.142, delta=0.429971\]: Grabbing data 62940977.213, VcsServer: ack - FINISHED:1888 62940982.762, VcsServer: handling insertBehavior 62940982.992, VcsServer: ack - STARTED:3023 62940992.952, VcsServer\[t=139.15, delta=0.43997\]: Grabbing data 62940994.242, VcsServer: ack - FINISHED:3023 62940999.701, VcsServer: handling insertBehavior 62940999.931, VcsServer: ack - STARTED:4108 62941002.001, VcsServer\[t=148.2, delta=0.479967\]: Grabbing data 62941005.941, VcsServer\[t=152.14, delta=0.429971\]: Grabbing data 62941008.961, VcsServer\[t=155.159, delta=0.43997\]: Grabbing data 62941011.090, VcsServer: ack - FINISHED:4108 62941016.650, VcsServer: handling insertBehavior 62941017.190, VcsServer: ack - STARTED:5167 62941018.940, VcsServer\[t=165.139, delta=0.429971\]: Grabbing data 62941021.960, VcsServer\[t=168.158, delta=0.43997\]: Grabbing data 62941028.259, VcsServer: ack - FINISHED:5167 62941033.779, VcsServer: handling insertBehavior 62941034.039, VcsServer: ack - STARTED:6226 62941037.969, VcsServer\[t=184.167, delta=0.43997\]: Grabbing data 62941045.198, VcsServer: ack - FINISHED:6226 62941052.248, VcsServer: No ping received for 7 of up to 12 seconds 62941053.058, VcsServer: No ping received for 8 of up to 12 seconds 62941054.137, VcsServer: No ping received for 9 of up to 12 seconds 62941055.217, VcsServer: No ping received for 10 of up to 12 seconds 62941055.697, VcsServer::recvString - received 0 bytes when expected 4 (uint32_t) \!\!\! 62941055.697, Received a NULL message : should no happen. bash-2.00$ ps \-a   PID  PGRP SID PRI STATE   BLK  SIZE COMMAND  8707  8344   2 14o  RECV     0   60K dynamicControlServer    17     7   0 24f  RECV     0  632K (//9/bin/Dev32)  8726  8344   2 14o  RECV     0  176K layeredControl \-dyno \-plan AmcPlan.cfg \-abort abortMplan.cfg    23     7   0 10r  RECV     0   32K (//9/bin/Pipe)    24     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    25     7   0 20r  RECV     0  160K (//9/bin/Dev32.ser)    26     7   0 20r  RECV     0  300K (//9/bin/Dev.ctiser)    27     7   0 20r  RECV     0  440K (//9/bin/Dev32.ansi)    31     7   0  9o  RECV     0  148K (//9/bin/Dev32.par)    32    17   0 20r  RECV     0  316K (//9/bin/Dev32.pty)    36     4   0 10o  RECV     0 18272K (//9/bin/Fsys.floppy)    37     7   0 10o  RECV     0   56K (//9/bin/Iso9660fsys)    40     7   0 20o  RECV     0   20K (//9/bin/nameloc)    41     7   0 20o REPLY     0   16K (//9/bin/nameloc)    43     7   0 10o  RECV     0  120K (//9/bin/Dosfsys)    45     7   0 23r  RECV     0  336K (//9/bin/Net)    47     7   0 20r  RECV     0  348K (//9/bin/Net.ether82557)    48     7   0 20r  RECV     0   56K (//9/bin/Net.ether1000)  8754  8344   2 18o  RECV     0  132K navigation  8756  8344   2 14o  RECV     0   64K newTailConeServer \-dev /dev/ser3  8758  8344   2 18o  RECV     0   60K m3dmgx1Server \-dev /dev/ser12 \-useForNav  8761  8344   2 19o REPLY     0   96K newTailConeDriver \-dev /dev/ser3,9600,8,n,1  8762  8344   2 18o  RECV     0   48K gpsServer \-r ashtech \-dev /dev/ser7  8766  8344   2 10o  RECV     0   88K m3dmgx1 \-serial /dev/ser12,9600,8,n,1  8767  8344   2 10o  RECV     0   60K parosciServer \-dev /dev/ser5  8772  8344   2 10o  RECV  8791   60K ashtechDriver \-serial /dev/ser7,9600,8,n,1  8773  8344   2 10o  RECV     0   60K seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001  8774  8344   2 19o REPLY    17   84K parosci \-serial /dev/ser5,9600,8,n,1  8778  8344   2 10o  RECV     0   60K seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002  8779  8344   2 10o REPLY    82   92K seabirdDriver \-n ctdDriver \-serial tcp:sci1-dmo1:10001,9600,8,n,1  8782  8344   2 10o REPLY    82   92K seabirdDriver \-n ctdDriver2 \-serial tcp:sci1-dmo1:10002,9600,8,n,1  8793  8344   2 10o  RECV     0   52K bluefinBattServer \-dev /dev/ser10  8796  8344   2 18o  RECV     0   52K dvlServer \-dev /dev/ser6    94     7   0 10o  WAIT    \-1   28K (//9/bin/tinit)  8799  8344   2 10o REPLY     0   68K bluefinBattDriver \-dev /dev/ser10    98     7   0 10o  RECV     0   20K (//9/bin/tinit)    99     7   0 14o  RECV     0   68K (//9/bin/Mqueue)  8804  8344   2 10o REPLY    17   80K dvl \-serial /dev/ser6,9600,8,n,1  8806  8344   2 10o  RECV     0   48K dropWeightServer \-dev /dev/ser13  8814  8344   2 10o  RECV     0   64K statePublisher  8818  8344   2 10o READY         52K dropWeight \-serial /dev/ser13,9600,8,n,1  8346  8344   2 10o REPLY     0   64K ./vcsServer \-v  8658  8344   2 10o REPLY     0   36K supervisor \-plan AmcPlan.cfg \-dyno  8667  8344   2 10o REPLY    23   16K tee \-i /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/syslog  8675  8344   2 10o  RECV     0   28K eventLogServer  8677  8344   2 18o  RECV     0   64K workSite  8679  8344   2 18o  RECV     0   72K vehicleConfigurationServer  8682  8344   2 10o  RECV     0   32K externalCommsServer  8686  8344   2 14o  RECV     0  112K navigationServer  8688  8344   2 10o  RECV  8760   32K externalComms  8690  8344   2 10o  RECV     0  140K layeredControl erver \-dyno \-plan AmcPlan.cfg \-abort bash-2.00$ bash-2.00$ slay supervisor bash-2.00$ ps \-a   In Term2 (trex2): Verify that amc_o_rt has terminated \[dorado1@trex2 log\]$ ps \-elf \| grep amc 0 R dorado1   2040  1761  0  78   0 \-   975 \-      14:45 pts/0    00:00:00 grep amc Verify that TREX did not have a problem (relax in the log is BAD) \\ \[dorado1@trex2 log\]$ grep relax latest/TREX.log \[dorado1@trex2 log\]$  Now, shutdown the OS on TREX2 to prep for power off \[dorado1@trex2 logs\]$ su root Password: \[root@trex2 logs\]# /sbin/shutdown now Broadcast message from root (pts/2) (Wed Apr 29 14:48:07 2009): The system is going down to maintenance mode NOW\! \[root@trex2 logs\]# In Term1: bash-2.00$ su root bash-2.00# shutdown \-b]]> 9797952 21135361 2013-04-09 13:22:04.210 2013-04-09 13:22:04.217 9830701 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* \\ ---- h1. VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # On mvc-dmo1, verify the devices.cfg is set correctly ## in the telnet to mvc-dmo1, ### % *cd $AUV_CONFIG_DIR* ### *% cp devices.vsim.cfg devices.cfg* ### % cat statePublisher.cfg   (Make sure that the state publisher is visible to the client. ###* the IP address of the correct client (trex2) is uncommented with *AMC_IP* ### Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' .  Also make sure Mqueue is running. ###* $ *ps \-a* # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## In terminal session 1: ### % nal \-dev /dev/ttyS0 ## In terminal session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### test the 'uplink' by running the Matlab script (TODO: add procedure for this) ### check email by subscribing to auvsbd@mbari.org at mbari listserver (or checking the archive on the list server) ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) # In the telnet session to mvc-dmo1, start the vcsServer ## *% cd $AUV/bin* ## *% nohup ./vcsServer \-v &* # On TREX2, make sure the config file is correct for vsim  ## % *cd missions* ## % *cp amc.vcs.dl.cfg amc.cfg* ## *Verify amc.cfg and vcs.cfg have the correct settings (remote name, IP address)* # In the telnet to mvc-dmo1, startup the vcsServer ## *$ nohup ./vcsServer \-v &* (to fire up the vcs server) # Move back to the T-REX stack to fire up the T-REX client # *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797934 3179590 3114108 9830642 9797874 9830641 9797873 9830632 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*\\ ----\\ VSIM Procedure This procedure is run on the vehicle with simulation on the navigation drivers and as many real instrument drivers as possible.   Also, the magnet should be removed to enable the batteries. # Power-up the vehicle # Login on mvc-dmo1 (QNX) and power up the trex2 CPU ## *% ping mvc-dmo1* ## *% telnet mvc-dmo1* (dorado1) ## *% . configSrc*       (Setup env vars) ## *% qtalk \-m /dev/ser13*     \!a, ctrl-a to exit    (to turn on trex2 cpu) ## Wait about 90 seconds for trex2 boot (ping trex2) # In another terminal window, login to trex2:    *% ssh* dorado1@trex2* *  # Check the Iridium Modem ## *% minicom iridium* ### type "*AT*" when minicom starts, should return "*OK*" ## if the A3LA iridium modem does not respond, exit minicom ### at the command line, enter 'reset_a3la' to run the modem power cycling script #### *% reset_a3la* ## *% minicom iridium* ### AT  should retrun OK ### AT+SBDI should return \+SBDI   0,1285,0,0,0 (or something similar) ### exit minicom # Build and deploy from threadfish  # Now move to trex2 and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # Test the iridium (nal) driver - open two terminal sessions on trex2 ## session 1: ### % nal \-dev /dev/ttyS0 ## session 2: ### %  cd \~/auv-linux/onboard/devices/iridium/tests ### % storefwdclient \-f test-a3la.sbd ### examine modem.log ### when finished terminate nal with ctrl-c and delete modem.log % rm modem.log # Start the nal driver for the vsim test ## % nohup nal \-dev /dev/ttyS0 & ## % tail \-f nohup.out   (check the nal driver is running - look for sleep) # Test the modem with a text file ## storefwd client   (enter a test message and then wait) #   # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do # $ *su root* # $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do # *$ su root* # *$ df* (to get all the partitions) # *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797864 3179930 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** In progress...   *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** \_serialNo is a 4 byte integer, valid serial numbers are 50,000 to 150,000 (according to Paroscientific tech support) *** Fixed timeout bug by replacing confirm in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl\\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114458 9830656 9797888 9830657 9797889 3179928 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (-) *** In progress...   *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** \_serialNo is a 4 byte integer, valid serial numbers are 50,000 to 150,000 (according to Paroscientific tech support) ***   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114456 3179926 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up\\ 2) streamnig pressure data from previous run | waiting for a command | | *0100EW*0100MD=0<0x0d><0x0a> | *0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (-) *** In progress...   *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** \_serialNo is a 4 byte integer, valid serial numbers are 50,000 to 150,000 (according to Paroscientific tech support) ***   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114454 9830652 9797884 9830654 9797886 3179938 0This is a pure timed read. If data are available in the input queue, it's transferred to the caller's buffer up to a maximum of nbytes, and returned immediately to the caller. Otherwise the driver blocks until data arrives, or when VTIME tenths expire from the start of the call. If the timer expires without data, zero is returned. A single byte is sufficient to satisfy this read call, but if more is available in the input queue, it's returned to the caller. Note that this is anoveralltimer, not anintercharacterone.VMIN > 0 and VTIME > 0Aread()is satisfied when either VMIN characters have been transferred to the caller's buffer, or when VTIME tenths expire between characters. Since this timer is not started until the first character arrives, this call can block indefinitely if the serial line is idle. This is the most common mode of operation, and we consider VTIME to be anintercharactertimeout, not anoverallone. This call should never return zero bytes read.VMIN > 0 and VTIME = 0This is a counted read that is satisfied only when at least VMIN characters have been transferred to the caller's buffer - there is no timing component involved. This read can be satisfied from the driver's input queue (where the call could return immediately), or by waiting for new data to arrive: in this respect the call could block indefinitely. We believe that it's undefined behavior if nbytes is less then VMIN.]]> 3114466 9830648 9797880 3179937 3114465 9830643 9797875 3179934 3114462 9830644 9797876 9830645 9797877 9830646 9797878 3179945 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** In progress...   *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** \_serialNo is a 4 byte integer, valid serial numbers are 50,000 to 150,000 (according to Paroscientific tech support) *** Fixed timeout bug by replacing confirm in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114473 3179953 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114481 9830599 # % *svn update* (to update the TREX tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam*   (Note: jam clean will clean the Europa tree (a bug), if this jam make fails, then build Europa before running). # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797831 3179967 0This is a pure timed read. If data are available in the input queue, it's transferred to the caller's buffer up to a maximum of nbytes, and returned immediately to the caller. Otherwise the driver blocks until data arrives, or when VTIME tenths expire from the start of the call. If the timer expires without data, zero is returned. A single byte is sufficient to satisfy this read call, but if more is available in the input queue, it's returned to the caller. Note that this is anoveralltimer, not anintercharacterone.VMIN > 0 and VTIME > 0Aread()is satisfied when either VMIN characters have been transferred to the caller's buffer, or when VTIME tenths expire between characters. Since this timer is not started until the first character arrives, this call can block indefinitely if the serial line is idle. This is the most common mode of operation, and we consider VTIME to be anintercharactertimeout, not anoverallone. This call should never return zero bytes read.VMIN > 0 and VTIME = 0This is a counted read that is satisfied only when at least VMIN characters have been transferred to the caller's buffer - there is no timing component involved. This read can be satisfied from the driver's input queue (where the call could return immediately), or by waiting for new data to arrive: in this respect the call could block indefinitely. We believe that it's undefined behavior if nbytes is less then VMIN.\\ \\ \\ \\ \--------------------------------------\-  http://www.gnu.org/software/libc/manual/html_mono/libc.html\\ h4. 17.4.4 Input Modes This section describes the terminal attribute flags that control fairly low-level aspects of input processing: handling of parity errors, break signals, flow control, and and characters. All of these flags are bits in the c_iflag member of the struct termios structure. The member is an integer, and you change flags using the operators &, | and ^. Don't try to specify the entire value for c_iflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *INPCK* If this bit is set, input parity checking is enabled. If it is not set, no checking at all is done for parity errors on input; the characters are simply passed through to the application. Parity checking on input processing is independent of whether parity detection and generation on the underlying terminal hardware is enabled; see Control Modes. For example, you could clear the INPCK input mode flag and set the PARENB control mode flag to ignore parity errors on input, but still generate parity on output. If this bit is set, what happens when a parity error is detected depends on whether the IGNPAR or PARMRK bits are set. If neither of these bits are set, a byte with a parity error is passed to the application as a '\0' character. --- Macro: tcflag_t *IGNPAR* If this bit is set, any byte with a framing or parity error is ignored. This is only useful if INPCK is also set. --- Macro: tcflag_t *PARMRK* If this bit is set, input bytes with parity or framing errors are marked when passed to the program. This bit is meaningful only when INPCK is set and IGNPAR is not set. The way erroneous bytes are marked is with two preceding bytes, 377 and 0. Thus, the program actually reads three bytes for one erroneous byte received from the terminal. If a valid byte has the value 0377, and ISTRIP (see below) is not set, the program might confuse it with the prefix that marks a parity error. So a valid byte 0377 is passed to the program as two bytes, 0377 0377, in this case. --- Macro: tcflag_t *ISTRIP* If this bit is set, valid input bytes are stripped to seven bits; otherwise, all eight bits are available for programs to read. --- Macro: tcflag_t *IGNBRK* If this bit is set, break conditions are ignored. A break condition is defined in the context of asynchronous serial data transmission as a series of zero-value bits longer than a single byte. --- Macro: tcflag_t *BRKINT* If this bit is set and IGNBRK is not set, a break condition clears the terminal input and output queues and raises a SIGINT signal for the foreground process group associated with the terminal. If neither BRKINT nor IGNBRK are set, a break condition is passed to the application as a single '\0' character if PARMRK is not set, or otherwise as a three-character sequence '\377', '\0', '\0'. --- Macro: tcflag_t *IGNCR* If this bit is set, carriage return characters ('\r') are discarded on input. Discarding carriage return may be useful on terminals that send both carriage return and linefeed when you type the key. --- Macro: tcflag_t *ICRNL* If this bit is set and IGNCR is not set, carriage return characters ('\r') received as input are passed to the application as newline characters ('\n'). --- Macro: tcflag_t *INLCR* If this bit is set, newline characters ('\n') received as input are passed to the application as carriage return characters ('\r'). --- Macro: tcflag_t *IXOFF* If this bit is set, start/stop control on input is enabled. In other words, the computer sends STOP and START characters as necessary to prevent input from coming in faster than programs are reading it. The idea is that the actual terminal hardware that is generating the input data responds to a STOP character by suspending transmission, and to a START character by resuming transmission. See Start/Stop Characters. --- Macro: tcflag_t *IXON* If this bit is set, start/stop control on output is enabled. In other words, if the computer receives a STOP character, it suspends output until a START character is received. In this case, the STOP and START characters are never passed to the application program. If this bit is not set, then START and STOP can be read as ordinary characters. See Start/Stop Characters. --- Macro: tcflag_t *IXANY* If this bit is set, any input character restarts output when output has been suspended with the STOP character. Otherwise, only the START character restarts output. This is a BSD extension; it exists only on BSD systems and the GNU system. --- Macro: tcflag_t *IMAXBEL* If this bit is set, then filling up the terminal input buffer sends a BEL character (code 007) to the terminal to ring the bell. This is a BSD extension. \\ h4. 17.4.5 Output Modes This section describes the terminal flags and fields that control how output characters are translated and padded for display. All of these are contained in the c_oflag member of the struct termios structure. The c_oflag member itself is an integer, and you change the flags and fields using the operators &, |, and ^. Don't try to specify the entire value for c_oflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *OPOST* If this bit is set, output data is processed in some unspecified way so that it is displayed appropriately on the terminal device. This typically includes mapping newline characters ('\n') onto carriage return and linefeed pairs. If this bit isn't set, the characters are transmitted as-is. The following three bits are BSD features, and they exist only BSD systems and the GNU system. They are effective only if OPOST is set. --- Macro: tcflag_t *ONLCR* If this bit is set, convert the newline character on output into a pair of characters, carriage return followed by linefeed. --- Macro: tcflag_t *OXTABS* If this bit is set, convert tab characters on output into the appropriate number of spaces to emulate a tab stop every eight columns. --- Macro: tcflag_t *ONOEOT* If this bit is set, discard C-d characters (code 004) on output. These characters cause many dial-up terminals to disconnect.\\ h4. 17.4.6 Control Modes This section describes the terminal flags and fields that control parameters usually associated with asynchronous serial data transmission. These flags may not make sense for other kinds of terminal ports (such as a network connection pseudo-terminal). All of these are contained in the c_cflag member of the struct termios structure. The c_cflag member itself is an integer, and you change the flags and fields using the operators &, |, and ^. Don't try to specify the entire value for c_cflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *CLOCAL* If this bit is set, it indicates that the terminal is connected "locally" and that the modem status lines (such as carrier detect) should be ignored. On many systems if this bit is not set and you call open without the O_NONBLOCK flag set, open blocks until a modem connection is established. If this bit is not set and a modem disconnect is detected, a SIGHUP signal is sent to the controlling process group for the terminal (if it has one). Normally, this causes the process to exit; see Signal Handling. Reading from the terminal after a disconnect causes an end-of-file condition, and writing causes an EIO error to be returned. The terminal device must be closed and reopened to clear the condition. --- Macro: tcflag_t *HUPCL* If this bit is set, a modem disconnect is generated when all processes that have the terminal device open have either closed the file or exited. --- Macro: tcflag_t *CREAD* If this bit is set, input can be read from the terminal. Otherwise, input is discarded when it arrives. --- Macro: tcflag_t *CSTOPB* If this bit is set, two stop bits are used. Otherwise, only one stop bit is used. --- Macro: tcflag_t *PARENB* If this bit is set, generation and detection of a parity bit are enabled. See Input Modes, for information on how input parity errors are handled. If this bit is not set, no parity bit is added to output characters, and input characters are not checked for correct parity. --- Macro: tcflag_t *PARODD* This bit is only useful if PARENB is set. If PARODD is set, odd parity is used, otherwise even parity is used. The control mode flags also includes a field for the number of bits per character. You can use the CSIZE macro as a mask to extract the value, like this: settings.c_cflag & CSIZE. --- Macro: tcflag_t *CSIZE* This is a mask for the number of bits per character. --- Macro: tcflag_t *CS5* This specifies five bits per byte. --- Macro: tcflag_t *CS6* This specifies six bits per byte. --- Macro: tcflag_t *CS7* This specifies seven bits per byte. --- Macro: tcflag_t *CS8* This specifies eight bits per byte. The following four bits are BSD extensions; this exist only on BSD systems and the GNU system. --- Macro: tcflag_t *CCTS_OFLOW* If this bit is set, enable flow control of output based on the CTS wire (RS232 protocol). --- Macro: tcflag_t *CRTS_IFLOW* If this bit is set, enable flow control of input based on the RTS wire (RS232 protocol). --- Macro: tcflag_t *MDMBUF* If this bit is set, enable carrier-based flow control of output. --- Macro: tcflag_t *CIGNORE* If this bit is set, it says to ignore the control modes and line speed values entirely. This is only meaningful in a call to tcsetattr. The c_cflag member and the line speed values returned by cfgetispeed and cfgetospeed will be unaffected by the call. CIGNORE is useful if you want to set all the software modes in the other members, but leave the hardware details in c_cflag unchanged. (This is how the TCSASOFT flag to tcsettattr works.) This bit is never set in the structure filled in by tcgetattr. \\ \\ h4. 17.4.7 Local Modes This section describes the flags for the c_lflag member of the struct termios structure. These flags generally control higher-level aspects of input processing than the input modes flags described in Input Modes, such as echoing, signals, and the choice of canonical or noncanonical input. The c_lflag member itself is an integer, and you change the flags and fields using the operators &, |, and ^. Don't try to specify the entire value for c_lflag---instead, change only specific flags and leave the rest untouched (see Setting Modes). --- Macro: tcflag_t *ICANON* This bit, if set, enables canonical input processing mode. Otherwise, input is processed in noncanonical mode. See Canonical or Not. --- Macro: tcflag_t *ECHO* If this bit is set, echoing of input characters back to the terminal is enabled. --- Macro: tcflag_t *ECHOE* If this bit is set, echoing indicates erasure of input with the ERASE character by erasing the last character in the current line from the screen. Otherwise, the character erased is re-echoed to show what has happened (suitable for a printing terminal). This bit only controls the display behavior; the ICANON bit by itself controls actual recognition of the ERASE character and erasure of input, without which ECHOE is simply irrelevant. --- Macro: tcflag_t *ECHOPRT* This bit is like ECHOE, enables display of the ERASE character in a way that is geared to a hardcopy terminal. When you type the ERASE character, a `\' character is printed followed by the first character erased. Typing the ERASE character again just prints the next character erased. Then, the next time you type a normal character, a `/' character is printed before the character echoes. This is a BSD extension, and exists only in BSD systems and the GNU system. --- Macro: tcflag_t *ECHOK* This bit enables special display of the KILL character by moving to a new line after echoing the KILL character normally. The behavior of ECHOKE (below) is nicer to look at. If this bit is not set, the KILL character echoes just as it would if it were not the KILL character. Then it is up to the user to remember that the KILL character has erased the preceding input; there is no indication of this on the screen. This bit only controls the display behavior; the ICANON bit by itself controls actual recognition of the KILL character and erasure of input, without which ECHOK is simply irrelevant. --- Macro: tcflag_t *ECHOKE* This bit is similar to ECHOK. It enables special display of the KILL character by erasing on the screen the entire line that has been killed. This is a BSD extension, and exists only in BSD systems and the GNU system. --- Macro: tcflag_t *ECHONL* If this bit is set and the ICANON bit is also set, then the newline ('\n') character is echoed even if the ECHO bit is not set. --- Macro: tcflag_t *ECHOCTL* If this bit is set and the ECHO bit is also set, echo control characters with `^' followed by the corresponding text character. Thus, control-A echoes as `^A'. This is usually the preferred mode for interactive input, because echoing a control character back to the terminal could have some undesired effect on the terminal. This is a BSD extension, and exists only in BSD systems and the GNU system. --- Macro: tcflag_t *ISIG* This bit controls whether the INTR, QUIT, and SUSP characters are recognized. The functions associated with these characters are performed if and only if this bit is set. Being in canonical or noncanonical input mode has no affect on the interpretation of these characters. You should use caution when disabling recognition of these characters. Programs that cannot be interrupted interactively are very user-unfriendly. If you clear this bit, your program should provide some alternate interface that allows the user to interactively send the signals associated with these characters, or to escape from the program. See Signal Characters. --- Macro: tcflag_t *IEXTEN* POSIX.1 gives IEXTEN implementation-defined meaning, so you cannot rely on this interpretation on all systems. On BSD systems and the GNU system, it enables the LNEXT and DISCARD characters. See Other Special. --- Macro: tcflag_t *NOFLSH* Normally, the INTR, QUIT, and SUSP characters cause input and output queues for the terminal to be cleared. If this bit is set, the queues are not cleared. --- Macro: tcflag_t *TOSTOP* If this bit is set and the system supports job control, then SIGTTOU signals are generated by background processes that attempt to write to the terminal. See Access to the Terminal. The following bits are BSD extensions; they exist only in BSD systems and the GNU system. --- Macro: tcflag_t *ALTWERASE* This bit determines how far the WERASE character should erase. The WERASE character erases back to the beginning of a word; the question is, where do words begin? If this bit is clear, then the beginning of a word is a nonwhitespace character following a whitespace character. If the bit is set, then the beginning of a word is an alphanumeric character or underscore following a character which is none of those. See Editing Characters, for more information about the WERASE character. --- Macro: tcflag_t *FLUSHO* This is the bit that toggles when the user types the DISCARD character. While this bit is set, all output is discarded. See Other Special. --- Macro: tcflag_t *NOKERNINFO* Setting this bit disables handling of the STATUS character. See Other Special. --- Macro: tcflag_t *PENDIN* If this bit is set, it indicates that there is a line of input that needs to be reprinted. Typing the REPRINT character sets this bit; the bit remains set until reprinting is finished. See Editing Characters. \\ \\ h4. 17.4.10 Noncanonical Input In noncanonical input mode, the special editing characters such as ERASE and KILL are ignored. The system facilities for the user to edit input are disabled in noncanonical mode, so that all input characters (unless they are special for signal or flow-control purposes) are passed to the application program exactly as typed. It is up to the application program to give the user ways to edit the input, if appropriate. Noncanonical mode offers special parameters called MIN and TIME for controlling whether and how long to wait for input to be available. You can even use them to avoid ever waiting---to return immediately with whatever input is available, or with no input. The MIN and TIME are stored in elements of the c_cc array, which is a member of the struct termios structure. Each element of this array has a particular role, and each element has a symbolic constant that stands for the index of that element. VMIN and VMAX are the names for the indices in the array of the MIN and TIME slots. --- Macro: int *VMIN* This is the subscript for the MIN slot in the c_cc array. Thus, termios.c_cc[VMIN] is the value itself. The MIN slot is only meaningful in noncanonical input mode; it specifies the minimum number of bytes that must be available in the input queue in order for read to return. --- Macro: int *VTIME* This is the subscript for the TIME slot in the c_cc array. Thus, termios.c_cc[VTIME] is the value itself. The TIME slot is only meaningful in noncanonical input mode; it specifies how long to wait for input before returning, in units of 0.1 seconds. The MIN and TIME values interact to determine the criterion for when read should return; their precise meanings depend on which of them are nonzero. There are four possible cases: * Both TIME and MIN are nonzero. In this case, TIME specifies how long to wait after each input character to see if more input arrives. After the first character received, read keeps waiting until either MIN bytes have arrived in all, or TIME elapses with no further input. read always blocks until the first character arrives, even if TIME elapses first. read can return more than MIN characters if more than MIN happen to be in the queue. Both MIN and TIME are zero. In this case, read always returns immediately with as many characters as are available in the queue, up to the number requested. If no input is immediately available, read returns a value of zero. MIN is zero but TIME has a nonzero value. In this case, read waits for time TIME for input to become available; the availability of a single byte is enough to satisfy the read request and cause read to return. When it returns, it returns as many characters as are available, up to the number requested. If no input is available before the timer expires, read returns a value of zero. TIME is zero but MIN has a nonzero value. In this case, read waits until at least MIN bytes are available in the queue. At that time, read returns as many characters as are available, up to the number requested. read can return more than MIN characters if more than MIN happen to be in the queue. What happens if MIN is 50 and you ask to read just 10 bytes? Normally, read waits until there are 50 bytes in the buffer (or, more generally, the wait condition described above is satisfied), and then reads 10 of them, leaving the other 40 buffered in the operating system for a subsequent call to read. *Portability note:* On some systems, the MIN and TIME slots are actually the same as the EOF and EOL slots. This causes no serious problem because the MIN and TIME slots are used only in noncanonical input and the EOF and EOL slots are used only in canonical input, but it isn't very clean. The GNU library allocates separate slots for these uses. --- Function: void *cfmakeraw* (struct termios *termios-p) This function provides an easy way to set up *termios-p for what has traditionally been called "raw mode" in BSD. This uses noncanonical input, and turns off most processing to give an unmodified channel to the terminal. It does exactly this: termios-p->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP |INLCR|IGNCR|ICRNL|IXON); termios-p->c_oflag &= ~OPOST; termios-p->c_lflag &= ~(ECHO|ECHONL|ICANON|ISIG|IEXTEN); termios-p->c_cflag &= ~(CSIZE|PARENB); termios-p->c_cflag |= CS8;      ]]> 3114497 3179969 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** Minicom can be used - need to terminate the \*0100SN request with ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection.    Tom the eng tech made a breakout cable with the correct 2x5 2mm connectors.   Verified commands in the protocol analyzer ** With the fix in place in readNChars (timeouts and bytecnt are chars not ints), have verified parosci is getting a response to serial number request. ***   Fixed a bug in sscanf which was incorrectly parsing *** Added retry to fix issue when parosci is left streaming pressure data, the serial number is not read correctly. *** Fixed math overflow on timeout calculations in SerialDevice.cc (framework).   Long / Int changed to Long Long.    This fixed some of the timeout problems, however confirm still bails out. *** A problem in framework 'confirm' API persisted even with fix for timeout overflow.    Since time is getting short - capped off investigation of root cause, and wrote readResponse and readAChar routines in framework which fixes the timeout problem (layers of timeout in readUntil, readBytes, etc.) *** Parosci ran for an hour - data integrity is questionable as pressure data is ranging from negative to positive. ***  Protocol Notes: **** | tx | rx | pre-conditions | post-conditions | | \*SN0100<0x0d><0x0a> | \*SN0001=87761<0x0d><0x0a>  | 1) powered up \\ 2) streamnig pressure data from previous run | waiting for a command | | \*0100EW*0100MD=0<0x0d><0x0a> | \*0001MD=0<0x0d><0x0a> | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | ** Status (+) *** Passes basic functional test with exceptions (data processing and serail timeout).   See attachment for test results.  *** Fixed bug in baud set *** Fixed bug in read serial number (sscanf and retries) *** Fixed timeout bug by replacing 'confirm' in init with readResponse.   Later fixed bug in confirm by creating readAChar which uses termios instead of ioctl.   Did not back out readResponse changes (they work). *** Soak test runs overnight.      **** There are some ERRORs due timeout or bad data (dropped bytes?) in the test results, and the driver recovers.  **** Note: Data does not look right (log4cxx = INFO), however the data read from the instrument looks good - suspect something in the signal processing is not properly setup.  \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. **** 15:52:07.487 INFO \[TeledyneDvl\] PDO format,  numDataTypes = 7 **** 15:52:07.488 DEBUG \[TeledyneDvl\]  dvlPingTime = 82325.450000 **** 15:52:07.489 DEBUG \[TeledyneDvl\]  dvlTemp = 23.760000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlPitch = 653.150000 **** 15:52:07.490 DEBUG \[TeledyneDvl\]  dvlRoll = 1.640000 **** 15:52:07.491 DEBUG \[TeledyneDvl\]  dvlHeading = 309.660000 **** 15:52:09.390 DEBUG \[TeledyneDvl\]  Dvl::readRecord() - checksum = 29778 **** 15:52:09.392 WARN \[TeledyneDvl\] Doppler System WARNING : ensemble checksum incorrect Computed checksum = 29778 DVL checksum      = 32628 **** 15:52:09.397 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 15:52:10.496 INFO \[TeledyneDvl\] header is 7FDB0200 **** 15:52:10.498 INFO \[TeledyneDvl\]  Dvl record header not found.  Resynchronize. **** 15:52:11.643 ERROR \[AuvService\] Buffer Full \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ \\ \\ \\ \\ \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114499 3179965 0This is a pure timed read. If data are available in the input queue, it's transferred to the caller's buffer up to a maximum of nbytes, and returned immediately to the caller. Otherwise the driver blocks until data arrives, or when VTIME tenths expire from the start of the call. If the timer expires without data, zero is returned. A single byte is sufficient to satisfy this read call, but if more is available in the input queue, it's returned to the caller. Note that this is anoveralltimer, not anintercharacterone.VMIN > 0 and VTIME > 0Aread()is satisfied when either VMIN characters have been transferred to the caller's buffer, or when VTIME tenths expire between characters. Since this timer is not started until the first character arrives, this call can block indefinitely if the serial line is idle. This is the most common mode of operation, and we consider VTIME to be anintercharactertimeout, not anoverallone. This call should never return zero bytes read.VMIN > 0 and VTIME = 0This is a counted read that is satisfied only when at least VMIN characters have been transferred to the caller's buffer - there is no timing component involved. This read can be satisfied from the driver's input queue (where the call could return immediately), or by waiting for new data to arrive: in this respect the call could block indefinitely. We believe that it's undefined behavior if nbytes is less then VMIN.]]> 3114495 9830572 9797804 9830571 9797803 9830574 9797806 9830573 9797805 9830577 9797809 9830566 nal -9601 -dev tcp:iridium:2101 & {code} Note port number 2101, which is the "raw" TCP socket port. You can also telnet to it for verifying that you can connect to it and send basics commands like AT; for telnet, specify port 2001. {code} > telnet iridium 2001 {code} The serial number of this modem is 300034012903310 h1. Use the A3LA modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1 {code} > $AUV/bin/reset_a3la {code} On trex2 you can then start {code} > nal -dev /dev/ttyS1 & {code} or check if everything is OK through minicom {code} > minicom iridum {code}]]> 9797797 9830565 nal -9601 -dev tcp:iridium:2001 & {code} you can also telnet to it for verifying that you can connect to it and send basics commands like AT {code} > telnet iridium 2001 {code} The serial number of this modem is 300034012903310 h1. Use the A3LA modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1 {code} > $AUV/bin/reset_a3la {code} On trex2 you can then start {code} > nal -dev /dev/ttyS1 & {code} or check if everything is OK through minicom {code} > minicom iridum {code}]]> 9797796 9830567 # % *svn update* (to update the tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797798 9830587 nal -9601 -dev tcp:iridium:2101 & {code} Note port number 2101, which is the "raw" TCP socket port. You can also telnet to it for verifying that you can connect to it and send basics commands like AT; for telnet, specify port 2001. {code} > telnet iridium 2001 {code} The serial number of this modem is 300034012903310 h1. Use the A3LA modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1 {code} > $AUV/bin/reset_a3la {code} On trex2 you can then start {code} > nal -dev /dev/ttyS1 & {code} or check if everything is OK through minicom {code} > minicom iridum {code}]]> 9797819 9830588 nal -9601 -dev tcp:iridium:2101 & {code} Note port number 2101, which is the "raw" TCP socket port. You can also telnet to it for verifying that you can connect to it and send basics commands like AT; for telnet, specify port 2001. {code} > telnet iridium 2001 {code} The serial number of this modem is h1. Use the A3LA modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1 {code} mvc-dmo1> $AUV/bin/reset_a3la {code} On trex2 you can then start {code} > nal -dev /dev/ttyS1 & {code} or check if everything is OK through minicom {code} > minicom iridum {code}span.jajahWrapper { font-size:1em; color:#B11196; text-decoration:underline; } a.jajahLink { color:#000000; text-decoration:none; } span.jajahInLink:hover { background-color:#B11196; }]]> 9797820 9830594 # % *svn update* (to update the tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install.amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # Make sure that the state publisher is visible to the client. In the *$AUV_CONFIG_DIR* make sure in _statePublisher.cfg_ #* the IP address of the correct client is uncommented with *AMC_IP* # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* #   # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797826 9830579 9797811 16023601 15990834 9830580 9797812 9830581 9797813 9830557 nal9601 -dev tcp:iridium:2001 & {code} you can also telnet to it for verifying that you can connect to it and send basics commands like AT {code} > telnet iridium 2001 {code} The serial number of this modem is 300034012903310 h1. Use the modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1 {code} > $AUV/bin/reset_a3la {code} On trex2 you can then start {code} > nal -dev /dev/ttyS1 & {code} or check if everything is OK through minicom {code} > minicom iridum {code} ]]> 9797788 9830559 nal -9601 -dev tcp:iridium:2001 & {code} you can also telnet to it for verifying that you can connect to it and send basics commands like AT {code} > telnet iridium 2001 {code} The serial number of this modem is 300034012903310 h1. Use the A3LA modem on the vehicle after having started trex2 you will need to restart the modem from mvc-dmo1 {code} > $AUV/bin/reset_a3la {code} On trex2 you can then start {code} > nal -dev /dev/ttyS1 & {code} or check if everything is OK through minicom {code} > minicom iridum {code}]]> 9797790 622639 589872 9830511 # % *svn update* (to update the tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword in vcs.cfg, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797742 9830507 # % *svn update* (to update the tree)   # % *. devconfig* (to source all the env. variables needed) # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797738 9830509 # % *svn update* (to update the tree)   # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *. devConfig* (to source all the env. variables needed) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack (ex. trex3) and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797740 3179795 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.   {dynamictasklist:ScienceDrivers} h4. Science drivers * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114320 9830474 9797705 622608 589840 622609 589841 9830472 9797703 9830470 9797701 9830482 # % *svn update* (to update the tree)   # % *. devconfig* (to source all the env. variables needed) # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) #  \\]]> 9797713 9830480 # % *svn update* (to update the tree)   # % *. devconfig* (to source all the env. variables needed) # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* #    ]]> 9797711 9830478 # % svn update (to update the tree)   # % . devconfig (to source all the env. variables needed) # % export ROOT_DIR=`pwd` (if the directory is not the default such as for the Front following hierarchy) # % jam # % cd ctd2007 # % jam samp sim batcher amc #  ]]> 9797709 9830476 9797707 9830490 9797721 9830488 # % *svn update* (to update the tree)   # % *. devconfig* (to source all the env. variables needed) # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log* ]]> 9797719 10944642 10911878 9830486 # % *svn update* (to update the tree)   # % *. devconfig* (to source all the env. variables needed) # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ ]]> 9797717 10944641 10911877 9830484 # % *svn update* (to update the tree)   # % *. devconfig* (to source all the env. variables needed) # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # % *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # % *. configSrc* (to set up the environment)]]> 9797715 10944639 10911875 9830495 # % *svn update* (to update the tree)   # % *. devconfig* (to source all the env. variables needed) # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797726 9830493 # % *svn update* (to update the tree)   # % *. devconfig* (to source all the env. variables needed) # % *export ROOT_DIR=`pwd`* (if the directory is not the default such as for the Front following hierarchy) # % *jam* # % *cd ctd2007* (which contains all the model and configuration files for T-REX) # % *jam samp sim batcher amc* (to ensure you generate the necessary binaries; to run on Q-Sim you will need to generate only the amc binary) # % *cd ../deploy/* # Ensure that the T-REX binaries are targeted to run on the right shore-side stack you want (trex1 or trex3). The default is trex1; to change do ## *export AMC_TARGET=dorado1@trex3* # % *./deploy.exec* (this and the following command will ask for a passwd to copy over a gzipped tarball) # % *./deploy.missions* # Now move to the target stack and log in as 'dorado1' # % *cd amc* # % *. config.amc* (to set up the environment) # % *./install amc all* (you can also selectively install one of the above two tar balls) # % *cd missions* # This step requires some apriori knowledge of which mission is being run because of the way configuration files alter the way T-REX can be put together for the mission. There are two files that are at issue: _amc.cfg_ which indicates how T-REX is put together and _vcs.cfg_ which indicates which server host is being connected to where _VcsServer_ is being run. # In this case, since we're dealing with testing, either _foobar_ or _saumon_ are the likely targets. Therefore in the 'remoteName' keyword, change the name of the server to one of the latter. # To alter the amc.cfg file, simply copy over the 'right' cfg file on top. For the Front following mission, since we need a downlink reactor within T-REX you will need _amc.vcs.dl.cfg_. so #* % *cp amc.vcs.dl.cfg amc.cfg* # You're set with configuring the T-REX client. So move over to the QNX desktop to fire up the VcsServer. Assuming here foobar #* *telnet foobar* (use the 'ansi' terminal setting) # $ *cd auv_autonomy* (since our version of the QNX layered control requires VcsServer and Statepublisher, this copy is different from the nominal version that Hans maintains. This version *{_}should be checked with what is being run by Hans on the vehicle ever so often{_}* to ensure we're in sync.) # $ *. configSrc* (to set up the environment) # Double check to see that a stray VcsServer from a perious run isn't still running using 'ps' #* $ *ps \-a* # Ensure that Mqueue is indeed running. And if not then do ## $ *su root* ## $ *Mqueue&* # $ *cd $AUV_CONFIG_DIR* (if you want to tweak the virtual environment in simulator.cfg) ## if so, then you can tweak _depth1/depth2/depth3_ and _northCurrent_ and _eastCurrent_ variables # QNX behaves strangely with large files. Often from a previous run, the VcsServer.log files in $AUV_LOG_DIR, are corrupted. The consequence is that when you try to run VcsServer, it will abort without an explanation. To recover do ## *$ su root* ## *$ df* (to get all the partitions) ## *$ chkfsys* will often fix it. # $ *cd $AUV/bin* # $ *./vcsServer \-v \-sim&* (to fire up the vcs server) #* In most cases you'd want to run the setup for a long time when connection with the QNX terminal is not critical. If so then run the above with a '_nohup_' pre-pended. # Move back to the T-REX stack to fire up the T-REX client ## *% ../exec/amc_o_rt &* (where Mission Config file is mission dependant; e.g for Front following it is front.cfg). Also as above, the _nohup_ can be prepended.  # The above should nominally get T-REX to initiate the socket connection with the server and start doing its thing. To observe, you can ## % *tail \-f ../log/latest/TREX.log*]]> 9797724 3179853 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   ***   * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (-)   *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     Need to create a 3dmgx1 driver - HT to grab code from QNX, TM to look at it after finishing the other drivers (which ever comes first). \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" ****   * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Tom O is investigating 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** The driver is choking trying to read the first record (readNchars is returning 3 bytes - not timing out, but it is not clear why the readNchars is ignoring the rest of the bytes blasting from the dvl.     h4. Science drivers *Status at a glance:*  {dynamictasklist:ScienceDrivers}\\ *Status details:* * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114380 9830438 9797669 3179851 Character devices **** deselect (no \*) the 'Non-standard serial port support (config: CONFIG_SERIAL menuconfig: (Character Devices \-> Standard/generic (dumb) serial support) **** config: SERIAL_8250 menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> 8250/16550 and compatible serial support) **** config: CONFIG_SERIAL_8250_EXTENDED menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Extended 8250/16550 serial driver options) **** config: CONFIG_SERIAL_8250_MANY_PORTS menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support more than 4 legacy serial ports) **** config: CONFIG_SERIAL_8250_SHARE_IRQ menuconfig: (Device Drivers \-> Character Devices \-> Serial drivers \-> Support for sharing serial interrupts) **** I also enabled Number of 8250/16550 serial ports to register at runtime to be 12 (was 4), this was not in manufacturers instructions. *** make-kpkg clean *** fakeroot make-kpkg \--initrd \--append-to-version=-custom kernel_image kernel_headers    (note the space after custom (your string) and kernel_image) **** After the append to version, you can write any string (replace custom with your string).  Restrictions are all lower case and must not contain whitespace or special chars (dash ok). *** dpkg \-i linux-image-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb dpkg \-i linux-headers-2.6.21.3-custom_2.6.21.3-custom-10.00.Custom_i386.deb *** _Optional: Remove (comment out) the unwanted kernel from /boot/grub/menu.lst_.     The board will boot the newly built kernel so no action required. *** serial.conf was editted to change IRQ from 10 to 9 as there was a PC104 reconfig at some point. *** To finish workstation setup (if you want to run debian as a workstation with DHCP and seen on MBARI network do the following: ****  First, see if your host name is set correclty using the following commands:   uname \-n   hostname \-a   hostname \-s   hostname \-d   hostname \-f   hostname ****   **** edit /etc/network/interfaces.    Add the line 'hostname mvc-debian4.shore.mbari.org' under iface eth0 inet dhcp ***** iface eth0 inet dhcp     hostname mybox.mydomain.com ***** In /etc/dhcp3/dhclient.conf, uncomment and edit  #send host-name "andare.fugue.com"; *** TODO: **** Get rid of boot up issues (kahlua audio, etc.) that are relics from installing on workstation \\ \\ ** Moving the harddrive from a workstation to the AUV (Lippert Coorunner (II?) AMD Geode PC104) *** Before shutdown on workstation (just prior to move), delete the ethernet address bound in the file /etc/udev/rules.d/z25_persistent-net.rules).    **** If this file is not deleted, the eth0 interface will not come up and a message at boot "SIOCSIFADDR: no such device eth0" with no eth0 will result **** ifup eth0 will also show the error \\ *** Network Settings (/etc/network/interfaces) **** change from workstation setup to auv setup (dhcp to static and mvc-debian4 to mvc-debian for AUV) ***** edit /etc/hosts and change mvc-debian4 to mvc-debian ***** 127.0.0.1 localhost.localdomain localhost ***** 134.89.32.16 mvc-debian.shore.mbari.org mvc-debian ***** hostname mvc-debian.shore.mbari.org ***** copy the interfaces (see attachment to this wiki) file to /etc/network ****** address 134.89.32.16 ****** netmask 255.255.254.0 ****** gateway 134.89.32.1 ****** broadcast 134.89.32.255 ***** to check the hostname is set properly ****** uname \-n ****** hostname \-a ****** hostname \-s ****** hostname \-d ****** hostname \-f ****** hostname **** For future apt-get usage - edit /etc/apt/sources.list and comment out the cdrom drive.   This will get packages by ftp from debian mirror. \\ \\ * Notes: ** Corba *** It might be better to pull in the omniORB4 from Debian since there are build errors and complexity associated with omniORB.    The default config file location is /etc/omniORB4.cfg. ** Looks like the serial.conf file borrowed from debian 3.1 is not setting up the serial ports correctly - not sure if this was ever tested (likely not).   Resolution:  Need to rebuild the linux kernel to enable standard serial, etc.   Instructions added above ** Tar up the built prj directory for transfer to another hard disk: *** tar \-pczf auv-prj-built.tar.gz prj]]> 3114378 3179857 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliably). *** Working to verify PD0 operation. \\ h4. Science drivers *Status at a glance:*  {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114384 3179855 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised.\\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl ** changes in devices.cfg  /dev/ser6 \->/dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (-) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliably). *** Working to verify PD0 operation.\\ h4. Science drivers *Status at a glance:*  {dynamictasklist:ScienceDrivers}\\ \\ *Status details:* * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] > 13:32:33.120 INFO \[TeledyneDvl\]  PD0Header = 7F7FDB02 13:32:33.122 INFO \[TeledyneDvl\] initialize() - The DVL is initialized. *** 13:32:34.170 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.172 ERROR \[TeledyneDvl\] TM DBG: bytes 9, record read is: 7F7FDB020 *** 13:32:34.182 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.191 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.192 ERROR \[TeledyneDvl\] TM DBG: bytes 77, record read is: 00714004F0088 005201B8011E028402000009124A42002C041901009001B00001400B00E80300 *** 13:32:34.202 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.218 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.219 ERROR \[TeledyneDvl\] TM DBG: bytes 92, record read is: 0021139411000 07D1D5A029D010105320026004D00000248B1150900000000000000000080000100080311142021 *** 13:32:34.234 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.248 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. *** 13:32:34.249 ERROR \[TeledyneDvl\] TM DBG: bytes 123, record read is: 100000000106 0000E77937FFC7002300280A000000000000FF0000000000000004C1008800000000000000000000 00000196FF0EFF48FF0080008000800 *** 13:32:34.264 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() 13:32:34.292 ERROR \[TeledyneDvl\] readRecord(): Incorrect number of bytes read. ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114382 3179859 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. \\ h4. Science drivers *Status at a glance:*  {dynamictasklist:ScienceDrivers}\\ \\ \\ \\ *Status details:* * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114386 3179860 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114387 622670 589903 10387875 * auv-shared * auv-linux * auv (note: this is the auv-qnx directory and may be deprecated in the near future) * Europa * PLASMA * TREX We will assume on the rest of the document that this structure is respected. h2. Initializing TREX environment variables {anchor:env} The file /TREX/devConfig should initialize the environment variable correctly for bash. To load it do the following : {code:none} % cd /TREX (note: devConfig script need to be launched from this directory) % export HAS_AUV_LINUX=yes (note: do not define that if auv-linux is not compiled on your platform - e.g. Mac OS) % source devConfig % export VARIANTS=OPTIMIZED (note: to indicate to jam to compile in optimized mode ... so far debug mode is kind of {code} broken as Europa is too strong in some of its assert) After that you should be able to compile the different component. If HAS_AUV_LINUX is set to yes make sure that auv-linux is correctly compiled and up to date. Then you need to compile Europa : {code:none} % cd $PLASMA_HOME % jam && jam (note: it is better to run it twice to make sure that the binary dependencies are taken care of) {code} The compilation of TREX core libraries is done similarly {code:none} % cd $TREX_HOME % jam {code} after that you can compile the binaries amc and sim {code:none} % cd ctd2007 % jam amc % jam sim {code} amc is the batch command that execute the model without any terminal interaction. sim is a debug interface that can be used to step the agent execution using a limited set of commands through the terminal. There's also a MonteCarlo sampler used for nightly build to exercise the model but we won't develop it here for now. h2. Using TREX {anchor:general} h3. TREX Configuration files : On $TREX_HOME/ctd2007 you can find a bunch of .cfg files. They are used by TREX to confiugure itself for the mission a non exhaustive description follow : * amc*.cfg: files defining the number and types of reactors used for the agent. By default the file used is amc.cfg (which is a copy of amc.sim.cfg) and its content on svn should not be modified (it may break the nightly builds). But locally you can replace the file by whichever correspond to your need. Description follow: ** amc.sim.cfg: self contained simulation. The VCS is simulated via a reactor exploiting the model given in simulator.nddl ** amc.vcs.cfg: connection to QNX. TREX connect to vcsServer and statePublisher remotely to execute the mission. Basic configuration for these connections is given by vcs.cfg ** amc.vcs.new.cfg: new implementation used for linux connection. This configuration will probably replace the amc.vcs.cfg in the near future. It also uses vcs.cfg to connect to the auv components. ** amc.play.cfg: used to replay a mission for debugging purpose. ** amc.vcs.dl.cfg: add an extra reactor that use CORBA to connect to an Iridum modem. This is used for mixed initiative. This current version is connecting to the modem driver from auv-linux while connecting to vcsServer and statPublisher from QNX. This connection to iridium modem allows TREX to send messages to the shore while possibly integrating new goals coming from there. For testing purpose we have also amc.sim.dl.cfg that allows to connect to this modem without needing a connection to other auv components. * vcs.cfg: indicates the IP and port ussed for connecting to the vehicle. Its content should be : {code:xml} {code} remoteName should be the URL of the machine where the vcsServer is running. remotePort should have the same value as PORT in $AUV_CONFIG_DIR/vcsServer.cfg. localPort should have the same value as AMC_PORT in $AUV_CONFIG_DIR/statePublisher.cfg (check also in this file that AMC_IP points to the machine where TREX will run). * init.cfg: is the initial plan sent to vcsServer check that the safety behaviors are consistent with the environment and TREX goals (e.g if the depth envelope is too shallow while TREX wants to do a yoyo with a high lower depth). * Debug.cfg: used to activate/deactivate debug messages in $TREX_LOG_DIR/latest/Debug.log. by default it as the same content as Debug.Off.cfg you can replace it by Debug.On.cfg but be aware that TREX is very verbose in this case (implying a huge slow down) and it should not be used except when running sim binary which allows to unload/load this file on demand. * \*.solver.cfg: Europa configuration to tweak the plan solver for the given reactor. * \*.synch.cfg: Used to configure Europa during synchronization phase of TREX but it is deprecated now and will probably disappear as sson as I have checked that they are not used anymore. other cfg files: These are the files defining the agent design for each missions. You will find normally correspondings \*.exec.nddl \*.skipper.nddl \*.sim.nddl which describe the model instance for these missions (for example in science.x.skipper.nddl you will see the definition of a VolumeSurvey Goal).These configutrations files will be referred in the future as .cfg h3. Note on AUV configurations files useful for simulation : all these files should be on $AUV_CONFIG_DIR Make sure that _latitude_ and _longitude_ on workSite.cfg is close enough to the point where TREX expect to do the mission. Otherwise TREX will detect that it is too far from this point and simply do nothing. Similarly on simulator.cfg check that the depths are reflecting what you would roughly expect at the place where the mission should be executed. These depths are provided by the config attributes _depthn_ with n an integer. Check statePublisher.cfg and vcssServer.cfg ass described on vcs.cfg item in previous section. On QNX verify that devices.cfg starts the correct processes including statePublisher On Linux check the \*processes.cfg to see if it starts correct processes including statePublisher.  Note that threadfish.shore has a *ready to go binary* for AUV-Linux. Log in as 'dorado1' and cd down to 'coding/auv-linux'. h2. Starting a mission {anchor:run} h3. Starting AUV code for TREX This is required only if TREX expect a connection with the vehicle otherwise you can go directly to the next section. {code:none|title=On QNX} % cd $AUV_HOME/altex/onboard/bin % ./vcsServer [-v] [-sim] {code} {info:title=flags information} * \-v for being verbose * \-sim when in simulation (ie no HW in the loop) {info} {code:none|title=On Linux} % omniNames& % notifd -c $OMNINOTIFY_HOME/channel.cfg& % cd $AUV_HOME/onboard/sampleConfig % ../bin/vcsServer -proc .cfg [-fastsim] {code} {info:title=flags information} * \-proc .cfg specifies the file where extra processes to start can be found (fastSimprocesses.cfg is for example the processess for fast simulation) * \-fastsim indicates to vcsServer that it will run into linux fast simulation You can change how verbose auv-linux will be by editing log4cxx.cfg {info} h3. Starting TREX in batch mode {code:none} % cd $TREX_HOME/ctd2007 % ./amc_o_rt .cfg [-fast|-sim] Use = 50 {code} {warning:title=Warning} Currently argument position and order is fixed in TREX {warning} {info:title=flags information} * \-fast indicates that the clock used would connect to auv-linux fast simulation clock. Note that if you do not specify in this case TREX will try to go as fast as linux fast simulation goes. This may be a good stress test but it is genrally better to specify a number of step around 50. * \-sim indicates that TREX will just use a clock that is going as fast as TREX can (useful on TREX pseudo amc.sim or on amc.play) * indicates how much step TREX is allowed to do for deliberation at least on each tick when on \-fast or \-sim mode. {info} You can see TREX activity by looking on $TREX_LOG_DIR/latest/TREX.log {code:none} % cd $TREX_LOG_DIR % tail -F latest/TREX.log {code} h3. Starting TREX in interactive mode {code:none} % cd $TREX_HOME/ctd2007 % sim_o_rt [-sim] [] Options: Q :- Quit N :- Next G :- Goto e.g. g100 R :- Reload Debug.cfg + :- enable pattern e.g. '+Agent' - :- disable pattern e.g. '-Agent' ! :- disable all debug messages > {code} You can see here that the command is quite similar to amc except that it exepect the name of the instead of .cfg. You have then an interactive limited shell a la gdb where you can adnvance to a specific tick (g), step to next tick ( n ), etc commands R/+/-/\! are used to manipulate how much data you want on the Debug.log starting from now. {info:title=note about sim} One can note that, as opposed to amc, sim does not have the flag \-fast. It is due to the fact that by default sim uses the fast clock. You can change it by adding the flag \-sim when connected to linux fast simulation. As sim is a debug interface where you can start and stop the execution when you want a real time clock would not make sense. {info}]]> 10355138 9830434 %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. \\ *** Biolume - Biolumenescence **** Status - Not tested yet \\ *** lisst - Laser based particle size analyzer **** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 \\ *** Gulper **** no linux driver currently available (should be a simple 'fire' command) \\ ***   * Run memory leak and access violation tests using Duma and Electric Fence \\ * Optional - try to get a run of the static analysis tool Coverity \\ * Measure CPU load and power consumption \\ Recommendations: * Linux build: Setup a build (and simulation execution) machine that has the same Debian 4.0 linux distribution as the auv  * Regression testing: Setup a PC104 stack with Xtreme104 serial card and attach device emulators (microprocessors) on the serial ports for regression testing (Fly what you test, test what you fly).    ** Device emulators for each class (Streaming, Polled, Fixed, Variable). ** Inject errors for code coverage on error handlers.   \\ \\ \\   h4. \\ h3. Thom's Notes: Time on AUV was 1999.    Fresh checkout from cvs, build failed. gcc \-o uplinkQserver uplinkQueuerServer.o  /home/auv/prj/auv-linux/onboard//utils/auvUtils.a /home/auv/prj/auv-shared/lib/libAuvShared.a \-L/opt/omniOrb/omniORB-4.1.0/build/lib/ \-L/usr/local/apr/lib \-lgctpc \-lpthread \-llog4cxx \-lnetcdf \-lnewmat  \-lapr-1 \-laprutil-1 \-lrt uplinkQueuerServer.o: In function `main': /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:9: undefined reference to `mbari::Logger::configure(char const*)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:17: undefined reference to `MsgQueuerServer::MsgQueuerServer(char const*, long, long, unsigned char, int)' /home/auv/prj/auv-linux/onboard/tools/uplinkQueuerServer.cc:26: undefined reference to `MsgQueuerServer::run()' collect2: ld returned 1 exit status make\[1\]: \**\* \[uplinkQserver\] Error 1 make\[1\]: Leaving directory `/home/auv/prj/auv-linux/onboard/tools' make failed make: \**\* \[all\] Error 2 \\ The build got far enough to enable teledyne and crossbow builds.    Teledyne would not run without creating 'latest' directory in onboard/logs though I seem to remember there was a link involved (talk to Tom O.). \\  For Leak detection: [http://www.cprogramming.com/debugging/valgrind.html] http://www.tldp.org/HOWTO/Valgrind-HOWTO/\\]]> 9797666 3179895 /dev/ttyS6 ** 9600 8N1 ** Status (+)   *** ./ashtechapp \-dev /dev/ttyS6 *** 'Partial' Basic functional - tested with no statellite acquisition.     Seg faults with ctrl-c (exit). \\ * bluefinBatt ** devices.cfg change: /dev/ser10 \-> /dev/ttyS9 ** Status (-)   *** Established serial connection.   BlueFinBatt device is no longer echoing characters (not fully confirmed).   HT modified jumper on Xtreme104 for 'no echo' on RS485.   *** Driver test shows what looks like proper initialization - need to audit the test to see what is being exercised. \\ * 3dmgx1 Microstrain AHRS Compass ** m3dmgx1Server \-dev /dev/ser12     \-useForNav ** ./crossbow \-dev /dev/ttyS11 ** Status (+)    *** Crossbow compass is no longer on the vehicle - this has been replaced by the 3DMGX1 compass.     *** Tom O ported the 3dmgx1 driver.   The driver is passing serial data though there are issues with the data stability (could be the compass).  \\ * parosci \-  Paroscientific pressure sensor ** devices.cfg change:  /dev/ser5 \-> /dev/ttyS4 ** ./parosci \-dev /dev/ttyS4 *** wait 60sec (or so) for 'ping service worksite' to timeout ** Actions: *** added parosci.cfg to auv-linux/onboard/sampleConfig from QNX dorado389 *** fixed termios baud issue (9600 \-> B9600), no longer fails cfsetispeed *** Have obtained manual - parosci is unresponsive to serial commands via minicom *** Parosci does not respond with the serial number when requested by the driver.   Have instrumented the writeCommand and see the correct strings are being sent (though I'm not sure about \xd\xa as string terminators). *** Manual indicates commands should start with an asterisk (the request for serial number does not have this). *** Called Steve Smith at ParoScientific  425-883-8700 x252.   He indicated \*9900VR should get a response no matter what the device ID. **** Using minicom (trying both 'Add Linefeed ON and OFF): The device does respond when incorrect command sequences are sent - \*(00 will start echoing due to invalid ID. **** No response to \*9900VR **** No response to \*0100SN *** Write a simple serial program to make sure the correct byte string is sent to parosci. **** \*9900VR<0x0d><0x0a> responds with \*0001VR=R1.0 *** \*0100SN<0x0d><0x0a> responds with \*0001SN=87761 *** \*0100P3<0x0d><0x0a> responds with \*000116.02 *** I'm suspecting something in the termios setup of the parosci driver, but am not sure.   ** Next step is to hook up the serial protocol analyzer.   *** Made a cable with grab leads, but it's too hard to get the connection. *** Ordered connector samples from Samtec so I can make an RS232 breakout for the protocol analyzer - this will show the truth about what's actually going out on the serial port.   *** Another option is to to detach parosci from AUV and run on desktop with protocol analyzer.   ** Status (-) *** In progress...   *** Fixed bug in baud set *** Getting an error "Failed to read serial number" \\ * sonardyne usbl ** No test executable available \\ * tailcone ** changes in devices.cfg /dev/ser3 \-> /dev/ttyS2 ** ./tailcone \-dev /dev/ttyS2 ** Cautions: *** Recommend running tailcone tests while observing the tailcone *** Don't run tailcone for longer than 10 to 15 minutes (there is a spring seal that will wear out / overheat) ** Status (/) *** Ran the tailcone gui with Tom O.    Driver passes basic functional test.    Worked with Tom O to identify 4msec timing skew between runs on Fedora Core 6 updated to 2.6.22 kernel and debian 4.0 (2.6.18) on some tailcone test results.    Recommended fix is to update the kernel. \\ * Teledyne dvl - Doppler Velocity Log ** changes in devices.cfg  /dev/ser6 \-> /dev/ttyS5 ** Actions *** Took dvl.cfg from QNX dorado389 (from Rob) and placed the dvl.cfg file in sampleConfig directory *** Fixed tempios baud problem (cfsetispeed error) with assist from Hans. *** The problem being chased is readNChars is returning pre-maturely (read of 1466 is returning with 3 to 60 bytes which is causing the driver to fail) **** Have tried a sleep to allow the termio buffer to fill - does not help. **** In progress Reading up on termio and analyzing termio setup... **** Analysis / test is hampered (slowed) by CORBA 1 minute timeout (see corbaUtils) **** readNChars had a bug in raw where 0 instead of count was passed \- TO fixed it, but readNchars is still not working right.    Verified that the constructor for TeledyneDVL is passing MaxRecordSize of 7000 ** Status (/) *** In progress...   *** Fixed a bug where the number of bytes was not being set in termios - raw(0,timeout) was changed to raw(count, timeout) *** Found and fixed another bug where the number of bytes being requested (1466) was being passed to a char field in termios struct resulting in a modulo 256 of 1466 being passed to termios *** Timeout value of 4000 is also being fed to a char (byte) type in termios structure.   Modifying the timeout to 255 has side effects (driver does not work reliablyy, though this could be something else).    Changing termios_p.c_cc\[VTIME\] to 255 when passed something bigger does work. *** PD0 operation is passing basic functional test.     Note: there are startup issues that require investigation (AUV buffer full, etc.), but have had 5 successful runs of PD0. \\ h4. Science drivers \\ *Status at a glance:*  \\ {dynamictasklist:ScienceDrivers}\\ \\ \\ *Status details:* \\ \\ * Seabird ** seabirdServer \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10002 ** seabirdServer \-n ctdDriver \-dev tcp:sci1-dmo1:10001 ** Actions: ** Status (-) *** In progress...  getting an error with seabird25 - 06:16:34.747 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open CTD attributes file "tcp:sci1-dmo1:10002" \\ * Hydroscat - HS2 Backscatter optical sensor ** tcp:sci2-dmo1:14002  ** Actions *** Fixed bug in sscanf on snorm values (%hx \-> %1hx).  Added 'STOP' to init.   Fixed segfault in log write.   Fixed segfault when run with terminal server. ** Status (/) *** Driver passes basic functional test. \\ * Biolume - Biolumenescence pump and PMT ** tcp:sci3-dmo1:14002 ** Actions ** Status (?) *** Not tested yet \\ * lisst - Laser based particle size analyzer ** tcp:sci3-dmo1:14001  ** Actions *** Added 'STOP' to init.   debugged and running from Tom's FC6 workstation 6 Mar 08 ** Status (/) *** Driver passes basic functional test \\ * imagenex \\ * Gulper ** no linux driver currently available (should be a simple 'fire' command) \\ * Other (from QNX cfg file) ** dropWeightServer \-dev /dev/ser13 *** no linux driver currently available ** OCR507 \-dev tcp:sci4-dmo1:14001  ** isus Optical Nitrate sensor *** tcp:sci2-dmo1:14001 ** mvc-pic *** diagnostic info is being sent on serial port - no driver required (or available) **  usbl *** no linux driver currently available.   HT indicates not to worry about it. ** iridium *** no linux driver currently available.   HT indicates this is being replaced with \\ \----------------------------------------------------------------------------------\- h4. Drivers Debug output (Thoms notes to self): * Hydroscatauv@mvc-debian:~/prj/auv-linux/onboard/devices/hydroscat$ ./hydroscat \-dev tcp: sci2-dmo1:14002 * Output on March 10: ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/hydroscat$ . run Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" IOR:010000001800000049444c3a6175762f487964726f7363617449463a312e3000010000000000 000064000000010102000d0000003133342e38392e33322e313600004f040e000000fe9154d54700 002ea7000000000200000200000000000000080000000100000000545441010000001c0000000100 0000010001000100000001000105090101000100000009010100 08:32:33.657 INFO \[Hydroscat\] stopping Hydroscat... 08:32:33.712 INFO \[AuvApplication\] You should override AuvApplication::run() ** 08:32:38.180 ERROR \[Hydroscat\] Hydroscat:bad response to LOG cmd: \!Use SHUTTER c ommand to enable shutter. ** 08:32:38.181 INFO \[Hydroscat\] stopping Hydroscat... 08:32:42.702 INFO \[Hydroscat\] Hydroscat:starting Hydroscat... 08:32:42.703 INFO \[Hydroscat\] Hydroscat:started 08:32:42.755 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.762 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.768 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.774 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.780 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.786 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.792 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.798 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** 08:32:42.804 ERROR \[Hydroscat\] processRecord(): record too short(20): 'Sampling stopped. ** 08:32:42.810 ERROR \[Hydroscat\] processRecord(): record too short(22): '03/10/2008 08:32:38 ** 08:32:42.816 ERROR \[Hydroscat\] processRecord(): record too short(38): 'Time Resolution: high (0.01 second) ** 08:32:42.822 ERROR \[Hydroscat\] processRecord(): record too short(41): \!Use SHUTTER command to enable shutter. ** 08:32:42.828 ERROR \[Hydroscat\] processRecord(): record too short(24): 'Sampling and Logging: ** 08:32:42.834 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Period: 0.25 seconds ** 08:32:42.839 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Start delay: 3 seconds ** 08:32:42.846 ERROR \[Hydroscat\] processRecord(): record too short(29): ' Sleep when memory full: 0 ** 08:32:42.851 ERROR \[Hydroscat\] processRecord(): record too short(24): ' Start on power up: 0 ** 08:32:42.857 ERROR \[Hydroscat\] processRecord(): record too short(23): 'Burst mode: 0 (off) . ** 08:32:42.863 ERROR \[Hydroscat\] processRecord(): record too short(26): ' Warmup time: 0 seconds ** 08:32:42.869 ERROR \[Hydroscat\] processRecord(): record too short(45): ' Burst duration: 0 seconds (not in effect) ** 08:32:42.875 ERROR \[Hydroscat\] processRecord(): record too short(42): ' Burst cycle: 0 minutes (not in effect) ** 08:32:42.881 ERROR \[Hydroscat\] processRecord(): record too short(43): ' Total duration: 0 hours (not in effect) ** 08:32:42.887 ERROR \[Hydroscat\] processRecord(): record too short(19): 'Shutter control: ** 08:32:42.893 ERROR \[Hydroscat\] processRecord(): record too short(33): ' Shutter enabled: 0 (DISABLED) ** 08:32:42.898 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Automatic open/close: 0 ** 08:32:42.904 ERROR \[Hydroscat\] processRecord(): record too short(27): ' Open/close time: 6 secs ** 08:32:42.910 ERROR \[Hydroscat\] processRecord(): record too short(22): ' Open direction: CW ** 08:32:42.916 ERROR \[Hydroscat\] processRecord(): record too short(28): ' Shutter state is UNKNOWN ** The driver then processes records normally without fault (tested for 20 minutes) \\ * Ashtec GPS driver ** Upon application of power, *** The DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation.   Test results are stored for output on command. *** After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test (due, for example, to a low battery backup condition), the DG16 clears and reports the loss of stored data, then initializes its channels and begins searching for all satellites within the field of view of its antenna.  *** $PASHQ,HST to view results of self-diagnostic *** Time to First Fix (TTFF). **** Re-acquisition 3 seconds **** Hot Start 11 seconds **** Warm Start 35 seconds **** Cold Start 90 seconds *** The *$PASHQ,RIO* command queries for the receiver's configuration. The response message includes version numbers for the processor and channel firmware, a list of installed options, and the receiver's serial identification number.  The response is output in the format:*$PASHR,RIO,f1,f2,f3,f4,f5*cc*\* f1 Receiver name (maximum 10 characters) **** f2 Main processor firmware version (maximum 10 characters) **** f3 Channel Firmware version (maximum 10 characters). If not applicable, this field is empty **** f4 Option setting (maximum 42 characters). ASCII characters represent installed options. **** f5 Receiver serial number (maximum 20 characters). Underscores represent blank fields **** cc Checksum. XOR (exclusive or) of all characters between, but not including, the dollar sign ($) and asterisk (*y) characters **** Option Description: (typical string looks like *$PASHR,RIO,DG16,GM00,,1OPUBKLE_C-NYXDR--, 710029150420*4D*:-) \* Position/raw update rate:  \[W = 20 Hz\], \[T = 10 Hz\], \[5 = 5 Hz\], \[2 = 2 Hz\], \[1 = 1 Hz\], **** \[O\] Raw data output **** \[P\] Carrier phase tracking **** \[U\] Differential RTCM - remote station **** \[B\] Differential RTCM - base station **** \[K\] RTCM Type 18/19 message generation (available only with RTCM base option) **** \[L\] Timing pulse output (1PPS) **** \[E\] Photogrammetry event marker **** \[C\] Strobe correlator **** \[N\] Beacon (Not applicable to DG14) **** \[Y\] SBAS **** \[X\] User-defined messaging (Not applicable to DG14) **** \[D\] Multi-base differential **** \[R\] Third serial port (C) (Not applicable to DG14) **** \[A\] Altitude limit removed **** \[V\] Speed limit removed ** After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position). ** When using a terminal, make sure CRLF outgoing is enabled ** The commands used with the DG16 are divided into two groups: set commands and query commands.   Use Set commands to change the DG16's operating parameters or turn on or off output messages. Set commands begin with the command string $PASHS.   A Set cmd is acknowledged with $PASHR,ACK*3D. ** Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ.  ** $PASHQ,STA (crlf) to query which satellites are locked and signal strength. *** TIME: 18:38:31 UTC \\ LOCKED:03 23 16 \\ COUNT :54 26 17 ** NMEA 0183 ASCII byte strings following a dollar sign ($) character  Data fields are separated by commas, Checksum character delimiter and NMEA checksum bytes are recognized by the DG16 but are optional. The hexadecimal checksum is computed by exclusive OR-ing all of the bytes in the message between, but not including, the dollar sign ($) and the asterisk (*y) .  Messages end with the standard NMEA message terminator characters \[CRLF\]. **   ** $PASHS,NME,POS,A,ON,1   comprehensive position information through port A at a set rate (1HZ) *** $PASHR,POS,0,08,164152.90,3721.06962,N,12156.12176,W,+00003.16,????,008.64,000.55,+000.03,01.7,01.0,01.4,00.9,GH00*20 *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** || Parm || Description || Range (FUL/STD) || Example || | m1 | UTC time (hhmmss.s) of the position fix | 0 to 235959.99 | 174807.00, | | m2 | Latitude of the position fix (ddmm.mmmmm) | 0 to 9000.00000 | , | | c3 | Latitude sector | N or S | , | | m4 | Longitude of the position fix (dddmm.mmmmm) | 0 to 18000.00000 | , | | c5 | Longitude sector | E or W | , | | d6 | GPS quality indicator \\ • 0---Invalid position or position not available \\ • 1---GPS Standard Positioning Service (SPS) \\ mode (C/A code), fix valid \\ • 2---Differential GPS, SPS mode, fix valid \\ • 3---GPS Precise Positioning Service (PPS) \\ mode (P-code). N/A for DG16 \\ • 4---Real Time Kinematic. System used in RTK \\ mode with fixed integers. N/A for DG16 \\ • 5---Float RTK. Satellite system used in RTK \\ mode, floating integers. N/A for DG16 \\ • 6---Estimated (dead reckoning) mode \\ • 7---Manual input mode \\ • 8---Simulator mode | 0, 1, 2, 6, 7, or 8 | 0, | | d7 | Number of satellites used in position computation | 3 to 14 | 00, | | d8 | HDOP (horizontal dilution of precision) | 00.0 to 99.9 | , | | f9 | Altitude above Mean Sea Level (geoidal height) | \-1000.00 to \\ 18000.00 | , | | c10 | Altitude unit of measure (always M) | M | M, | | d11 | Geoidal separation value | \-999.99 to 999.99 | , | | c12 | Geoidal separation unit of measure (always M) | M | M, | | d13 | Age of differential corrections (seconds) | 0 to 999.999 | , | | d14 | Differential base station ID number | 0 to 1023 | ,\* | | hh | Checksum | 2-character hex | 45 | | | | | | \\ ** AshtecApp Test results ** ./ashtechapp \-dev /dev/ttyS7 *** 08:48:27.572 INFO \[AuvApplication\] You should override AuvApplication::run() *** 08:48:27.604 WARN \[GpsUtils\] Not a GGA sentence: S,NME,ALL,A,OFF *** 08:48:27.627 WARN \[GpsUtils\] Not a GGA sentence: $PASHS,NME,GGA,A,ON *** 08:48:48.432 ERROR \[SerialDriver\] gpsDriver::readRecord() - serial device timed out *** 08:48:48.436 ERROR \[StreamSerialDriver\] run() - Got error from readRecord() ** ./ashtechapp \-dev /dev/ttyS6 ** minicom session *** $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 *** $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D \\ * BluefinBatt ** ./bluefinBatt \-n 3 \-dev /dev/ttyS9  ** Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig /log4cxx.cfg" 16:14:15.082 WARN \[BluefinBattApp\] Using fake values: nBatteries=1, abortVoltage =9, terminateVoltage=5 16:14:15.090 INFO \[BluefinBatt\] BluefineBatt::init() - 1 batteries on 10 second interval 16:14:15.092 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 16:14:15.094 ERROR \[SerialDevice\] cfsetospeed() failed 16:14:15.099 INFO \[BluefinBatt\] BluefinBatt::init() - querying for batt ids 16:14:15.103 INFO \[BluefinBatt\] BluefinBatt::init() - battery echo is \!? \\ * Crossbow (gyro compass) ** auv@mvc-debian4:~/prj/auv-linux/onboard/devices/crossbow$ ./crossbow \-dev /dev/ttyS11 Reading log4cxx configuration file "/home/auv/prj/auv-linux/onboard/sampleConfig/log4cxx.cfg" 16:12:05.748 ERROR \[AttributeParser\] Attributes::parse() - Couldn't open Crossbow ** Constants attributes file "/home/auv/prj/auv-linux/onboard/sampleConfig/crossbo w.cfg" ** 16:12:05.754 ERROR \[Crossbow\] VehicleConstants \-\- Caught exception while loading vehicle constants IOR:010000001300000049444c3a6175762f4168727349463a312e30000001000000000000006400 0000010102000d0000003133342e38392e33322e313600000d0a0e000000fe45c0d5470000329100 0000000200000200000000000000080000000100000000545441010000001c000000010000000100 01000100000001000105090101000100000009010100 16:12:05.788 INFO \[AuvApplication\] You should override AuvApplication::run() ** 16:12:05.790 ERROR \[SerialDevice\] cfsetispeed() to baud 38400 failed 16:12:05.792 ERROR \[SerialDevice\] cfsetospeed() failed 16:12:05.794 ERROR \[SerialDevice\] \_F_SETFL failed ** 16:12:05.797 ERROR \[SerialDevice\] \_F_SETFL failed ** AuvSystem::milliSleep \-\- Sleeping for 0 secs and 1000000000 nsec16:12:05.807 INF O \[Crossbow\] Crossbow.cc: device->read succeeded 16:12:05.809 INFO \[Crossbow\] Crossbow.cc: I think the serial number is 427819033 5 (ff0000ff) 16:12:05.819 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:06.830 ERROR \[Crossbow\] processRecord(): Checksum does not agree 16:12:07.834 ERROR \[Crossbow\] processRecord(): Checksum does not agree **   * seabird ** ./seabird37 \-n ctdDriver2 \-dev tcp:sci1-dmo1:10001 *** 06:21:16.646 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:16.648 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:16.651 DEBUG \[CorbaUtils\] call nameService->bind_new_context() for CTD 06:21:16.661 DEBUG \[CorbaUtils\] context already bound 06:21:16.665 DEBUG \[CorbaUtils\] call bind() for CTD 06:21:16.675 DEBUG \[CorbaUtils\] invoke prepareToRun() *** 06:21:16.677 DEBUG \[CorbaUtils\] Activate POA manager 06:21:16.679 DEBUG \[CorbaUtils\] Run the ORB in a new thread 06:21:16.681 DEBUG \[CorbaUtils\] return from registerService() *** 06:21:16.684 DEBUG \[Seabird37App\] Leaving Seabird37App.initialize() 06:21:16.686 INFO \[AuvApplication\] You should override AuvApplication::run() *** 06:21:17.655 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:17.657 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:17.660 DEBUG \[SerialDevice\] readUntil: read ? 06:21:17.662 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:17.664 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:18.671 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:18.673 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:18.675 DEBUG \[SerialDevice\] readUntil: read ? 06:21:18.677 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:18.679 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:19.683 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:19.685 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:19.687 DEBUG \[SerialDevice\] readUntil: read ? 06:21:19.689 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:19.691 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:20.695 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:20.697 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:20.699 DEBUG \[SerialDevice\] readUntil: read ? 06:21:20.701 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:20.703 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.707 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.709 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.711 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.713 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.715 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.717 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.719 DEBUG \[SerialDevice\] readUntil: read ? 06:21:21.721 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.723 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:21.725 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:21.727 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:21.729 DEBUG \[SerialDevice\] readUntil: read P 06:21:21.731 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:21.733 DEBUG \[Seabird37\] setLineFormat *** 06:21:21.735 DEBUG \[SerialDevice\] printTermios() - not implemented for socket 06:21:21.737 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:22.743 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:22.745 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:22.747 DEBUG \[SerialDevice\] readUntil: read 06:21:22.749 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:22.751 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:23.755 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:23.757 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:23.759 DEBUG \[SerialDevice\] readUntil: read 06:21:23.761 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:23.763 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:24.767 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:24.769 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:24.771 DEBUG \[SerialDevice\] readUntil: read *** 06:21:24.773 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:24.775 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:25.779 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:25.781 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:25.783 DEBUG \[SerialDevice\] readUntil: read 06:21:25.785 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:25.787 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.791 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.793 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.795 DEBUG \[SerialDevice\] readUntil: read 06:21:26.797 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.799 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.801 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.803 DEBUG \[SerialDevice\] readUntil: read *** 06:21:26.805 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.807 DEBUG \[SerialDevice\] (null): wrote 5 chars: STOP 06:21:26.809 DEBUG \[SerialDevice\] (null): wrote 1 chars: 06:21:26.811 DEBUG \[SerialDevice\] readUntil: term = S> *** 06:21:26.813 DEBUG \[SerialDevice\] readUntil: read S 06:21:26.816 DEBUG \[SerialDevice\] SerialDevice::confirm() - Timed Out 06:21:26.817 DEBUG \[SerialDriver\] setState() - newState = 3 06:21:26.819 DEBUG \[EventProvider\] publish() - publisher=CTD, type=NewState 06:21:26.821 DEBUG \[EventProvider\] publish() - proxy->push_structured_event 06:21:26.827 DEBUG \[EventProvider\] EventProvider::publish() \-  event pushed 06:21:26.829 DEBUG \[EventProvider\] publish() \-  return 06:21:26.831 ERROR \[AuvService\] CTD::initialize() failed after 2 tries \\ ** parosci pressure sensor *** ./parosci *** 06:39:37.270 DEBUG \[SerialDevice\] Current ispeed setting: 13 *** 06:39:37.271 DEBUG \[SerialDevice\] Current ospeed setting: 13 *** 06:39:37.273 DEBUG \[SerialDevice\] change to speed setting 9600 *** 06:39:37.275 ERROR \[SerialDevice\] cfsetispeed() to baud 9600 failed 06:39:37.277 ERROR \[SerialDevice\] cfsetospeed() failed 06:39:37.279 DEBUG \[SerialDevice\] New ispeed setting: 13 *** 06:39:37.281 DEBUG \[SerialDevice\] New ospeed setting: 13 *** 06:39:37.282 DEBUG \[SerialDevice\] SerialDevice: done... *** 06:39:37.404 ERROR \[Parosci\] Failed to read serial number 06:39:37.407 ERROR \[AuvService\] Failed to read serial numbre ** teledyne - dvl  *** ./teledyne \-dev /dev/ttyS5 *** ...Timed out while looking for "workSite" service 13:32:31.476 INFO \[AuvApplication\] You should override AuvApplication::run() *** 13:32:31.730 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.034 ERROR \[TeledyneDvl\]  wakeupDvl: Failed to establish comms with DVL 13:32:32.886 INFO \[TeledyneDvl\] \[BREAK Wakeup A\] Navigator Broadband ADCP Version 9.18 RD Instruments (c) 1996-2004 All Rights Reserved. > 13:32:32.913 INFO \[TeledyneDvl\] PD0 > 13:32:32.926 INFO \[TeledyneDvl\] BK1 > 13:32:32.945 INFO \[TeledyneDvl\] TP00:00.33 > 13:32:32.966 INFO \[TeledyneDvl\] TE00:00:0.00 > 13:32:32.990 INFO \[TeledyneDvl\] BL,10,010,100 > 13:32:33.006 INFO \[TeledyneDvl\] BP001 > 13:32:33.026 INFO \[TeledyneDvl\] CF11010 > 13:32:33.040 INFO \[TeledyneDvl\] CB611 >  Baud index = 6. 13:32:33.041 INFO \[TeledyneDvl\] initialize - Baud rate set to 15. *** 13:32:33.054 INFO \[TeledyneDvl\] EX10011 > 13:32:33.072 INFO \[TeledyneDvl\] EA+04500 > 13:32:33.084 INFO \[TeledyneDvl\] WP0001 > 13:32:33.094 INFO \[TeledyneDvl\] WN25 > 13:32:33.094 INFO \[TeledyneDvl\] initialize - The number of cells is 25. *** 13:32:33.102 INFO \[TeledyneDvl\] WV210 > 13:32:33.103 INFO \[TeledyneDvl\] initialize - 14 valid commands read in from dvl. cfg. *** 13:32:33.113 INFO \[TeledyneDvl\] EC1490 > 13:32:33.119 INFO \[TeledyneDvl\] ***   ***   h5. mvc-debian4 # install debian 4.0 - root password is dorado1, auv user password is dorado1.   hostname is mvc-debian4 # \[root\] install (aptitude and apt-get) the debian packages needed for auv-pkgs # \[root\] cvs checkout auv-pkgs, build and install each using the supplied '*.bat" scripts  # \[auv\] cvs checkout auv-shared and build (make in top dir) # \[auv\] cvs checkout auv-linux, comment out the lines with javac (112) and idlj (135) in onboard/taskIF/Makefile, in onboard 'make all' #   misc tar cvzf foo.tgz cps100]]> 3114423 9142273 2009-02-02 11:27:00.080 2009-02-02 11:27:26.187 6422536 2008-10-09 22:18:04.253 2026-02-03 14:36:41.433 13795329 2010-06-14 21:54:04.303 2010-08-17 17:21:47.447 18579613 5 false 0.0 0 0 20971526 6 false 0.0 0 0 20971526 6 false 0.0 0 0 18579617 5 false 0.0 0 0 20971526 5 false 0.0 0 0 20971526 6 false 0.0 ]]> 0 0 3113885 6 false 0.0 NavigationDrivers ashtec gps tm bluefinBatt 3dmgx1 tm parosci pressure tm tailcone tm teledyne dvl tm ]]> 0 0 9372360 5 false 0.0 0 0 13926458 6 false 0.0 0 0 13926456 6 false 0.0 0 0 3114074 5 false 0.0 0 0 11239490 6 false 0.0 0 0 11239490 5 false 0.0 0 0 751 5 false 0.0 0 0 9797697 5 false 0.0 0 0 3114074 6 false 0.0 0 0 8912916 5 false 0.0 0 0 8913153 5 false 0.0 0 0 3637442 5 false 0.0 0 0 8912901 5 false 0.0 0 0 9371751 5 false 0.0 0 0 8912903 5 false 0.0 0 0 3113885 6 false 0.0 ScienceDrivers seabird ctd hydroscat biolume lisst tm gulper ]]> 0 0 3113885 6 false 0.0 thingsToDo ashtech gps tm bluefinBatt 3dmxg1 compass parosci pressure tm sonardyne tailcone tm teledyne dvl ]]> 0 0 9372360 6 false 0.0 0 0 18579613 6 false 0.0 0 0 8912916 6 false 0.0 0 0 3113885 5 false 0.0 0 0 18579617 6 false 0.0 0 0 8912901 6 false 0.0 0 0 8912903 6 false 0.0 0 0 3637442 6 false 0.0 0 0 763 5 false 0.0 0 0 11796734 6 false 0.0 0 0 3637442 6 false 0.0 NavigationDrivers aschtec GPS tm BluefinBatt 3dmgx1 Compass tm Parosci Pressure tm Tailcone tm Teledyne DVL tm ]]> 0 0 8356111 6 false 0.0 0 0 3114460 5 false 0.0 0 0 10355444 5 false 0.0 0 0 13926458 5 false 0.0 0 0 8913153 6 false 0.0 0 0 3637442 6 false 0.0 ScienceDrivers Seabird CTD tm Hydroscat Backscatter tm Biolume Lisst tm ]]> 0 0 9797756 5 false 0.0 0 0 9371751 6 false 0.0 0 0 9797697 6 false 0.0 0 0 13926456 5 false 0.0 0 0 17465421 6 false 0.0 0 0 8356111 5 false 0.0 0 0 751 6 false 0.0 0 0 3114460 6 false 0.0 0 0 10355444 6 false 0.0 0 0 763 6 false 0.0 0 0 17465421 5 false 0.0 0 0 11796734 5 false 0.0 0 0 10912189 5 false 0.0 0 0 20971526 6 false 0.0 0 0 3113885 6 false 0.0 0 0 9797756 6 false 0.0 0 0 10912189 6 false 0.0 0 0