Reconnection does not always work on OS X with Thymio II

[stephanemagnenat]

On OS X, reconnection does not always work as it sometimes leads to corrupted packets. This is surprising as the firmware of Thymio II properly handles disconnections, including during packet send and reception.

This bug is very easy to reproduce. In Studio while connected to a Thymio with USB, create a global event named Test and input this simple program:

timer.period[0] = 50
onevent timer0
emit Test [0,0,0,0,0,0,0,0,0,0]

This program has a low bandwidth, of about 500 bytes per second.

With OS X, Studio will receive corrupted packets with a high probability after reconnection. The same problem happens with VPL.

Tested on OS X 10.10.2

Any help for testing on other OSs and OS X versions is welcome.

[motib]

Trying on Windows 7. Exactly what is supposed to go wrong?! I disconnected and reconnected, clicked Load and Run and it executed OK.

[stephanemagnenat]

Exactly what is supposed to go wrong?!

On OS X, with the given test case Studio crashes on reconnection, because it receives corrupted data. I do not know why.

[riedo]

I cannot reproduce on OSX 10.7.5. where was your version compiled? is it mine or a homebrew one? Does the Thymio reconnect correctly if there is no event?

I had cases of crash on reconnection when compiling with 10.6 sdk and running on 10.5 for example... could it be similar?

[stephanemagnenat]

I cannot reproduce on OSX 10.7.5.

Very interesting.

It is an homebrew one. I was using the system-provided compiler through XCode, which is clang on 10.10.2 (Apple LLVM version 6.0 (clang-600.0.57) (based on LLVM 3.5svn)).

Thymio reconnects correctly if there is no event, and the probability of crash increases with the bandwidth.

It would be interesting to test my builds on another system, who knows, maybe the problem is with the serial driver of 10.10. Which version of OS X do you have?

[riedo]

As I said, 10.7.5 :) can you reproduce the bug with my build on your computer?

[stephanemagnenat]

I could not have Studio crash with your build, but I did receive wrong messages, it just happened not to crash Studio. You can try to reproduce that. Add an event "Toto" (id 0) before event "Test" (which will have id 1). Here upon reconnection I receive one or two events Toto and then events Test.

[riedo]

In this case I get a wrong Test event followed by two Toto events, and then back to normal. Interestingly, always the same sequence of corrupted events. Why would this depend on the build? I must say that if this is some kind of serial driver problem, I lack skills to solve it.

[stephanemagnenat]

I do not know why this depends on the build, it is weird. To solve it, a first step would be to launch the program with dtruce (strace equivalent on OS X) to see what we read from the serious port (to rule out a bug in Dashel). We could see whether your build or my build read different data. If the data read from the kernel are already corrupted, then we would need to use a USB logic analyser to see if data are lost in the kernel somewhere. René Beuchat at EPFL/HEIG has the skill to do this, but I do not know if he is knowledgable with strace-like tools.

For a start, I will test on Linux, as Linux and OS X share the same Dashel code.

[stephanemagnenat]

Interestingly, the broken data do not appear directly upon reconnection, but somewhat later. Using the provided test case, close Studio, starting a switch, disconnecting the robot, closing and re-starting the switch, the following error appears:

0x1 user message from 1 : user message of size 10 :    0    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 :    0    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 :    0    0    0   20    1    1    0    0    0    0 
   0 user message from 0 : user message of size 0 : 
   0 user message from 0 : user message of size 0 : 
 0x1 user message from 1 : user message of size 10 :    0    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 :    0    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 :    0    0    0    0    0    0    0    0    0    0 

[stephanemagnenat]

An hypothesis could be that when re-opening the serial port on OS X after a disconnection, the FIFO of the driver still have old data, including a non-completed packet.

[stephanemagnenat]

This hypothesis does not seem to hold with the following test:

Using that program (with two global events, Toto size 0, Test size 10):

var i = 0
timer.period[0] = 50

onevent timer0
emit Test [i,0,0,0,0,0,0,0,0,0]
i += 1

Launching Studio, stopping Studio, launching switch and disconnecting:

[...]
 0x1 user message from 1 : user message of size 10 : 2880    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 : 2881    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 : 2882    0    0    0    0    0    0    0    0    0 
[Wed Apr 15 10:17:52 2015 732] Abnormal connection closed to ser:name=Thymio-II;baud=115200;stop=1;parity=none;fc=none;bits=8 : File read I/O error. Device not configured

Waiting some seconds, then reconnecting and re-launching switch:

 0x1 user message from 1 : user message of size 10 : 3019    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 : 3020    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 : 3021    0    0   20    1    1 3022    0    0    0 
   0 user message from 0 : user message of size 0 : 
   0 user message from 0 : user message of size 0 : 
 0x1 user message from 1 : user message of size 10 : 3023    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 : 3024    0    0    0    0    0    0    0    0    0 
 0x1 user message from 1 : user message of size 10 : 3025    0    0    0    0    0    0    0    0    0
[...]

This shows that disconnection happened at packet 2882. Packet 3019 was received upon reconnection, and was ok. But packet 3021 was not complete.

[mbonani]

Test on windows nothing similar have been seen on firmware 8 and 9.1 But automatic reconnection does not work the same. It is not possible on switch (have to relaunch switch) and on Studio you have to have "auto refresh" enabled to go into the reconnection mode. But at reconnection no problem of such wrong packets...

[stephanemagnenat]

I tried on Linux (kernel 3.6.16, Ubuntu 14.04 x86-64, Thymio firmware 8) and could not reproduce the problem we see on OS X.

[stephanemagnenat]

Interestingly, on Linux with firmware 9 I get a wrong-sized message on reconnection sometimes. Maybe this also can happen with firmware 8 but I never saw it in my tests. I am confused, could it be that the mechanism to actually detect connection on Thymio (DTE) is not working? A way to explore this would be to activate a LED when the Thymio thinks it as a connection.

[stephanemagnenat]

Testing with a modified firmware that turns a wheel when the Thymio thinks the USB connection is opened, we see that the latter is opened upon physical reconnection on OS X. On Windows, the wheel turns a little upon reconnection and then stops. Therefore, it seems that the DTE detection is an unreliable way to know if we are connected.

[stephanemagnenat]

Commit b131546 proposes a work-around that corrects the issue here on OS X (use latest Dashel). I need to test on other POSIX platforms such as Linux before assuming this bug fixed.

[stephanemagnenat]

I still managed to get a broken packet with this fix, using firmware 8. So more testing is needed, both with firmware 8 and latest 9.1 (that has a delay of 100 ms or until data are received once DTR is set before sending packet).

[stephanemagnenat]

I got a broken packet using ThymioVPL on OS X, despite the correction.

[stephanemagnenat]

Commit 1f57f66 attempts to make re-connection more robust, hopefully correcting this problem.

[riedo]

on OSX10.7.5, with thymio firmware 9.1, aseba & dashel recompiled on april 16 (the commit of 4:18 pm), we could not make aseba crash or trigger kernel panics anymore. We stil got corrupted data however (hard to reproduce though)

and with firmware 8 studio crashes

[stephanemagnenat]

Corrupted data is as bad as crash. Do you have any indication of in which situation these happened? I guess you compiled Aseba with commit 1f57f661d3ee28ef6cf255fd1c673e2604053b9b? Of course timing issue can still lead to some problems, but these should now be very very unlikely. If you got a problem in minutes of testing, I would say that there is still some cases we are missing. Firmware 9.1 was set to 100ms delay, right?

[riedo]

I do not agree that corrupted data every few minutes is as bad as systematic crash with frequent kernel panic. However the point was to give a precise description of the bug and what happens (instead of "not working") and not a judgement of value.

Yes, that's the commit I used.

I still use the same test case. timer.period[0] = 50 onevent timer0 emit Test [0,0,0,0,0,0,0,0,0,0]

with events: toto (no args) Test (10 args)

[stephanemagnenat]

I do not agree that corrupted data every few minutes is as bad as systematic crash with frequent kernel panic.

A kernel panic no indeed. But the fact that Aseba can trigger a kernel panic just speaks about bad implementation of OS X and no much more.

On the side of corrupted data vs Aseba crash, actually Aseba does not crash because there is a bug in it, but because there are some consistency checks in the message de-serialization system that abort Aseba when an impossible condition happens on messages. So having these assertion or wrong data is exactly similar, the fact that one or the other happens depends on the precise content of the messages. So I want to hunt down all data corruption, because they violate the basic assumption that Aseba makes of the underlying transport: the one that no data are lost, ever. When this assumption is violated, anything and everything can happen.

[stephanemagnenat]

Further tests (disconnect on a computer and reconnect on another one) show that the problem is indeed in the Thymio's firmware, in which DTR is not cleared upon disconnection. I will keep this issue open until the firmware's issue is fixed (see aseba-community/aseba-target-thymio2#3).

[riedo]

So, I tested with a longer dely in studio as Stephane suggested Firmware modified today 5 may 2015 by Michael (supposed to clear DTR, and on reconnection start turning 1 wheel when the port opens, start turning the second wheel after the delay when Thymio starts sending packets) Wheels turned when I started Studio, and stopped if I disconnected the robot. On reconnection, nothing moved for a long time at first, then 1st wheel startd, then 2nd wheel started with aseba showing events again. According to Michael this is the expected behaviour.

Then, with the same test case as before (test event with 10 args every 50 ms) Aseba commit: 1aa42de Dashel commit: e88c118 at the ~15th disconnection, the wheels did not stop turning as they should have, and upon reconnection there was a broken packet.

[stephanemagnenat]

at the ~15th disconnection, the wheels did not stop turning as they should have, and upon reconnection there was a broken packet.

Ok so there is still a bug in the firmware.

[riedo]

more bugs description (I continued the test from above) I had 4 more cases where the wheels did not stop turning but there were no broken packets. I had one case where the wheels stopped, but Aseba crashed on reconnection, I'm just surprised because the bug report seems different than usual; is it also because of broken packets? Looks like segfault, not abort, if i'm not mistaken.

Process:         asebastudio [1433]
Path:            /Users/USER/*/Aseba Studio.app/Contents/MacOS/asebastudio
Identifier:      org.mobsya.asebastudio
Version:         ??? (1.2)
Code Type:       X86-64 (Native)
Parent Process:  launchd [133]

Date/Time:       2015-05-05 11:01:42.534 +0200
OS Version:      Mac OS X 10.7.5 (11G63)
Report Version:  9

Interval Since Last Report:          11670324 sec
Crashes Since Last Report:           294
Per-App Interval Since Last Report:  318542 sec
Per-App Crashes Since Last Report:   34
Anonymous UUID:                      2A8DEFDF-6C37-4B80-B7C0-C73C5353D1AC

Crashed Thread:  0  Dispatch queue: com.apple.main-thread

Exception Type:  EXC_BAD_ACCESS (SIGSEGV)
Exception Codes: KERN_INVALID_ADDRESS at 0x0000000000000010

VM Regions Near 0x10:
--> 
    __TEXT                 0000000100000000-0000000100484000 [ 4624K] r-x/rwx SM=COW  /Users/USER/*/Aseba Studio.app/Contents/MacOS/asebastudio

Application Specific Information:
objc[1433]: garbage collection is OFF

Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0   org.mobsya.asebastudio          0x0000000100026658 Aseba::NodeTab::processCompilationResult(Aseba::NodeTab::CompilationResult*) + 1304
1   org.mobsya.asebastudio          0x0000000100048175 Aseba::NodeTab::qt_static_metacall(QObject*, QMetaObject::Call, int, void**) + 197
2   QtCore                          0x000000010161e64e QMetaObject::activate(QObject*, QMetaObject const*, int, void**) + 1566
3   QtCore                          0x00000001014da947 QFutureWatcherBase::event(QEvent*) + 119
4   QtGui                           0x00000001006b62ad QApplicationPrivate::notify_helper(QObject*, QEvent*) + 189
5   QtGui                           0x00000001006bce04 QApplication::notify(QObject*, QEvent*) + 1060
6   QtCore                          0x00000001016061ac QCoreApplication::notifyInternal(QObject*, QEvent*) + 124
7   QtCore                          0x00000001016075d0 QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*) + 736
8   com.apple.CoreFoundation        0x00007fff90cd04f1 __CFRUNLOOP_IS_CALLING_OUT_TO_A_SOURCE0_PERFORM_FUNCTION__ + 17
9   com.apple.CoreFoundation        0x00007fff90ccfd5d __CFRunLoopDoSources0 + 253
10  com.apple.CoreFoundation        0x00007fff90cf6b49 __CFRunLoopRun + 905
11  com.apple.CoreFoundation        0x00007fff90cf6486 CFRunLoopRunSpecific + 230
12  com.apple.HIToolbox             0x00007fff8ddb12bf RunCurrentEventLoopInMode + 277
13  com.apple.HIToolbox             0x00007fff8ddb84bf ReceiveNextEventCommon + 181
14  com.apple.HIToolbox             0x00007fff8ddb83fa BlockUntilNextEventMatchingListInMode + 62
15  com.apple.AppKit                0x00007fff93d17779 _DPSNextEvent + 659
16  com.apple.AppKit                0x00007fff93d1707d -[NSApplication nextEventMatchingMask:untilDate:inMode:dequeue:] + 135
17  com.apple.AppKit                0x00007fff93fcb735 -[NSApplication _realDoModalLoop:peek:] + 610
18  com.apple.AppKit                0x00007fff93fc4f4c -[NSApplication runModalSession:] + 48
19  QtGui                           0x000000010066e78e QEventDispatcherMac::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) + 1422
20  QtCore                          0x00000001016050c4 QEventLoop::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) + 68
21  QtCore                          0x0000000101605474 QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) + 324
22  QtGui                           0x0000000100b5f7c5 QDialog::exec() + 229
23  org.mobsya.asebastudio          0x0000000100081448 Aseba::DashelTarget::disconnectionFromDashel() + 488
24  QtCore                          0x000000010161a741 QObject::event(QEvent*) + 1073
25  QtGui                           0x00000001006b62ad QApplicationPrivate::notify_helper(QObject*, QEvent*) + 189
26  QtGui                           0x00000001006bce04 QApplication::notify(QObject*, QEvent*) + 1060
27  QtCore                          0x00000001016061ac QCoreApplication::notifyInternal(QObject*, QEvent*) + 124
28  QtCore                          0x00000001016075d0 QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*) + 736
29  com.apple.CoreFoundation        0x00007fff90cd04f1 __CFRUNLOOP_IS_CALLING_OUT_TO_A_SOURCE0_PERFORM_FUNCTION__ + 17
30  com.apple.CoreFoundation        0x00007fff90ccfd5d __CFRunLoopDoSources0 + 253
31  com.apple.CoreFoundation        0x00007fff90cf6b49 __CFRunLoopRun + 905
32  com.apple.CoreFoundation        0x00007fff90cf6486 CFRunLoopRunSpecific + 230
33  com.apple.HIToolbox             0x00007fff8ddb12bf RunCurrentEventLoopInMode + 277
34  com.apple.HIToolbox             0x00007fff8ddb856d ReceiveNextEventCommon + 355
35  com.apple.HIToolbox             0x00007fff8ddb83fa BlockUntilNextEventMatchingListInMode + 62
36  com.apple.AppKit                0x00007fff93d17779 _DPSNextEvent + 659
37  com.apple.AppKit                0x00007fff93d1707d -[NSApplication nextEventMatchingMask:untilDate:inMode:dequeue:] + 135
38  com.apple.AppKit                0x00007fff93d139b9 -[NSApplication run] + 470
39  QtGui                           0x000000010066e920 QEventDispatcherMac::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) + 1824
40  QtCore                          0x00000001016050c4 QEventLoop::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) + 68
41  QtCore                          0x0000000101605474 QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) + 324
42  QtCore                          0x0000000101607b5c QCoreApplication::exec() + 188
43  org.mobsya.asebastudio          0x000000010003a4a7 main + 2551
44  org.mobsya.asebastudio          0x0000000100003ca4 start + 52

Thread 1:: Dispatch queue: com.apple.libdispatch-manager
0   libsystem_kernel.dylib          0x00007fff938997e6 kevent + 10
1   libdispatch.dylib               0x00007fff92e9c786 _dispatch_mgr_invoke + 923
2   libdispatch.dylib               0x00007fff92e9b316 _dispatch_mgr_thread + 54

Thread 2:: Aseba::DashelInterface
0   libsystem_kernel.dylib          0x00007fff93898df2 __select + 10
1   libdashel.1.0.8.dylib           0x0000000101835da5 poll_emu + 235
2   libdashel.1.0.8.dylib           0x00000001018213ee Dashel::Hub::step(int) + 618
3   libdashel.1.0.8.dylib           0x0000000101822334 Dashel::Hub::run() + 26
4   org.mobsya.asebastudio          0x0000000100080448 Aseba::DashelInterface::run() + 40
5   QtCore                          0x00000001014ebba4 QThreadPrivate::start(void*) + 356
6   libsystem_c.dylib               0x00007fff90c2e8bf _pthread_start + 335
7   libsystem_c.dylib               0x00007fff90c31b75 thread_start + 13

Thread 3:: Thread (pooled)
0   libsystem_kernel.dylib          0x00007fff93898bca __psynch_cvwait + 10
1   libsystem_c.dylib               0x00007fff90c32274 _pthread_cond_wait + 840
2   QtCore                          0x00000001014ecc10 QWaitCondition::wait(QMutex*, unsigned long) + 272
3   QtCore                          0x00000001014decf2 QThreadPoolThread::run() + 498
4   QtCore                          0x00000001014ebba4 QThreadPrivate::start(void*) + 356
5   libsystem_c.dylib               0x00007fff90c2e8bf _pthread_start + 335
6   libsystem_c.dylib               0x00007fff90c31b75 thread_start + 13

Thread 4:
0   libsystem_kernel.dylib          0x00007fff93899192 __workq_kernreturn + 10
1   libsystem_c.dylib               0x00007fff90c30594 _pthread_wqthread + 758
2   libsystem_c.dylib               0x00007fff90c31b85 start_wqthread + 13

Thread 5:
0   libsystem_kernel.dylib          0x00007fff93899192 __workq_kernreturn + 10
1   libsystem_c.dylib               0x00007fff90c30594 _pthread_wqthread + 758
2   libsystem_c.dylib               0x00007fff90c31b85 start_wqthread + 13

Thread 0 crashed with X86 Thread State (64-bit):
  rax: 0x0000000000000000  rbx: 0x00007fff5fbfb8a0  rcx: 0x0000000101d1e318  rdx: 0x0000000000000000
  rdi: 0x0000000101d1e318  rsi: 0x0000000000000001  rbp: 0x00007fff5fbfb9a0  rsp: 0x00007fff5fbfb4b0
   r8: 0x0000000101af1a00   r9: 0x00000000000009c4  r10: 0x1480410b12a00888  r11: 0x0000000000000000
  r12: 0x000000010ec3afa0  r13: 0x000000000000006c  r14: 0x00000001000480b0  r15: 0x000000000000001e
  rip: 0x0000000100026658  rfl: 0x0000000000010246  cr2: 0x0000000000000010
Logical CPU: 0

Binary Images:
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    0x7fff92ed6000 -     0x7fff92edaff7  com.apple.CommonPanels (1.2.5 - 94) <0BB2C436-C9D5-380B-86B5-E355A7711259> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/CommonPanels.framework/Versions/A/CommonPanels
    0x7fff92edb000 -     0x7fff92f56ff7  com.apple.print.framework.PrintCore (7.1 - 366.3) <C5F39A82-0E77-3AD6-906A-20DD2EE8D374> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/PrintCore.framework/Versions/A/PrintCore
    0x7fff92f72000 -     0x7fff930d9ff7  com.apple.CFNetwork (520.5.3 - 520.5.3) <1C11C214-1C70-3358-A709-69C84D999DB8> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/CFNetwork.framework/Versions/A/CFNetwork
    0x7fff930da000 -     0x7fff930dcfff  com.apple.TrustEvaluationAgent (2.0 - 1) <1F31CAFF-C1C6-33D3-94E9-11B721761DDF> /System/Library/PrivateFrameworks/TrustEvaluationAgent.framework/Versions/A/TrustEvaluationAgent
    0x7fff930dd000 -     0x7fff930ddfff  com.apple.Accelerate.vecLib (3.7 - vecLib 3.7) <C06A140F-6114-3B8B-B080-E509303145B8> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vecLib.framework/Versions/A/vecLib
    0x7fff930de000 -     0x7fff93178ff7  com.apple.SearchKit (1.4.0 - 1.4.0) <4E70C394-773E-3A4B-A93C-59A88ABA9509> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/SearchKit.framework/Versions/A/SearchKit
    0x7fff93179000 -     0x7fff93180fff  com.apple.CommerceCore (1.0 - 17.1) <B6BFA182-9DC9-3543-89AE-F82EB9AF1CAB> /System/Library/PrivateFrameworks/CommerceKit.framework/Versions/A/Frameworks/CommerceCore.framework/Versions/A/CommerceCore
    0x7fff93190000 -     0x7fff93213fef  com.apple.Metadata (10.7.0 - 627.37) <B9BEB598-B6F2-3BFF-A8F3-C3C87CD076AB> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/Metadata.framework/Versions/A/Metadata
    0x7fff93214000 -     0x7fff93216ff7  com.apple.print.framework.Print (7.4 - 247.3) <626C58D5-2841-3329-8C32-9F4A8353F3E7> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Print.framework/Versions/A/Print
    0x7fff93217000 -     0x7fff9321afff  libRadiance.dylib (??? - ???) <CD89D70D-F177-3BAE-8A26-644EA7D5E28E> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/Resources/libRadiance.dylib
    0x7fff9327c000 -     0x7fff932dcfff  libvDSP.dylib (325.4.0 - compatibility 1.0.0) <3A7521E6-5510-3FA7-AB65-79693A7A5839> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vecLib.framework/Versions/A/libvDSP.dylib
    0x7fff933fa000 -     0x7fff93455ff7  com.apple.opencl (2.0.19 - 2.0.19) <B05BF605-73B8-328F-A228-6FA59E1FC73A> /System/Library/Frameworks/OpenCL.framework/Versions/A/OpenCL
    0x7fff9346b000 -     0x7fff934d6ff7  com.apple.framework.IOKit (2.0 - ???) <FE838BB6-D42E-3291-A1A0-6F53FC970261> /System/Library/Frameworks/IOKit.framework/Versions/A/IOKit
    0x7fff934e8000 -     0x7fff935ccff7  com.apple.CoreServices.OSServices (478.50 - 478.50) <3D6AA4EF-C601-36C7-8F3A-A00964F01759> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/OSServices.framework/Versions/A/OSServices
    0x7fff935cd000 -     0x7fff9362fff7  com.apple.Symbolication (1.3 - 91) <B072970E-9EC1-3495-A1FA-D344C6E74A13> /System/Library/PrivateFrameworks/Symbolication.framework/Versions/A/Symbolication
    0x7fff9368e000 -     0x7fff936b4fff  com.apple.framework.familycontrols (3.0 - 300) <6F0C58C0-22E7-3877-8CFA-1ED0CB3CE38B> /System/Library/PrivateFrameworks/FamilyControls.framework/Versions/A/FamilyControls
    0x7fff93713000 -     0x7fff9381afe7  libsqlite3.dylib (9.6.0 - compatibility 9.0.0) <EE02BB01-64C9-304D-9719-A35F5CD6D04C> /usr/lib/libsqlite3.dylib
    0x7fff93843000 -     0x7fff93859fff  libGL.dylib (??? - ???) <A4876AE9-DDFE-3B9A-874E-09BC29D46C39> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGL.dylib
    0x7fff93876000 -     0x7fff93881fff  com.apple.CommonAuth (2.2 - 2.0) <4F5302A5-867A-3F2E-9E4B-98FA011678F8> /System/Library/PrivateFrameworks/CommonAuth.framework/Versions/A/CommonAuth
    0x7fff93882000 -     0x7fff938a2fff  libsystem_kernel.dylib (1699.32.7 - compatibility 1.0.0) <66C9F9BD-C7B3-30D4-B1A0-03C8A6392351> /usr/lib/system/libsystem_kernel.dylib
    0x7fff93d0f000 -     0x7fff94915fff  com.apple.AppKit (6.7.5 - 1138.51) <44417D02-6123-3FC3-A119-CE51BB4C3006> /System/Library/Frameworks/AppKit.framework/Versions/C/AppKit
    0x7fff94959000 -     0x7fff94961fff  libsystem_dnssd.dylib (??? - ???) <584B321E-5159-37CD-B2E7-82E069C70AFB> /usr/lib/system/libsystem_dnssd.dylib
    0x7fff94962000 -     0x7fff94d8ffff  libLAPACK.dylib (??? - ???) <4F2E1055-2207-340B-BB45-E4F16171EE0D> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vecLib.framework/Versions/A/libLAPACK.dylib
    0x7fff94e96000 -     0x7fff94e9afff  libCGXType.A.dylib (600.0.0 - compatibility 64.0.0) <B423C449-761C-3EE1-AFAC-26B3558FF216> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/CoreGraphics.framework/Versions/A/Resources/libCGXType.A.dylib
    0x7fff94e9b000 -     0x7fff94f3cff7  com.apple.LaunchServices (480.42 - 480.42) <A69F9426-05CE-3312-89FD-BC063DA66DBF> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/LaunchServices.framework/Versions/A/LaunchServices
    0x7fff94f3d000 -     0x7fff94f7dff7  libcups.2.dylib (2.9.0 - compatibility 2.0.0) <7D2E5016-A960-3ADE-B042-F74063E79550> /usr/lib/libcups.2.dylib
    0x7fff94f7e000 -     0x7fff95073fff  libiconv.2.dylib (7.0.0 - compatibility 7.0.0) <5C40E880-0706-378F-B864-3C2BD922D926> /usr/lib/libiconv.2.dylib
    0x7fff954aa000 -     0x7fff954c9fff  libresolv.9.dylib (46.1.0 - compatibility 1.0.0) <0635C52D-DD53-3721-A488-4C6E95607A74> /usr/lib/libresolv.9.dylib
    0x7fff95581000 -     0x7fff95581fff  libkeymgr.dylib (23.0.0 - compatibility 1.0.0) <61EFED6A-A407-301E-B454-CD18314F0075> /usr/lib/system/libkeymgr.dylib
    0x7fff95582000 -     0x7fff95627fff  com.apple.ink.framework (10.7.5 - 113) <1AE6676D-490A-36C2-B6CC-00F93AEB31DE> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Ink.framework/Versions/A/Ink
    0x7fff95628000 -     0x7fff95629fff  libunc.dylib (24.0.0 - compatibility 1.0.0) <C67B3B14-866C-314F-87FF-8025BEC2CAAC> /usr/lib/system/libunc.dylib
    0x7fff9562a000 -     0x7fff95631fff  libGFXShared.dylib (??? - ???) <D3598924-B167-372E-8C9F-1BBF68852542> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGFXShared.dylib
    0x7fff95632000 -     0x7fff9594bfff  com.apple.Foundation (6.7.2 - 833.25) <22AAC369-B63C-3C55-8AC6-C3ECBA44DA7B> /System/Library/Frameworks/Foundation.framework/Versions/C/Foundation
    0x7fff9594c000 -     0x7fff95953fff  com.apple.NetFS (4.0 - 4.0) <B9F41443-679A-31AD-B0EB-36557DAF782B> /System/Library/Frameworks/NetFS.framework/Versions/A/NetFS
    0x7fff959d3000 -     0x7fff959e1fff  com.apple.HelpData (2.1.2 - 72.2) <363E36C5-F7C0-34A6-83D3-97C8FB6511F0> /System/Library/PrivateFrameworks/HelpData.framework/Versions/A/HelpData
    0x7fff959e2000 -     0x7fff95a2eff7  com.apple.SystemConfiguration (1.11.3 - 1.11) <0A7F1982-B4EA-3424-A0C7-FE46C6224F03> /System/Library/Frameworks/SystemConfiguration.framework/Versions/A/SystemConfiguration
    0x7fff95a2f000 -     0x7fff95af6ff7  com.apple.ColorSync (4.7.4 - 4.7.4) <590AFCDA-F10E-31FE-9B01-DA5FFE74C2BB> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ColorSync.framework/Versions/A/ColorSync
    0x7fff95af7000 -     0x7fff95b1ffff  com.apple.PerformanceAnalysis (1.11 - 11) <8D4C6382-DD92-37A2-BCFC-E89951320848> /System/Library/PrivateFrameworks/PerformanceAnalysis.framework/Versions/A/PerformanceAnalysis
    0x7fff95b20000 -     0x7fff95b27fff  libCGXCoreImage.A.dylib (600.0.0 - compatibility 64.0.0) <D25235EC-4AB0-390A-916C-95A3370FAA73> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/CoreGraphics.framework/Versions/A/Resources/libCGXCoreImage.A.dylib
    0x7fff95b28000 -     0x7fff95b9bfff  libstdc++.6.dylib (52.0.0 - compatibility 7.0.0) <6BDD43E4-A4B1-379E-9ED5-8C713653DFF2> /usr/lib/libstdc++.6.dylib
    0x7fff95e21000 -     0x7fff95e65ff7  libRIP.A.dylib (600.0.0 - compatibility 64.0.0) <416FB9E6-76F2-3CB8-8CCB-C12ACECFD611> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/CoreGraphics.framework/Versions/A/Resources/libRIP.A.dylib
    0x7fff95e66000 -     0x7fff95eb8ff7  libGLU.dylib (??? - ???) <DB906997-0F70-3469-BA0E-2F1DDBEAD8D5> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGLU.dylib
    0x7fff95eb9000 -     0x7fff95f80ff7  ColorSyncDeprecated.dylib (4.6.0 - compatibility 1.0.0) <7E2E109C-A438-3EDC-A6EB-3EF634A1B28B> /System/Library/Frameworks/ApplicationServices.framework/Frameworks/ColorSync.framework/Versions/A/Resources/ColorSyncDeprecated.dylib
    0x7fff95fc7000 -     0x7fff95fc7fff  com.apple.Accelerate (1.7 - Accelerate 1.7) <82DDF6F5-FBC3-323D-B71D-CF7ABC5CF568> /System/Library/Frameworks/Accelerate.framework/Versions/A/Accelerate
    0x7fff96058000 -     0x7fff96058fff  com.apple.audio.units.AudioUnit (1.7.3 - 1.7.3) <04C10813-CCE5-3333-8C72-E8E35E417B3B> /System/Library/Frameworks/AudioUnit.framework/Versions/A/AudioUnit
    0x7fff9609c000 -     0x7fff960a1ff7  libsystem_network.dylib (??? - ???) <5DE7024E-1D2D-34A2-80F4-08326331A75B> /usr/lib/system/libsystem_network.dylib
    0x7fff963ff000 -     0x7fff9640efff  com.apple.opengl (1.8.1 - 1.8.1) <51B34133-CEE3-3FC6-82AC-ADF567AE673C> /System/Library/Frameworks/OpenGL.framework/Versions/A/OpenGL
    0x7fff965af000 -     0x7fff9668efff  com.apple.ImageIO.framework (3.1.2 - 588) <37F047A9-48E3-3AF7-8931-462D63BE6121> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/ImageIO
    0x7fff9668f000 -     0x7fff96799fe7  libcrypto.0.9.8.dylib (0.9.8 - compatibility 0.9.8) <0E7A4F63-035E-3406-AE8C-8F9E3E47D2EE> /usr/lib/libcrypto.0.9.8.dylib
    0x7fff9679a000 -     0x7fff967a3ff7  libsystem_notify.dylib (80.1.0 - compatibility 1.0.0) <A4D651E3-D1C6-3934-AD49-7A104FD14596> /usr/lib/system/libsystem_notify.dylib
    0x7fff967a4000 -     0x7fff967bbfff  com.apple.MultitouchSupport.framework (231.4 - 231.4) <10A978D1-8781-33F0-BE45-60C9171F7278> /System/Library/PrivateFrameworks/MultitouchSupport.framework/Versions/A/MultitouchSupport
    0x7fff967bc000 -     0x7fff967d1fff  com.apple.speech.synthesis.framework (4.0.74 - 4.0.74) <C061ECBB-7061-3A43-8A18-90633F943295> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/SpeechSynthesis.framework/Versions/A/SpeechSynthesis
    0x7fff96ea3000 -     0x7fff96ea3fff  com.apple.vecLib (3.7 - vecLib 3.7) <9A58105C-B36E-35B5-812C-4ED693F2618F> /System/Library/Frameworks/vecLib.framework/Versions/A/vecLib
    0x7fff96f38000 -     0x7fff96f7aff7  libcommonCrypto.dylib (55010.0.0 - compatibility 1.0.0) <A5B9778E-11C3-3F61-B740-1F2114E967FB> /usr/lib/system/libcommonCrypto.dylib
    0x7fff96f7b000 -     0x7fff96f80fff  com.apple.OpenDirectory (10.7 - 146) <91A87249-6A2F-3F89-A8DE-0E95C0B54A3A> /System/Library/Frameworks/OpenDirectory.framework/Versions/A/OpenDirectory
    0x7fff96f81000 -     0x7fff96f85fff  libmathCommon.A.dylib (2026.0.0 - compatibility 1.0.0) <FF83AFF7-42B2-306E-90AF-D539C51A4542> /usr/lib/system/libmathCommon.A.dylib
    0x7fff9789c000 -     0x7fff978aaff7  libkxld.dylib (??? - ???) <01161870-E3B3-3F87-BA4A-0AA7A081F409> /usr/lib/system/libkxld.dylib
    0x7fff978ab000 -     0x7fff978beff7  libCRFSuite.dylib (??? - ???) <034D4DAA-63F0-35E4-BCEF-338DD7A453DD> /usr/lib/libCRFSuite.dylib
    0x7fff978bf000 -     0x7fff978fefff  com.apple.AE (527.7 - 527.7) <B82F7ABC-AC8B-3507-B029-969DD5CA813D> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/AE.framework/Versions/A/AE
    0x7fff979a9000 -     0x7fff97aaefff  libFontParser.dylib (??? - ???) <D2E56B6E-3182-3667-A78C-4172C435523A> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ATS.framework/Versions/A/Resources/libFontParser.dylib
    0x7fff97aaf000 -     0x7fff97af0fff  com.apple.QD (3.40.1 - ???) <13ACC7F4-B004-3370-B575-6D06447EE428> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/QD.framework/Versions/A/QD
    0x7fff97b19000 -     0x7fff97b1efff  libcompiler_rt.dylib (6.0.0 - compatibility 1.0.0) <98ECD5F6-E85C-32A5-98CD-8911230CB66A> /usr/lib/system/libcompiler_rt.dylib
    0x7fff97b1f000 -     0x7fff97c2cfff  libJP2.dylib (??? - ???) <1CF69239-3D3D-30CE-AC7B-C7E8C9166BC2> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/Resources/libJP2.dylib
    0x7fff97c66000 -     0x7fff97c91ff7  libxslt.1.dylib (3.24.0 - compatibility 3.0.0) <E71220D3-8015-38EC-B97D-7FDB383C2BDC> /usr/lib/libxslt.1.dylib
    0x7fff97ca1000 -     0x7fff97ca2fff  libdnsinfo.dylib (395.11.0 - compatibility 1.0.0) <853BAAA5-270F-3FDC-B025-D448DB72E1C3> /usr/lib/system/libdnsinfo.dylib
    0x7fff97ca6000 -     0x7fff97cbdfff  com.apple.CFOpenDirectory (10.7 - 144) <9709423E-8484-3B26-AAE8-EF58D1B8FB3F> /System/Library/Frameworks/OpenDirectory.framework/Versions/A/Frameworks/CFOpenDirectory.framework/Versions/A/CFOpenDirectory
    0x7fff97f42000 -     0x7fff9816cfe7  com.apple.CoreData (104.1 - 358.14) <6BB64605-8DA7-337D-A2AB-A3346A421CBD> /System/Library/Frameworks/CoreData.framework/Versions/A/CoreData
    0x7fff9816d000 -     0x7fff9816eff7  libremovefile.dylib (21.1.0 - compatibility 1.0.0) <739E6C83-AA52-3C6C-A680-B37FE2888A04> /usr/lib/system/libremovefile.dylib
    0x7fff9852e000 -     0x7fff98552fff  com.apple.RemoteViewServices (1.5 - 44.2) <A0417D7F-22E9-3FD8-AC55-67654D8E93EB> /System/Library/PrivateFrameworks/RemoteViewServices.framework/Versions/A/RemoteViewServices
    0x7fff98553000 -     0x7fff98557fff  libdyld.dylib (195.5.0 - compatibility 1.0.0) <F1903B7A-D3FF-3390-909A-B24E09BAD1A5> /usr/lib/system/libdyld.dylib
    0x7fff98558000 -     0x7fff9855bfff  libCoreVMClient.dylib (??? - ???) <28CB0F3F-A202-391F-8CAC-FC9A1398A962> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libCoreVMClient.dylib
    0x7fff9855c000 -     0x7fff98efa747  com.apple.CoreGraphics (1.600.0 - ???) <CB70AC19-9532-38CA-8509-6043AD9B4095> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/CoreGraphics.framework/Versions/A/CoreGraphics

External Modification Summary:
  Calls made by other processes targeting this process:
    task_for_pid: 6
    thread_create: 0
    thread_set_state: 0
  Calls made by this process:
    task_for_pid: 0
    thread_create: 0
    thread_set_state: 0
  Calls made by all processes on this machine:
    task_for_pid: 822
    thread_create: 2
    thread_set_state: 0

VM Region Summary:
ReadOnly portion of Libraries: Total=176.4M resident=190.2M(108%) swapped_out_or_unallocated=16777216.0T(9974528868352%)
Writable regions: Total=132.5M written=23.9M(18%) resident=51.2M(39%) swapped_out=0K(0%) unallocated=81.3M(61%)

REGION TYPE                      VIRTUAL
===========                      =======
CG backing stores                  7064K
CG image                             92K
CG raster data                     1092K
CG shared images                   3416K
CoreGraphics                         16K
CoreImage                             4K
CoreServices                       7700K
MALLOC                             95.6M
MALLOC guard page                    48K
Memory tag=240                        4K
Memory tag=242                       12K
OpenCL                                8K
STACK GUARD                        56.0M
Stack                              10.5M
VM_ALLOCATE                        16.2M
__CI_BITMAP                          80K
__DATA                             13.0M
__IMAGE                             528K
__LINKEDIT                         53.8M
__TEXT                            122.6M
__UNICODE                           544K
mapped file                        82.0M
shared memory                       312K
===========                      =======
TOTAL                             470.1M

Model: MacBookPro8,2, BootROM MBP81.0047.B27, 4 processors, Intel Core i7, 2.3 GHz, 8 GB, SMC 1.69f4
Graphics: AMD Radeon HD 6750M, AMD Radeon HD 6750M, PCIe, 1024 MB
Graphics: Intel HD Graphics 3000, Intel HD Graphics 3000, Built-In, 512 MB
Memory Module: BANK 0/DIMM0, 4 GB, DDR3, 1333 MHz, 0x80AD, 0x484D54333531533642465238432D48392020
Memory Module: BANK 1/DIMM0, 4 GB, DDR3, 1333 MHz, 0x80AD, 0x484D54333531533642465238432D48392020
AirPort: spairport_wireless_card_type_airport_extreme (0x14E4, 0xD6), Broadcom BCM43xx 1.0 (5.106.198.19.22)
Bluetooth: Version 4.0.8f17, 2 service, 11 devices, 1 incoming serial ports
Network Service: Ethernet, Ethernet, en0
Network Service: Wi-Fi, AirPort, en1
Serial ATA Device: Hitachi HTS725050A9A362, 500.11 GB
Serial ATA Device: HL-DT-ST DVDRW  GS31N
USB Device: hub_device, 0x0424  (SMSC), 0x2513, 0xfa100000 / 3
USB Device: Thymio-II, 0x0617, 0x000a, 0xfa130000 / 6
USB Device: BRCM2070 Hub, 0x0a5c  (Broadcom Corp.), 0x4500, 0xfa110000 / 5
USB Device: Bluetooth USB Host Controller, apple_vendor_id, 0x821a, 0xfa113000 / 8
USB Device: Apple Internal Keyboard / Trackpad, apple_vendor_id, 0x0253, 0xfa120000 / 4
USB Device: FaceTime HD Camera (Built-in), apple_vendor_id, 0x8509, 0xfa200000 / 2
USB Device: hub_device, 0x0424  (SMSC), 0x2513, 0xfd100000 / 2
USB Device: USB Optical Mouse, 0x0461  (Primax Electronics), 0x4d22, 0xfd120000 / 4
USB Device: IR Receiver, apple_vendor_id, 0x8242, 0xfd110000 / 3

[stephanemagnenat]

I had 4 more cases where the wheels did not stop turning but there were no broken packets.

That can happen, as packets are not sent continuously. That still means the bug in the firmware showed up.

I had one case where the wheels stopped, but Aseba crashed on reconnection, I'm just surprised because the bug report seems different than usual; is it also because of broken packets? Looks like segfault, not abort, if i'm not mistaken.

I would say so, as the abort is just a sanity check about the evenness of packets, but if packets are broken, this check can pass (actually by chance it would pass half of the time) but inconsistent messages can be created and Aseba might crash further.

[riedo]

I see. So in that case the fact that the wheels stopped turning on disconnection did not indicate correct behaviour either.

[mbonani]

In firmware I add in the usb_uart_tick() function the line to clear DTR when disconnected

// Call this regularly, it manage the connection/disconnection of usb and charge enable
// It's absolutly not time-critical
void usb_uart_tick(void)
{   
    int vbus = U1OTGSTATbits.SESVD;
// --- Attaching/detaching part
    // If we are detached and we sens vbus, then attach
    if(vbus && (USBGetDeviceState() == DETACHED_STATE))
    {
        USBDeviceAttach();
    }

    // If we are not detached and we don't sens vbus, then detach 
    if(!vbus)
    {
        USBDeviceDetach();
                control_signal_bitmap.DTE_PRESENT=0; //clean DTR/DTE
    }

This functions is call by update_aseba_variables_read():

void update_aseba_variables_read(void)
 {
    // TODO: REMOVE ME (move to behavior ? /!\ behavior == IPL 1 !! race wrt aseba !)
    usb_uart_tick();

    motor_get_vind((int *) vmVariables.uind);
}

itself call either by idle_without_aseba() and run_aseba_main_loop() that are in the main loop...

For me having the robot in few case continuing thinking having connection could have a problem in the main loop of aseba... could we perhaps try to move the usb_uart_tick() else where but I am not sure to understand this comment: // TODO: REMOVE ME (move to behavior ? /!\ behavior == IPL 1 !! race wrt aseba !)

[stephanemagnenat]

So in that case the fact that the wheels stopped turning on disconnection did not indicate correct behaviour either.

If wheels continue to run once disconnected, there is certainly a bug. If wheels stop, it says nothing on whether there is a bug or not. If wheels start again on reconnection, but not port opening, there is still the bug. That is why I suggested a large reconnection delay on Aseba, to test that.

[stephanemagnenat]

@mbonani I do not have time to look in the firmware now (I will try in the next days), I suggest that you email @retornaz for review of the DTR fix.

[stephanemagnenat]

@mbonani without going into the details of the firmware, you patch looks correct (the comment should be "clear DTR/DTE" and maybe the indentation is wrong). Maybe one thing to check: are you sure that the bit must be put to 0 to clear DTR? It might be active-low (even though reading the Wikipedia page on DTR seems to indicate that 0 is indeed the right value, but who knows maybe the API of the dspic is weird). We probably need the light of @retornaz here.

[stephanemagnenat]

This seems to be fixed in firmware 9 (see aseba-community/aseba-target-thymio2#5)