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kauailabs / allwpilib

Fork of Official Repository of WPILibJ and WPILibC, which contain in addition a HAL for the KauaiLabs VMX-pi.
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Accessing Digital Output via wpilib throws exception. #29

Closed cpeppler01 closed 4 years ago

cpeppler01 commented 4 years ago

The test involves using an external relay driven by a 5V Digital Output to power a 12V LED for lighting up vision.

This is what I did:

in in class Robot:

  private static final int ledChannelID = 21;
  private DigitalOutput ledOutput = new DigitalOutput(ledChannelID);

This the result (from Console):

VMX HAL:  pigpio library version 69 opened. 
 VMX HAL:  SPI Aux Channel 2 opened with baudrate of 4000000. 
 VMX HAL:  Established communication with VMX-pi model 0x32, hardware rev 60, firmware version 3.0.411 
 VMX HAL:  Acquired navX-Sensor configuration. 
 VMX HAL:  Library version 1.1.220 
 Set VMX CAN Mode to NORMAL. 
 Server Running... 
 ********** Robot program starting ********** 
 In disabledInit() 
 Default disabledPeriodic() method... Override me! 
 Default robotPeriodic() method... Override me! 
ERROR  1  Unhandled exception: edu.wpi.first.hal.util.UncleanStatusException:  Code: -1098. HAL: A handle parameter was passed incorrectly  frc.robot.Main.main(Main.java:27) 
 Error at frc.robot.Main.main(Main.java:27): Unhandled exception: edu.wpi.first.hal.util.UncleanStatusException:  Code: -1098. HAL: A handle parameter was passed incorrectly 
  at edu.wpi.first.hal.DIOJNI.getDIO(Native Method) 
  at edu.wpi.first.wpilibj.DigitalOutput.get(DigitalOutput.java:69) 
  at edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl.lambda$addBooleanProperty$0(SendableBuilderImpl.java:219) 
  at edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl.updateTable(SendableBuilderImpl.java:95) 
  at edu.wpi.first.wpilibj.livewindow.LiveWindow.updateValues(LiveWindow.java:290) 
  at edu.wpi.first.wpilibj.IterativeRobotBase.loopFunc(IterativeRobotBase.java:263) 
  at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:81) 
  at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:263) 
  at frc.robot.Main.main(Main.java:27) 
  
Warning  1  Robots should not quit, but yours did!  edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:274) 
 Warning at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:274): Robots should not quit, but yours did! 
ERROR  1  The startCompetition() method (or methods called by it) should have handled the exception above.  edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:276) 
 Error at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:276): The startCompetition() method (or methods called by it) should have handled the exception above. 
 # 
 # A fatal error has been detected by the Java Runtime Environment: 
 # 
 #  SIGSEGV (0xb) at pc=0x739ccf28, pid=11649, tid=11698 
 # 
 # JRE version: OpenJDK Runtime Environment (11.0.7+10) (build 11.0.7+10-post-Raspbian-3deb10u1) 
 # Java VM: OpenJDK Server VM (11.0.7+10-post-Raspbian-3deb10u1, mixed mode, g1 gc, linux-) 
 # Problematic frame: 
 # C  [libvmxpi_hal_cpp.so+0xa3f28][thread 11704 also had an error] 
 [thread 11725 also had an error] 
   spiGoA+0x2a8 
 # 
 # No core dump will be written. Core dumps have been disabled. To enable core dumping, try "ulimit -c unlimited" before starting Java again 
 # 
 # An error report file with more information is saved as: 
 # //hs_err_pid11649.log 
Warning  44004  FRC:  The Driver Station has lost communication with the robot.  Driver Station 

If I comment out the reference to DigitalOutput, all is happy.

(Just a note: I just did a Raspi update/upgrade, and it looks like a new java runtime came down...not sure if that might have an effect.)

Also, not sure where to find //hs_err_pi*.log files. If I could find them, I could attach if that would help find root cause of the problem.

I powered VMX down, opened it up, and rechecked all the jumpers. HiCurrent DIO set to output, all power level jumpers set to 5V.

The code is stripped down to just a single call to allocate the Digital Output on a single channel (wpilib 21, HiCurr DIO physical channel 10). No PWMs.

Version info:

$ java --version openjdk 11.0.7 2020-04-14 OpenJDK Runtime Environment (build 11.0.7+10-post-Raspbian-3deb10u1) OpenJDK Server VM (build 11.0.7+10-post-Raspbian-3deb10u1, mixed mode)

Raspberry Pi 4 Model B Rev 1.2

sudo apt-cache show vmxpi-frc Package: vmxpi-frc Version: 1.1.220 Architecture: armhf Maintainer: Kauai Labs Installed-Size: 500 Depends: vmxpi-hal Filename: ./vmxpi-frc_1.1.220_armhf.deb

sudo apt-cache show vmxpi-hal Package: vmxpi-hal Version: 1.1.220 Architecture: armhf Maintainer: Kauai Labs Installed-Size: 3000 Filename: ./vmxpi-hal_1.1.220_armhf.deb

kauailabs commented 4 years ago

Thanks for reporting this is indeed a bug.

Root Cause Analysis: The VMX-pi HAL for WPI Library Programming fails to allocate DIO Channel Number (WPI Library Channel 21) due to a range-check error in DigitalInternal.cpp. Because the allocation fails, the underlying handle that is returned from the allocation is an "invalid handle" value. When later the "Get" (or any other) method is invoked using that handle, an error is returned. In java, this is handled as an "unclean status" exception, which if unhandled (by default, it is unhandled) will cause the java robot application to abort. This issue only occurs for Digital IO's; the same VMX-pi channel can be used successful for PWM.

To resolve this issue, an updated version of the VMX-pi WPI HAL Library will be required; this will also require an updated KauaiLabs GradleRIO release.

Workaround: Use a different WPI Library Channel # (not 21) for Digital IO instead.

cpeppler01 commented 4 years ago

Per Scott's recommendation, I tested with channels 18-20, and they all worked correctly, toggling the relay, whereas channel 21 throws the exception.

kauailabs commented 4 years ago

This issue is now closed; it's resolved in the 2020 version of the VMX-pi WPI Libraries.

This issue is only valid now for the now-defunct 2019 version of the VMX-pi WPI Libraries.