Open Windwoes opened 5 years ago
I literally was just looking at possibly this very thing. Are you using run to position mode?
I was able to catch the gamepad disconnecting from the driver station during the ESD event in the act in a log!
Notice this line in the log:
03-07 11:33:09.723 3469 3576 V EventLoopManager: synthetic gamepad received: id=-2 user=ONE atRest=true
Here's the full log:
03-07 11:31:16.205 3469 3576 V Robocol : received command: CMD_INIT_OP_MODE(10803) A - Practice TeleOp
03-07 11:31:16.234 3469 3575 I RobotCore: ******************** START - OPMODE A - Practice TeleOp ********************
03-07 11:31:16.235 3469 3595 I RobotCore: Attempting to switch to op mode A - Practice TeleOp
03-07 11:31:16.314 3469 3595 W LynxPwmOutputController: LynxSetPWMEnableCommand not implemented by lynx hw; ignoring
03-07 11:31:16.318 3469 3595 W LynxPwmOutputController: LynxSetPWMConfigurationCommand not implemented by lynx hw; ignoring
03-07 11:31:16.321 3469 3595 W LynxPwmOutputController: LynxSetPWMEnableCommand not implemented by lynx hw; ignoring
03-07 11:31:16.324 3469 3595 W LynxPwmOutputController: LynxSetPWMConfigurationCommand not implemented by lynx hw; ignoring
03-07 11:31:16.328 3469 3595 W LynxPwmOutputController: LynxSetPWMEnableCommand not implemented by lynx hw; ignoring
03-07 11:31:16.331 3469 3595 W LynxPwmOutputController: LynxSetPWMConfigurationCommand not implemented by lynx hw; ignoring
03-07 11:31:16.334 3469 3595 W LynxPwmOutputController: LynxSetPWMEnableCommand not implemented by lynx hw; ignoring
03-07 11:31:16.338 3469 3595 W LynxPwmOutputController: LynxSetPWMConfigurationCommand not implemented by lynx hw; ignoring
03-07 11:31:16.544 3469 3595 D STMicroVL53L0X: : Checking to see if it's really a VL53L0X sensor...
03-07 11:31:16.554 3469 3595 D STMicroVL53L0X: : Reg 0xC0 = ee (should be 0xEE)
03-07 11:31:16.562 3469 3595 D STMicroVL53L0X: : Reg 0xC1 = aa (should be 0xAA)
03-07 11:31:16.571 3469 3595 D STMicroVL53L0X: : Reg 0xC2 = 10 (should be 0x10)
03-07 11:31:16.580 3469 3595 D STMicroVL53L0X: : Reg 0x51 = 0 (should be 0x0099)
03-07 11:31:16.590 3469 3595 D STMicroVL53L0X: : Reg 0x61 = 0 (should be 0x0000)
03-07 11:31:16.670 3469 3595 D STMicroVL53L0X: : initial sig rate lim (MCPS) 0.000000
03-07 11:31:16.685 3469 3595 D STMicroVL53L0X: : adjusted sig rate lim (MCPS) 0.250000
03-07 11:31:17.369 3469 3595 W LynxPwmOutputController: LynxSetPWMEnableCommand not implemented by lynx hw; ignoring
03-07 11:31:17.379 3469 3595 W LynxPwmOutputController: LynxSetPWMConfigurationCommand not implemented by lynx hw; ignoring
03-07 11:31:17.383 3469 3595 W LynxPwmOutputController: LynxSetPWMEnableCommand not implemented by lynx hw; ignoring
03-07 11:31:17.387 3469 3595 W LynxPwmOutputController: LynxSetPWMConfigurationCommand not implemented by lynx hw; ignoring
03-07 11:31:17.392 3469 3595 W LynxPwmOutputController: LynxSetPWMEnableCommand not implemented by lynx hw; ignoring
03-07 11:31:17.398 3469 3595 W LynxPwmOutputController: LynxSetPWMConfigurationCommand not implemented by lynx hw; ignoring
03-07 11:31:17.402 3469 3595 W LynxPwmOutputController: LynxSetPWMEnableCommand not implemented by lynx hw; ignoring
03-07 11:31:17.407 3469 3595 W LynxPwmOutputController: LynxSetPWMConfigurationCommand not implemented by lynx hw; ignoring
03-07 11:31:17.428 3469 3739 V RobotCore: thread: 'LinearOpMode main' starting...
03-07 11:31:17.430 3469 3629 V Robocol : sending CMD_NOTIFY_INIT_OP_MODE(949), attempt: 0
03-07 11:31:19.682 3469 3576 V Robocol : received command: CMD_RUN_OP_MODE(10887) A - Practice TeleOp
03-07 11:31:19.710 3469 3629 V Robocol : sending CMD_NOTIFY_RUN_OP_MODE(1020), attempt: 0
03-07 11:31:19.806 3469 3588 V RobotCore: nack rec'd mod=3 msg#=102 ref#=0 reason=MOTOR_NOT_CONFIG_BEFORE_ENABLED:50
03-07 11:31:19.806 3469 3739 E LynxMotor: exception thrown during lynx communication
03-07 11:31:19.808 3469 3739 E LynxMotor: com.qualcomm.hardware.lynx.LynxNackException: (DQ2ASZXG #3) LynxSetMotorChannelEnableCommand: nack received: MOTOR_NOT_CONFIG_BEFORE_ENABLED:50
03-07 11:31:19.810 3469 3739 E LynxMotor: at com.qualcomm.hardware.lynx.commands.LynxRespondable.throwIfNack(LynxRespondable.java:325)
03-07 11:31:19.810 3469 3739 E LynxMotor: at com.qualcomm.hardware.lynx.commands.LynxRespondable.send(LynxRespondable.java:239)
03-07 11:31:19.812 3469 3739 E LynxMotor: at com.qualcomm.hardware.lynx.LynxDcMotorController.internalSetMotorEnable(LynxDcMotorController.java:221)
03-07 11:31:19.813 3469 3739 E LynxMotor: at com.qualcomm.hardware.lynx.LynxDcMotorController.internalSetMotorPower(LynxDcMotorController.java:543)
03-07 11:31:19.814 3469 3739 E LynxMotor: at com.qualcomm.hardware.lynx.LynxDcMotorController.setMotorMode(LynxDcMotorController.java:373)
03-07 11:31:19.816 3469 3739 E LynxMotor: at com.qualcomm.robotcore.hardware.DcMotorImpl.internalSetMode(DcMotorImpl.java:322)
03-07 11:31:19.817 3469 3739 E LynxMotor: at com.qualcomm.robotcore.hardware.DcMotorImpl.setMode(DcMotorImpl.java:318)
03-07 11:31:19.818 3469 3739 E LynxMotor: at net.frogbots.roverruckus.hardware.components.DebrisAssembly.init(DebrisAssembly.java:35)
03-07 11:31:19.818 3469 3739 E LynxMotor: at net.frogbots.roverruckus.hardware.Robot.init(Robot.java:39)
03-07 11:31:19.818 3469 3739 E LynxMotor: at net.frogbots.roverruckus.meta.opmode.FrogOpModeImpl.runOpMode(FrogOpModeImpl.java:68)
03-07 11:31:19.819 3469 3739 E LynxMotor: at com.qualcomm.robotcore.eventloop.opmode.LinearOpMode$LinearOpModeHelper$1.run(LinearOpMode.java:305)
03-07 11:31:19.819 3469 3739 E LynxMotor: at com.qualcomm.robotcore.util.ThreadPool.logThreadLifeCycle(ThreadPool.java:737)
03-07 11:31:19.819 3469 3739 E LynxMotor: at com.qualcomm.robotcore.eventloop.opmode.LinearOpMode$LinearOpModeHelper.run(LinearOpMode.java:300)
03-07 11:31:19.820 3469 3739 E LynxMotor: at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1133)
03-07 11:31:19.820 3469 3739 E LynxMotor: at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:607)
03-07 11:31:19.821 3469 3739 E LynxMotor: at com.qualcomm.robotcore.util.ThreadPool$ThreadFactoryImpl$1.run(ThreadPool.java:793)
03-07 11:31:19.821 3469 3739 E LynxMotor: at java.lang.Thread.run(Thread.java:761)
03-07 11:31:19.955 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:19.955 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:19.955 3469 3739 E LynxI2cDeviceSynch: placeholder: readStatusQuery
03-07 11:31:20.022 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:20.023 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:20.090 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:20.090 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:20.159 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:20.159 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:20.226 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:20.226 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:20.292 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:20.292 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:20.359 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:20.359 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:20.430 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:20.430 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:21.148 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:21.149 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:21.149 3469 3739 E LynxI2cDeviceSynch: placeholder: readStatusQuery
03-07 11:31:21.227 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:21.228 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:21.307 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:21.307 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:21.386 3469 3739 V RobotCore: addr=false data=true arb=false clock=false
03-07 11:31:21.386 3469 3739 E LynxI2cDeviceSynch: readStatusQuery: cbExpected=1 cbRead=0
03-07 11:31:49.720 3469 3585 E BulkPacketInWorker: DQ2ASZXG: bulkTransfer() error: -1
03-07 11:31:49.823 3469 3739 V LynxModule: retransmitting: mod=3 cmd=0x1016 msg#=249 ref#=0
03-07 11:31:49.890 3469 3469 V FtDeviceManager: ACTION_USB_DEVICE_DETACHED: /dev/bus/usb/001/004
03-07 11:31:49.890 3469 3509 D CameraManager: ---------------------------------------------- ACTION_USB_DEVICE_DETACHED
03-07 11:31:49.890 3469 3469 V FtDevice: vv********************DQ2ASZXG closing********************vv 0x052e3605
03-07 11:31:49.891 3469 3469 V FtDevice: DQ2ASZXG stopping thread readBufferManager
03-07 11:31:49.891 3469 3586 V FtDevice: DQ2ASZXG thread readBufferManager is stopped
03-07 11:31:49.892 3469 3469 V FtDevice: DQ2ASZXG stopping thread bulkPacketInWorker
03-07 11:31:49.896 3469 3585 V FtDevice: DQ2ASZXG thread bulkPacketInWorker is stopped
03-07 11:31:49.888 3588 3588 W com.qualcomm.ftcrobotcontroller: type=1400 audit(0.0:38): avc: denied { search } for comm=6C796E7820696E636F6D696E672064 name="usb" dev="tmpfs" ino=21676 scontext=u:r:untrusted_app:s0:c512,c768 tcontext=u:object_r:usb_device:s0 tclass=dir permissive=0
03-07 11:31:49.896 3469 3588 V LynxUsb : device closed in incoming datagram loop
03-07 11:31:49.896 3469 3588 V RobotUsbDeviceFtdi: closing DQ2ASZXG
03-07 11:31:49.897 3469 3469 V MonitoredUsbDeviceConnection: closing UsbDeviceConnection(DQ2ASZXG)
03-07 11:31:49.897 3469 3469 D UsbDeviceConnectionJNI: close
03-07 11:31:49.897 3469 3469 V FtDevice: ^^********************DQ2ASZXG closed ********************^^
03-07 11:31:49.897 3469 3588 V RobotCore: thread: ...terminating 'lynx incoming datagrams'
03-07 11:31:49.905 3469 3595 D RobotCore: system telemetry: key=$System$Warning$ msg="REV Robotics USB Expansion Hub Portal [DQ2ASZXG] detached"
03-07 11:31:49.908 3469 3595 V RobotCore: event loop: device has shutdown abnormally: ABNORMAL
03-07 11:31:49.909 3469 3595 V EventLoopManager: event loop: detaching device DQ2ASZXG
03-07 11:31:49.909 3469 3595 I FtcEventLoop: vv===== MODULE DETACH RECOVERY: disarm REV Robotics USB Expansion Hub Portal [DQ2ASZXG]=====vv
03-07 11:31:49.910 3469 3595 V LynxUsb : disarmDevice() serial=DQ2ASZXG...
03-07 11:31:49.911 3469 3595 V LynxUsb : shutting down incoming datagrams
03-07 11:31:49.912 3469 3595 V RobotUsbDeviceFtdi: closing DQ2ASZXG
03-07 11:31:49.912 3469 3595 V LynxUsb : ...done disarmDevice()
03-07 11:31:49.915 3469 3595 I FtcEventLoop: ======= MODULE DETACH RECOVERY: pretend REV Robotics USB Expansion Hub Portal [DQ2ASZXG]=======
03-07 11:31:49.916 3469 3595 V LynxUsb : doPretend() serial=DQ2ASZXG
03-07 11:31:49.975 3469 3593 V SoundInfo: construct(0x030b6fc7)
03-07 11:31:50.045 3469 3509 D SoundPlayer: onLoadComplete(samp=3|ms=1044, samp=3)=0
03-07 11:31:50.046 3469 3593 W AudioTrack: AUDIO_OUTPUT_FLAG_FAST denied by client; transfer 4, track 44100 Hz, output 48000 Hz
03-07 11:31:50.049 3469 3593 D SoundPlayer: playing volume=1.000000 samp=3|ms=1044
03-07 11:31:50.070 3469 3629 V Robocol : sending CMD_PLAY_SOUND(2009), attempt: 0
03-07 11:31:50.166 3469 3739 V RobotCore: timeout: abandoning waiting 250ms for response: cmd=LynxGetMotorChannelModeCommand mod=2 msg#=0
03-07 11:31:50.167 3469 3739 V RobotCore: nack rec'd mod=2 msg#=0 ref#=0 reason=ABANDONED_WAITING_FOR_RESPONSE:256
03-07 11:31:50.167 3469 3739 W LynxMotor: LynxGetMotorChannelModeCommand was abandoned waiting for response
03-07 11:31:50.168 3469 3595 W art : Long monitor contention with owner LinearOpMode main (3739) at com.qualcomm.robotcore.hardware.DcMotor$RunMode com.qualcomm.hardware.lynx.LynxDcMotorController.getMotorMode(int)(LynxDcMotorController.java:-1) waiters=0 in void com.qualcomm.hardware.lynx.LynxController.onModuleStateChange(com.qualcomm.robotcore.hardware.usb.RobotArmingStateNotifier, com.qualcomm.robotcore.hardware.usb.RobotArmingStateNotifier$ARMINGSTATE) for 251ms
03-07 11:31:50.185 3469 3509 D CameraManager: ---------------------------------------------- ACTION_USB_DEVICE_ATTACHED
03-07 11:31:50.185 3469 3469 V FtDeviceManager: ACTION_USB_DEVICE_ATTACHED: /dev/bus/usb/001/005
03-07 11:31:50.185 3469 3469 V FtDeviceManager: addOrUpdateUsbDevice(vid=0x0403 pid=0x6015)
03-07 11:31:50.195 3469 3469 V FtDevice: initialize(vid=0x0403 pid=0x6015 bcdDevice=0x1000)
03-07 11:31:50.195 3469 3469 V MonitoredUsbDeviceConnection: closing UsbDeviceConnection(DQ2ASZXG)
03-07 11:31:50.195 3469 3469 D UsbDeviceConnectionJNI: close
03-07 11:31:50.195 3469 3469 V MonitoredUsbDeviceConnection: closing UsbDeviceConnection(DQ2ASZXG)
03-07 11:31:50.195 3469 3469 D UsbDeviceConnectionJNI: close
03-07 11:31:50.196 3469 3469 V RCActivity: onPause()
03-07 11:31:50.196 3469 3469 V RCActivity: ACTION_USB_DEVICE_ATTACHED: /dev/bus/usb/001/005
03-07 11:31:50.197 3469 3469 V RCActivity: onResume()
03-07 11:31:50.418 3469 3739 V RobotCore: timeout: abandoning waiting 250ms for response: cmd=LynxGetMotorChannelModeCommand mod=2 msg#=0
03-07 11:31:50.419 3469 3739 V RobotCore: nack rec'd mod=2 msg#=0 ref#=0 reason=ABANDONED_WAITING_FOR_RESPONSE:256
03-07 11:31:50.421 3469 3739 W LynxMotor: LynxGetMotorChannelModeCommand was abandoned waiting for response
03-07 11:31:50.671 3469 3739 V RobotCore: timeout: abandoning waiting 250ms for ack: cmd=LynxSetMotorConstantPowerCommand mod=2 msg#=0
03-07 11:31:50.671 3469 3739 V RobotCore: nack rec'd mod=2 msg#=0 ref#=0 reason=ABANDONED_WAITING_FOR_ACK:257
03-07 11:31:50.672 3469 3739 W LynxMotor: LynxSetMotorConstantPowerCommand was abandoned waiting for ack
03-07 11:31:50.672 3469 3595 W art : Long monitor contention with owner LinearOpMode main (3739) at void com.qualcomm.hardware.lynx.LynxDcMotorController.setMotorPower(int, double)(LynxDcMotorController.java:-1) waiters=0 in void com.qualcomm.hardware.lynx.LynxController.onModuleStateChange(com.qualcomm.robotcore.hardware.usb.RobotArmingStateNotifier, com.qualcomm.robotcore.hardware.usb.RobotArmingStateNotifier$ARMINGSTATE) for 505ms
03-07 11:31:50.673 3469 3595 I FtcEventLoop: ^^===== MODULE DETACH RECOVERY: complete REV Robotics USB Expansion Hub Portal [DQ2ASZXG]=====^^
03-07 11:31:50.673 3469 3595 I FtcEventLoop: vv===== MODULE ATTACH: disarm REV Robotics USB Expansion Hub Portal [DQ2ASZXG]=====vv
03-07 11:31:50.674 3469 3595 V LynxUsb : disarmDevice() serial=DQ2ASZXG...
03-07 11:31:50.674 3469 3595 V LynxUsb : ...done disarmDevice()
03-07 11:31:50.675 3469 3595 I FtcEventLoop: ======= MODULE ATTACH: arm or pretend REV Robotics USB Expansion Hub Portal [DQ2ASZXG]=======
03-07 11:31:50.675 3469 3595 V LynxUsb : clearing extant global warning: "REV Robotics USB Expansion Hub Portal [DQ2ASZXG] detached"
03-07 11:31:50.680 3469 3595 V FtDeviceManager: createDeviceInfoList(): 1 USB devices
03-07 11:31:50.682 3469 3576 D RobotCore: system telemetry: key=$System$None$ msg=""
03-07 11:31:50.683 3469 3595 V FtDevice: vv********************DQ2ASZXG opening********************vv 0x0f3f7619
03-07 11:31:50.683 3469 3595 V FtDevice: ^^********************DQ2ASZXG opened ********************^^
03-07 11:31:50.684 3469 3595 V FtDevice: resetting DQ2ASZXG
03-07 11:31:50.688 3469 3595 V LynxUsb : armDevice() serial=DQ2ASZXG...
03-07 11:31:50.689 3469 3595 V LynxModule: pingAndQueryKnownInterfaces mod=2
03-07 11:31:50.691 3469 3913 V RobotCore: thread: 'lynx incoming datagrams' starting...
03-07 11:31:50.691 3469 3913 V LynxUsb : synchronization gained: serial=DQ2ASZXG
03-07 11:31:50.695 3469 3595 V LynxModule: mod#=2 queryInterface(DEKA)=54 commands starting at 4096
03-07 11:31:50.709 3469 3595 V LynxModule: sendLEDPatternSteps(): #steps=6
03-07 11:31:50.715 3469 3595 V LynxModule: pingAndQueryKnownInterfaces mod=3
03-07 11:31:50.723 3469 3595 V LynxModule: mod#=3 queryInterface(DEKA)=54 commands starting at 4096
03-07 11:31:50.738 3469 3595 V LynxModule: sendLEDPatternSteps(): #steps=8
03-07 11:31:50.746 3469 3595 V LynxUsb : ...done armDevice()
03-07 11:31:50.926 3469 3739 V RobotCore: timeout: abandoning waiting 250ms for response: cmd=LynxGetMotorChannelModeCommand mod=2 msg#=0
03-07 11:31:50.928 3469 3739 V RobotCore: nack rec'd mod=2 msg#=0 ref#=0 reason=ABANDONED_WAITING_FOR_RESPONSE:256
03-07 11:31:50.932 3469 3739 W LynxMotor: LynxGetMotorChannelModeCommand was abandoned waiting for response
03-07 11:31:50.933 3469 3595 W art : Long monitor contention with owner LinearOpMode main (3739) at com.qualcomm.robotcore.hardware.DcMotor$RunMode com.qualcomm.hardware.lynx.LynxDcMotorController.getMotorMode(int)(LynxDcMotorController.java:-1) waiters=0 in void com.qualcomm.hardware.lynx.LynxController.onModuleStateChange(com.qualcomm.robotcore.hardware.usb.RobotArmingStateNotifier, com.qualcomm.robotcore.hardware.usb.RobotArmingStateNotifier$ARMINGSTATE) for 186ms
03-07 11:31:50.937 3469 3595 I FtcEventLoop: ^^===== MODULE ATTACH: complete REV Robotics USB Expansion Hub Portal [DQ2ASZXG]=====^^
03-07 11:33:09.723 3469 3576 V EventLoopManager: synthetic gamepad received: id=-2 user=ONE atRest=true
03-07 11:33:14.044 3469 3576 V Robocol : received command: CMD_INIT_OP_MODE(14368) $Stop$Robot$
03-07 11:33:14.061 3469 3575 I RobotCore: ******************** STOP - OPMODE /storage/emulated/0/FIRST/matchlogs/Match-18-A_-_Practice_TeleOp.txt ********************
@NoahAndrews
I literally was just looking at possibly this very thing. Are you using run to position mode?
Yes I am, for more than one motor actually.
Make sure you always assign a position to the motor before putting it in run to position mode. Do you still see the issue when fixing that?
Make sure you always assign a position to the motor before putting it in run to position mode. Do you still see the issue when fixing that?
This issue is pretty hard to reproduce, it might take me a while to determine the answer to that...
Also, here's the DS's log of the gamepad disconnect during the ESD event. (Not sure if it shows anything the RC log doesn't)
03-07 11:31:15.109 17059 17175 V Robocol : { 4606 19.714} received command: CMD_NOTIFY_RUN_OP_MODE(1020) A - Practice TeleOp
03-07 11:31:15.109 17059 17174 V DriverStation: { 4606 19.715} Robot Controller starting op mode: A - Practice TeleOp
03-07 11:31:15.110 17059 17174 V DriverStation: { 4606 19.715} ui:uiWaitingForStopEvent
03-07 11:31:19.114 17059 17087 V NetDiscover_wifiDirectAgent_bcast: { 4604 23.718} peers found: count=1
03-07 11:31:19.114 17059 17087 V NetDiscover_wifiDirectAgent_bcast: { 4604 23.718} peer: 8e:3a:e3:71:77:7c 4634-RC
03-07 11:31:19.130 17059 17059 D WifiDirect: { 4605 23.735} broadcast: peers changed
03-07 11:31:19.147 17059 17059 V WifiDirect: { 4605 23.752} peers found: 1
03-07 11:31:19.147 17059 17059 V WifiDirect: { 4605 23.752} peer: 8e:3a:e3:71:77:7c 4634-RC
03-07 11:31:19.148 17059 17059 I RobotCore: { 4605 23.752} Received networkConnectionEvent: PEERS_AVAILABLE
03-07 11:31:45.302 17059 17175 E DriverStation: { 4605 49.907} System telemetry warning: REV Robotics USB Expansion Hub Portal [DQ2ASZXG] detached
03-07 11:31:45.467 17059 17175 V Robocol : { 4604 50.071} received command: CMD_PLAY_SOUND(2009) {"hashString":"1e48ddeaa00488b1e532f1de418fdb6f","loopControl":0,"msPresentationTime":1551976310045,"rate":1.0,"volume":1.0,"waitForNonLoopingSoundsToFinish":true}
03-07 11:31:45.468 17059 17174 W AudioTrack: AUDIO_OUTPUT_FLAG_FAST denied by client; transfer 4, track 44100 Hz, output 48000 Hz
03-07 11:31:45.473 17059 17174 D SoundPlayer: { 4604 50.077} playing volume=1.000000 samp=8|ms=1044
03-07 11:33:05.080 17059 17059 V DriverStation: { 4605 9.685} Input device (id = 21) removed.
03-07 11:33:05.116 17059 17180 V GamepadManager: { 4605 9.721} transmitting synthetic gamepad user=ONE
03-07 11:33:05.398 17059 17059 V DriverStation: { 4609 10.007} New input device (id = 22) detected.
03-07 11:33:09.367 17059 17059 V StateMachine: { 4610 13.977} State with no transitions: WifiState
03-07 11:33:09.410 17059 17059 V StateMachine: { 4609 14.019} State with no transitions: WifiState
03-07 11:33:09.436 17059 17180 V Robocol : { 4609 14.045} sending CMD_INIT_OP_MODE(14368), attempt: 0
03-07 11:33:09.631 17059 17175 V Robocol : { 4605 14.236} received command: CMD_NOTIFY_INIT_OP_MODE(4618) $Stop$Robot$
03-07 11:33:09.632 17059 17174 V DriverStation: { 4605 14.237} Robot Controller initializing op mode: $Stop$Robot$
03-07 11:33:09.632 17059 17174 V DriverStation: { 4605 14.237} ui:uiWaitingForInitEvent
03-07 11:33:09.633 17059 17174 V StateMachine: { 4605 14.238} State with no transitions: WifiState
03-07 11:33:09.636 17059 17180 V Robocol : { 4605 14.241} sending CMD_RUN_OP_MODE(14374), attempt: 0
03-07 11:33:09.667 17059 17175 V Robocol : { 4606 14.273} received command: CMD_NOTIFY_RUN_OP_MODE(4624) $Stop$Robot$
03-07 11:33:09.668 17059 17174 V DriverStation: { 4606 14.274} Robot Controller starting op mode: $Stop$Robot$
It doesn't sound like the MOTOR_NOT_CONFIG_BEFORE_ENABLED
nacks are relevant to this bug, so nevermind what I said earlier.
I'm doing some ESD testing with our robot and just ran into an extremely strange issue. After driving around the field and zapping the lander, the Expansion Hubs became unresponsive to the gamepads and the robot began stalling out against the playing field wall. However, no comms errors showed up in the log, and upon pressing the stop button, the robot immediately stopped. What the heck?
Here's the log in case there's anything of interest that I missed, but I don't see anything:
Also, in a previous test, the gamepad disconnected from the driver station at the exact moment of the ESD event on the robot. Coincidence? Somehow I think not. Unfortunately I do not have the logs for that encounter because they were overwritten by the log from another test.
Both Expansion Hubs are running firmware 1.8.2