kauailabs
commented
4 years ago Permissions looks to be a culprit. Have you changed the pi user password or anything like that?
Closed cpeppler01 closed 4 years ago
kauailabs
commented
4 years ago Permissions looks to be a culprit. Have you changed the pi user password or anything like that?
cpeppler01
commented
4 years ago pi user password is still the default.
I should have removed some extraneous junk from that log, but ultimately I did a
sudo ./robotCommand
which should give super user permssions when running the base command.
I updated the log above to eliminate non-essentials.
kauailabs
commented
4 years ago When’s the last time you’ve rebooted the robot?
cpeppler01
commented
4 years ago Just recently. I will do it again now and retry.
kauailabs
commented
4 years ago Also please use the frcKillRobot.sh and frcRunRobot.sh commands to stop/start the robot app if using the command line.
cpeppler01
commented
4 years ago Please note that I did build OpenCV on this machine. Would this create a conflict?
I did reboot, logged in immediately, and had this session:
login as: pi
pi@10.78.22.2's password:
Linux raspberrypi 5.4.35-v7l+ #1314 SMP Fri May 1 17:47:34 BST 2020 armv7l
The programs included with the Debian GNU/Linux system are free software;
the exact distribution terms for each program are described in the
individual files in /usr/share/doc/*/copyright.
Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent
permitted by applicable law.
Last login: Tue May 5 16:15:56 2020
SSH is enabled and the default password for the 'pi' user has not been changed.
This is a security risk - please login as the 'pi' user and type 'passwd' to set a new password.
pi@raspberrypi:~ $ cd /home/lvuser
pi@raspberrypi:/home/lvuser $ sudo ./robotCommand
OpenJDK Server VM warning: Option UseConcMarkSweepGC was deprecated in version 9 .0 and will likely be removed in a future release.
VMX HAL: pigpio library version 69 opened.
VMX HAL: SPI Aux Channel 2 opened with baudrate of 4000000.
Retrying Read....
VMX HAL: Error reading from bank 0, address 0, length 4.
Read Aborted!
VMX HAL: Established communication with VMX-pi model 0x32, hardware rev 60, fir mware 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...
Exception in thread "main" java.lang.UnsatisfiedLinkError: 'boolean edu.wpi.firs t.hal.HAL.hasMain()'
at edu.wpi.first.hal.HAL.hasMain(Native Method)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:327)
at frc.robot.Main.main(Main.java:27)
#
# A fatal error has been detected by the Java Runtime Environment:
#
[thread 1149 also had an error]#
SIGSEGV (0xb) at pc=0x75327e84, pid=1122, tid=1143
#
# JRE version: OpenJDK Runtime Environment (11.0.7+10) (build 11.0.7+10-post-Ras pbian-3deb10u1)
# Java VM: OpenJDK Server VM (11.0.7+10-post-Raspbian-3deb10u1, mixed mode, conc urrent mark sweep gc, linux-)
# Problematic frame:
# C [libvmxpi_hal_cpp.so+0xa3e84] spiGoA+0x204
#
# No core dump will be written. Core dumps have been disabled. To enable core du mping, try "ulimit -c unlimited" before starting Java again
#
# An error report file with more information is saved as:
# /home/lvuser/hs_err_pid1122.log
pi@raspberrypi:/home/lvuser $ cat /home/lvuser/hs_err_pid1122.log
#
# A fatal error has been detected by the Java Runtime Environment:
#
# SIGSEGV (0xb) at pc=0x75327e84, pid=1122, tid=1143
#
# 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, concurrent mark sweep gc, linux-)
# Problematic frame:
# C [libvmxpi_hal_cpp.so+0xa3e84] spiGoA+0x204
#
# No core dump will be written. Core dumps have been disabled. To enable core dumping, try "ulimit -c unlimited" before starting Java again
#
# If you would like to submit a bug report, please visit:
# Unknown
#
--------------- S U M M A R Y ------------
Command Line: -XX:+UseConcMarkSweepGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB /home/lvuser/BringUpSparkOnCAN.jar
Host: rev 3 (v7l), 4 cores, 3G, Raspbian GNU/Linux 10 (buster)
Time: Tue May 5 16:17:29 2020 EDT elapsed time: 0 seconds (0d 0h 0m 0s)
--------------- T H R E A D ---------------
Current thread is native thread
Stack: [0x72fb0000,0x737af000], sp=0x737ada68, free space=8182k
Native frames: (J=compiled Java code, A=aot compiled Java code, j=interpreted, Vv=VM code, C=native code)
C [libvmxpi_hal_cpp.so+0xa3e84] spiGoA+0x204
C [libvmxpi_hal_cpp.so+0xa4508] spiGo+0x50
C [libvmxpi_hal_cpp.so+0xa5514] spiWrite+0x1f4
C [libvmxpi_hal_cpp.so+0x5cfb4] PIGPIOClient::int_spi_transmit(unsigned char*, unsigned char, bool, bool, unsigned int*, unsigned char)+0xd8
C [libvmxpi_hal_cpp.so+0x639ac] SPIClient::transmit_and_receive(unsigned char*, unsigned char, unsigned char*, unsigned char, bool, bool, unsigned int*, unsigned char, unsigned char, unsigned char, bool*, unsigned char*, unsigned char*, unsigned char*)+0x8c
C [libvmxpi_hal_cpp.so+0x649f8] SPIClient::read_internal(NavXSPIMessage&, unsigned char*, unsigned char, bool)+0x208
C [libvmxpi_hal_cpp.so+0x64714] SPIClient::read(NavXSPIMessage&, unsigned char*, unsigned char, bool)+0x9c
C [libvmxpi_hal_cpp.so+0x62844] RegisterIORpi_AuxSPI::Read(unsigned char, unsigned char*, unsigned char)+0x110
C [libvmxpi_hal_cpp.so+0x61944] RegisterIORpi::GetCurrentData()+0x98
C [libvmxpi_hal_cpp.so+0x614ac] RegisterIORpi::Run()+0x1e8
C [libvmxpi_hal_cpp.so+0x5225c] vmx::AHRS::ThreadFunc(IIOProviderRpi*)+0x28
C [libvmxpi_hal_cpp.so+0x54e14] int std::_Bind_simple<int (*(IIOProviderRpi*))(IIOProviderRpi*)>::_M_invoke<0u>(std::_Index_tuple<0u>)+0x5c
C [libvmxpi_hal_cpp.so+0x54d00] std::_Bind_simple<int (*(IIOProviderRpi*))(IIOProviderRpi*)>::operator()()+0x1c
C [libvmxpi_hal_cpp.so+0x54cd8] std::thread::_State_impl<std::_Bind_simple<int (*(IIOProviderRpi*))(IIOProviderRpi*)> >::_M_run()+0x20
C [libstdc++.so.6+0x9d9b0]
siginfo: si_signo: 11 (SIGSEGV), si_code: 1 (SEGV_MAPERR), si_addr: 0xb6007080
Register to memory mapping:
r0 = 0x0000001f
[error occurred during error reporting (printing register info), id 0xb, SIGSEGV (0xb) at pc=0xb6c0657c]
Registers:
r0 = 0x0000001f
r1 = 0x737ada80
r2 = 0x01e00c48
r3 = 0xb6007080
r4 = 0x75372000
r5 = 0x00000002
r6 = 0x00000000
r7 = 0x737adcfc
r8 = 0x00000008
r9 = 0x737ae460
r10 = 0x00000000
fp = 0x737adacc
r12 = 0x75373744
sp = 0x737ada68
lr = 0x75327da8
pc = 0x75327e84
cpsr = 0x20000010
Top of Stack: (sp=0x737ada68)
0x737ada68: 0000006c 00000010 00000000 737adcfc
0x737ada78: 40000100 003d0900 01010000 00010100
0x737ada88: 01000001 003d0900 737adab0 62dcf000
0x737ada98: 01e00448 00000000 00000001 00000001
0x737adaa8: 00000000 00000002 00000000 00000000
0x737adab8: 00000000 00000008 75372000 75372000
0x737adac8: 737adaec 75328508 00000008 00000000
0x737adad8: 00000000 737adcfc 40000100 003d0900
Instructions: (pc=0x75327e84)
0x75327d84: e3a01001 e51b2020 e1a02211 e0033002
0x75327d94: e2033007 e50b3030 e51b1050 e59f02d0
0x75327da4: ebfeacb0 e1a03000 e2433001 e1a03a03
0x75327db4: e24b1044 e51b2024 e0812002 e5d22000
0x75327dc4: e1a02502 e1833002 e24b1048 e51b2024
0x75327dd4: e0812002 e5d22000 e1a02402 e1833002
0x75327de4: e24b104c e51b2024 e0812002 e5d22000
0x75327df4: e1a02382 e1833002 e51b2028 e1a02302
0x75327e04: e1832002 e51b3010 e1823003 e50b3034
0x75327e14: e59b3004 e3530000 1a000013 e59f3254
0x75327e24: e5933000 e2833080 e3a02c0a e5832000
0x75327e34: e3a0000a ebffdaae e59f3238 e5933000
0x75327e44: e2833080 e51b2034 e3822b02 e5832000
0x75327e54: e59f3220 e5933000 e2833084 e51b202c
0x75327e64: e1a02082 e5832000 ea00007c e59f3204
0x75327e74: e5933000 e2833080 e51b2034 e3822b02
0x75327e84: e5832000 e59f31ec e5933000 e2833084
0x75327e94: e51b202c e1a02082 e5832000 e51b1030
0x75327ea4: e51b0020 ebffff58 ea000054 e59f31c4
0x75327eb4: e5933000 e5933088 e50b3038 e51b3038
0x75327ec4: e2033080 e50b303c e51b3038 e1a03e23
0x75327ed4: e3530002 83a03001 93a03000 e6ef3073
0x75327ee4: e50b3040 e51b2018 e59b3004 e1520003
0x75327ef4: 2a00001b e51b303c e3530000 1a00000f
0x75327f04: e3a03000 e50b301c e51b3018 e2832001
0x75327f14: e50b2018 e1a01003 e59f3158 e5933000
0x75327f24: e28330a0 e5933000 e58d3000 e51b302c
0x75327f34: e51b2010 e51b005c ebffff02 ea000002
0x75327f44: e51b301c e2833001 e50b301c e51b301c
0x75327f54: e59f2124 e1530002 9a000001 e59b3004
0x75327f64: e50b3018 e51b2014 e59b3004 e1520003
0x75327f74: 2a000022 e51b3040 e3530000 1a00001f
Stack slot to memory mapping:
stack at sp + 0 slots:
[error occurred during error reporting (inspecting top of stack), id 0xb, SIGSEGV (0xb) at pc=0xb6c0657c]
--------------- P R O C E S S ---------------
VM state:at safepoint (shutting down)
VM Mutex/Monitor currently owned by a thread: ([mutex/lock_event])
[0xb5f0cd90] Threads_lock - owner thread: 0x76125000
Heap:
par new generation total 18432K, used 2527K [0x78800000, 0x79c00000, 0x7c800000)
eden space 16384K, 15% used [0x78800000, 0x78a77c30, 0x79800000)
from space 2048K, 0% used [0x79800000, 0x79800000, 0x79a00000)
to space 2048K, 0% used [0x79a00000, 0x79a00000, 0x79c00000)
concurrent mark-sweep generation total 40960K, used 0K [0x7c800000, 0x7f000000, 0xb3a00000)
Metaspace used 3795K, capacity 3850K, committed 3864K, reserved 4400K
Card table byte_map: [0x78626000,0x78800000] _byte_map_base: 0x78262000
Marking Bits: (CMSBitMap*) 0xb5f85dd8
Bits: [0x768db000, 0x7846b000)
Mod Union Table: (CMSBitMap*) 0xb5f85e28
Bits: [0xb3c85000, 0xb3cbc200)
Polling page: 0xb6fce000
Metaspace:
Usage:
3.76 MB capacity, 3.71 MB ( 99%) used, 51.86 KB ( 1%) free+waste, 2.50 KB ( <1%) overhead.
Virtual space:
4.30 MB reserved, 3.77 MB ( 88%) committed
Chunk freelists:
6.00 KB
MaxMetaspaceSize: unlimited
CodeCache: size=32768Kb used=242Kb max_used=253Kb free=32525Kb
bounds [0xb3d7f000, 0xb3eff000, 0xb5d7f000]
total_blobs=214 nmethods=14 adapters=100
compilation: enabled
stopped_count=0, restarted_count=0
full_count=0
Compilation events (10 events):
Event: 0.131 Thread 0x7613b400 1 java.lang.StringUTF16::getChar (60 bytes)
Event: 0.133 Thread 0x7613b400 nmethod 1 0xb3db7488 code [0xb3db7580, 0xb3db763c]
Event: 0.133 Thread 0x7613b400 2 java.lang.StringUTF16::hashCode (33 bytes)
Event: 0.137 Thread 0x7613b400 nmethod 2 0xb3db7188 code [0xb3db7280, 0xb3db73ac]
Event: 0.244 Thread 0x7613b400 3 java.util.zip.ZipFile$Source::hashN (26 bytes)
Event: 0.246 Thread 0x7613b400 nmethod 3 0xb3db8508 code [0xb3db8600, 0xb3db86ec]
Event: 0.250 Thread 0x7613b400 4 java.util.zip.ZipUtils::SH (21 bytes)
Event: 0.251 Thread 0x7613b400 nmethod 4 0xb3db8188 code [0xb3db8280, 0xb3db832c]
Event: 0.357 Thread 0x7613b400 14 java.lang.Object::<init> (1 bytes)
Event: 0.358 Thread 0x7613b400 nmethod 14 0xb3dbb108 code [0xb3dbb200, 0xb3dbb27c]
GC Heap History (0 events):
No events
Deoptimization events (0 events):
No events
Classes redefined (0 events):
No events
Internal exceptions (1 events):
Event: 0.678 Thread 0xb5f0e800 Exception <a 'java/lang/UnsatisfiedLinkError'{0x789ee658}: 'boolean edu.wpi.first.hal.HAL.hasMain()'> (0x789ee658) thrown at [src/hotspot/share/prims/nativeLookup.cpp, line 404]
Events (20 events):
Event: 0.676 loading class edu/wpi/cscore/VideoException done
Event: 0.677 loading class java/lang/UnsupportedOperationException
Event: 0.677 loading class java/lang/UnsupportedOperationException done
Event: 0.678 loading class java/lang/Throwable$WrappedPrintStream
Event: 0.679 loading class java/lang/Throwable$PrintStreamOrWriter
Event: 0.679 loading class java/lang/Throwable$PrintStreamOrWriter done
Event: 0.679 loading class java/lang/Throwable$WrappedPrintStream done
Event: 0.680 loading class java/util/IdentityHashMap$KeyIterator
Event: 0.680 loading class java/util/IdentityHashMap$IdentityHashMapIterator
Event: 0.680 loading class java/util/IdentityHashMap$IdentityHashMapIterator done
Event: 0.680 loading class java/util/IdentityHashMap$KeyIterator done
Event: 0.680 Thread 0xb5f0e800 Thread exited: 0xb5f0e800
Event: 0.680 Protecting memory [0xb608c000,0xb608f000] with protection modes 0
Event: 0.680 Thread 0xb5f0e800 Thread added: 0xb5f0e800
Event: 0.681 loading class java/lang/Shutdown
Event: 0.681 loading class java/lang/Shutdown done
Event: 0.681 loading class java/lang/Shutdown$Lock
Event: 0.681 loading class java/lang/Shutdown$Lock done
Event: 0.681 Thread 0xb5f0e800 Thread exited: 0xb5f0e800
Event: 0.681 Protecting memory [0xb6fce000,0xb6fcf000] with protection modes 0
Dynamic libraries:
00010000-00011000 r-xp 00000000 b3:02 3994 /usr/lib/jvm/java-11-openjdk-armhf/bin/java
00020000-00021000 r--p 00000000 b3:02 3994 /usr/lib/jvm/java-11-openjdk-armhf/bin/java
00021000-00022000 rw-p 00001000 b3:02 3994 /usr/lib/jvm/java-11-openjdk-armhf/bin/java
01a08000-01b27000 rw-p 00000000 00:00 0 [heap]
6eef8000-6eef9000 ---p 00000000 00:00 0
6eef9000-6f6f9000 rw-p 00000000 00:00 0
6f6f9000-6f73a000 r-xp 00000000 b3:02 392896 /usr/local/frc/third-party/lib/libopencv_videostab.so.3.4
6f73a000-6f74a000 ---p 00041000 b3:02 392896 /usr/local/frc/third-party/lib/libopencv_videostab.so.3.4
6f74a000-6f74b000 r--p 00041000 b3:02 392896 /usr/local/frc/third-party/lib/libopencv_videostab.so.3.4
6f74b000-6f74c000 rw-p 00042000 b3:02 392896 /usr/local/frc/third-party/lib/libopencv_videostab.so.3.4
6f74c000-6f777000 r-xp 00000000 b3:02 392895 /usr/local/frc/third-party/lib/libopencv_videoio.so.3.4
6f777000-6f786000 ---p 0002b000 b3:02 392895 /usr/local/frc/third-party/lib/libopencv_videoio.so.3.4
6f786000-6f787000 r--p 0002a000 b3:02 392895 /usr/local/frc/third-party/lib/libopencv_videoio.so.3.4
6f787000-6f788000 rw-p 0002b000 b3:02 392895 /usr/local/frc/third-party/lib/libopencv_videoio.so.3.4
6f788000-6f78a000 rw-p 00000000 00:00 0
6f78a000-6f7c8000 r-xp 00000000 b3:02 392894 /usr/local/frc/third-party/lib/libopencv_video.so.3.4
6f7c8000-6f7d7000 ---p 0003e000 b3:02 392894 /usr/local/frc/third-party/lib/libopencv_video.so.3.4
6f7d7000-6f7d8000 r--p 0003d000 b3:02 392894 /usr/local/frc/third-party/lib/libopencv_video.so.3.4
6f7d8000-6f7d9000 rw-p 0003e000 b3:02 392894 /usr/local/frc/third-party/lib/libopencv_video.so.3.4
6f7d9000-6f7ef000 r-xp 00000000 b3:02 392892 /usr/local/frc/third-party/lib/libopencv_superres.so.3.4
6f7ef000-6f7ff000 ---p 00016000 b3:02 392892 /usr/local/frc/pi@raspberrypi:/home/lvuser $I will run the same test, using frcKillRobot.sh and frcRunRobot.sh. BRB
cpeppler01
commented
4 years ago I rebooted, cd'd to /usr/local/vmxpi-frc/vmx_robot_manager , and ran ./frcRunRobot.sh
Nada. Did a "top". Normally java will show up as major CPU process. Not even there.
kauailabs
commented
4 years ago Some native library the wpi library wants to use is not loading. Perhaps it is opencv. Opencv is included with wpi library. I’d recommend starting with a fresh image.
The only other option i can think of is to build a simple c++ app - it links differently to the libraries than java at runtime and can maybe give more info on what native library won’t load.
cpeppler01
commented
4 years ago OK, fresh image. Is there one I can download and start over (and not install OpenCV)?
kauailabs
commented
4 years ago cpeppler01
commented
4 years ago Standard Etcher image creation I assume?
BTW, thank you for that link.
kauailabs
commented
4 years ago cpeppler01
commented
4 years ago Bad news.
What I completed:
On dev computer, FRC station can see the IP address, but Robot Communications is down. VSCode can deploy robotCode.
Run top on VMXpi....no java running. Run frcRunRobot.sh run top again, still no java running. cd /home/lvuser sudo ./robotCommand Result:
OpenJDK Server VM warning: Option UseConcMarkSweepGC was deprecated in version 9.0 and will likely be removed in a future release.
java.io.IOException: wpiHaljni could not be loaded from path or an embedded resource.
attempted to load for platform /linux/athena/
Last Load Error:
no wpiHaljni in java.library.path: [/usr/local/frc/third-party/lib]
at edu.wpi.first.wpiutil.RuntimeLoader.loadLibrary(RuntimeLoader.java:84)
at edu.wpi.first.hal.JNIWrapper.<clinit>(JNIWrapper.java:38)
at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:316)
at frc.robot.Main.main(Main.java:27)This might be a different error, but I did this with a fresh image.... Please advise.
KadenK
commented
4 years ago The attempted to load for platform /linux/athena/ seems to be the reason why it's failing, something is causing the code to look for a RoboRIO build. With a fresh image installed, I'm suspecting there might be something wrong on the dev pc side. Have you confirmed that your project's build.gradle file has been adapted properly to target the VMX-Pi?
cpeppler01
commented
4 years ago Per issue #32, I just recently updated the GradleRIO, and at the time, it was working.
I will go through those steps again and retest, if that would be helpful.
KadenK
commented
4 years ago I was just able to recreate your issue. The root of the problem is that the GradleRIO install docs you are following were not fully updated to the 2020 version. On the webpage linked in #32, there are three screenshots presenting the three total modifications to the java build.gradle file. In the 2020 update, there should be a total of four modifications.
The 2020 build.gradle for a java project should have the following dependencies{} block:
dependencies {
implementation wpi.deps.wpilib()
nativeZip wpi.deps.wpilibJni(wpi.platforms.raspbian)
nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
implementation wpi.deps.vendor.java()
nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian)
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
testImplementation 'junit:junit:4.12'
// Enable simulation gui support. Must check the box in vscode to enable support
// upon debugging
simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
}From what I can tell, your current build.gradle is still using the RoboRIO platform. I believe your current problematic line is nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
Corrections to that webpage should be made soon, along with an updated GradleRIO installation method.
cpeppler01
commented
4 years ago I have since reinstalled all the WPIlib 2020 software from scratch, and re-executed the custom GradleRIO bit.
This is the content of the existing dependencies block:
dependencies { compile wpi.deps.wpilib() compile wpi.deps.vendor.java() nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) testCompile 'junit:junit:4.12' }
Note that the nativeZip does say raspbian.
I will replace the entire dependencies block with the one here in your email, and let you know how it goes.
On Tue, May 5, 2020 at 8:42 PM KadenK notifications@github.com wrote:
I was just able to recreate your issue. The root of the problem is that the GradleRIO install docs you are following were not fully updated to the 2020 version. On the webpage linked https://pdocs.kauailabs.com/vmx-pi/advanced/vmx-pi-for-frc-2020-robot-programming/ in #32 https://github.com/kauailabs/allwpilib/issues/32, there are three screenshots presenting the three total modifications to the java build.gradle file. The third is the outdated one. In the 2020 update, the dependencies{} block has been expanded upon slightly.
The 2020 build.gradle for a java project should have the following dependencies{} block:
dependencies { implementation wpi.deps.wpilib() nativeZip wpi.deps.wpilibJni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
implementation wpi.deps.vendor.java() nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) testImplementation 'junit:junit:4.12' // Enable simulation gui support. Must check the box in vscode to enable support // upon debugging simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)}
From what I can tell, your current build.gradle is still using the RoboRIO platform. I believe your current problematic line is nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/kauailabs/allwpilib/issues/33#issuecomment-624381230, or unsubscribe https://github.com/notifications/unsubscribe-auth/AGTNZJP4HTMMPPE756DVTQ3RQCW3HANCNFSM4MZ2UXLA .
-- Charlie Peppler Manufacturing Information Systems (978) 852-0245 (cell) www.capnetix.com
cpeppler01
commented
4 years ago Updated the gradle file, with dependency block as you described (direct cut and paste) redeployed.
Still get an error:
sudo ./robotCommand OpenJDK Server VM warning: Option UseConcMarkSweepGC was deprecated in version 9.0 and will likely be removed in a future release. Exception in thread "main" java.lang.NoClassDefFoundError: edu/wpi/first/wpilibj/TimedRobot at java.base/java.lang.ClassLoader.defineClass1(Native Method) at java.base/java.lang.ClassLoader.defineClass(ClassLoader.java:1017) at java.base/java.security.SecureClassLoader.defineClass(SecureClassLoader.java:174) at java.base/jdk.internal.loader.BuiltinClassLoader.defineClass(BuiltinClassLoader.java:800) at java.base/jdk.internal.loader.BuiltinClassLoader.findClassOnClassPathOrNull(BuiltinClassLoader.java:698) at java.base/jdk.internal.loader.BuiltinClassLoader.loadClassOrNull(BuiltinClassLoader.java:621) at java.base/jdk.internal.loader.BuiltinClassLoader.loadClass(BuiltinClassLoader.java:579) at java.base/jdk.internal.loader.ClassLoaders$AppClassLoader.loadClass(ClassLoaders.java:178) at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:522) at frc.robot.Main.main(Main.java:27) Caused by: java.lang.ClassNotFoundException: edu.wpi.first.wpilibj.TimedRobot at java.base/jdk.internal.loader.BuiltinClassLoader.loadClass(BuiltinClassLoader.java:581) at java.base/jdk.internal.loader.ClassLoaders$AppClassLoader.loadClass(ClassLoaders.java:178) at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:522)
On Tue, May 5, 2020 at 9:04 PM Charlie Peppler cpeppler@capnetix.com wrote:
I have since reinstalled all the WPIlib 2020 software from scratch, and re-executed the custom GradleRIO bit.
This is the content of the existing dependencies block:
dependencies { compile wpi.deps.wpilib() compile wpi.deps.vendor.java() nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) testCompile 'junit:junit:4.12' }
Note that the nativeZip does say raspbian.
I will replace the entire dependencies block with the one here in your email, and let you know how it goes.
On Tue, May 5, 2020 at 8:42 PM KadenK notifications@github.com wrote:
I was just able to recreate your issue. The root of the problem is that the GradleRIO install docs you are following were not fully updated to the 2020 version. On the webpage linked https://pdocs.kauailabs.com/vmx-pi/advanced/vmx-pi-for-frc-2020-robot-programming/ in #32 https://github.com/kauailabs/allwpilib/issues/32, there are three screenshots presenting the three total modifications to the java build.gradle file. The third is the outdated one. In the 2020 update, the dependencies{} block has been expanded upon slightly.
The 2020 build.gradle for a java project should have the following dependencies{} block:
dependencies { implementation wpi.deps.wpilib() nativeZip wpi.deps.wpilibJni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
implementation wpi.deps.vendor.java() nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) testImplementation 'junit:junit:4.12' // Enable simulation gui support. Must check the box in vscode to enable support // upon debugging simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)}
From what I can tell, your current build.gradle is still using the RoboRIO platform. I believe your current problematic line is nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
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-- Charlie Peppler Manufacturing Information Systems (978) 852-0245 (cell) www.capnetix.com
-- Charlie Peppler Manufacturing Information Systems (978) 852-0245 (cell) www.capnetix.com
KadenK
commented
4 years ago After a VSCode deploy, frcRunRobot.sh should be automatically called, and if you manually try to run robotCommand.sh it can cause issues. Can you redeploy your VSCode project and then check the log file located at /var/local/kauailabs/logs/FRC_UserProgram.log?
As a note, before running ./robotCommand or frcRunRobot.sh, it is best if you first run frcKillRobot.sh. Both frcRunRobot.sh and frcKillRobot.sh have been placed on the system PATH on the default VMX-Pi image, so they should both be runnable from anywhere in terminal.
cpeppler01
commented
4 years ago Ran frcKillRobot.sh Ran frcRunRobot.sh Redeployed from VSCode
/var/local/kauailabs/logs/FRC_UserProgram.log:
cat /var/local/kauailabs/log/FRC_UserProgram.log OpenJDK Server VM warning: Option UseConcMarkSweepGC was deprecated in version 9.0 and will likely be removed in a future release. Exception in thread "main" java.lang.NoClassDefFoundError: edu/wpi/first/wpilibj/TimedRobot at java.base/java.lang.ClassLoader.defineClass1(Native Method) at java.base/java.lang.ClassLoader.defineClass(ClassLoader.java:1017) at java.base/java.security.SecureClassLoader.defineClass(SecureClassLoader.java:174) at java.base/jdk.internal.loader.BuiltinClassLoader.defineClass(BuiltinClassLoader.java:800) at java.base/jdk.internal.loader.BuiltinClassLoader.findClassOnClassPathOrNull(BuiltinClassLoader.java:698) at java.base/jdk.internal.loader.BuiltinClassLoader.loadClassOrNull(BuiltinClassLoader.java:621) at java.base/jdk.internal.loader.BuiltinClassLoader.loadClass(BuiltinClassLoader.java:579) at java.base/jdk.internal.loader.ClassLoaders$AppClassLoader.loadClass(ClassLoaders.java:178) at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:522) at frc.robot.Main.main(Main.java:27) Caused by: java.lang.ClassNotFoundException: edu.wpi.first.wpilibj.TimedRobot at java.base/jdk.internal.loader.BuiltinClassLoader.loadClass(BuiltinClassLoader.java:581) at java.base/jdk.internal.loader.ClassLoaders$AppClassLoader.loadClass(ClassLoaders.java:178) at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:522) ... 10 more
On Tue, May 5, 2020 at 9:53 PM KadenK notifications@github.com wrote:
After a VSCode deploy, frcRunRobot.sh should be automatically called, and if you manually try to run robotCommand.sh it can cause issues. Can you redeploy your VSCode project and then check the log file located at /var/local/kauailabs/logs/FRC_UserProgram.log?
As a note, before running ./robotCommand or frcRunRobot.sh, it is best if you first run frcKillRobot.sh. Both frcRunRobot.sh and frcKillRobot.sh have been placed on the system PATH on the default VMX-Pi image, so they should both be runnable from anywhere in terminal.
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-- Charlie Peppler Manufacturing Information Systems (978) 852-0245 (cell) www.capnetix.com
kauailabs
commented
4 years ago I think we are going to need to see your code the logs aren’t helping. We need to see your vendor deps to know what other libraries are being linked in.
The other suggestion is to create a simple project, verify it works, then bring in the vendordeps one by one, making sure the 2020 version documented in the 2020 beta page are used.
KadenK
commented
4 years ago I was just about to say the same. If you need some complete VSCode projects to test with, there are a few located here: https://github.com/KadenK/VMX-Pi-Test-Programs/tree/master/GradleRIO-FRCJ-2020
cpeppler01
commented
4 years ago OK.
Pls find attached:
Robot.java Main.java build.gradle
I will start over with a new, fresh project. No libraries, no dependencies. Bare bones. We'll see if we can get that to work.
On Tue, May 5, 2020 at 11:00 PM Kauai Labs notifications@github.com wrote:
I think we are going to need to see your code the logs aren’t helping. We need to see your vendor deps to know what other libraries are being linked in.
The other suggestion is to create a simple project, verify it works, then bring in the vendordeps one by one, making sure the 2020 version documented in the 2020 beta page are used.
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/kauailabs/allwpilib/issues/33#issuecomment-624416970, or unsubscribe https://github.com/notifications/unsubscribe-auth/AGTNZJNDE6B77PBPNVBSMALRQDHAVANCNFSM4MZ2UXLA .
-- Charlie Peppler Manufacturing Information Systems (978) 852-0245 (cell) www.capnetix.com
cpeppler01
commented
4 years ago OK, starting over from scratch, with no dependencies was successful.
Build.gradle
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2020.3.2-VMX"
}
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11
def ROBOT_MAIN_CLASS = "frc.robot.Main"
// Define my targets (RoboRIO) and artifacts (deployable files)
// This is added by GradleRIO's backing project EmbeddedTools.
deploy {
targets {
vmxpi("roborio") {
// Team number is loaded either from the .wpilib/wpilib_preferences.json
// or from command line. If not found an exception will be thrown.
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
// want to store a team number in this file.
team = frc.getTeamNumber()
}
}
artifacts {
frcJavaArtifact('frcJava') {
targets << "roborio"
// Debug can be overridden by command line, for use with VSCode
debug = frc.getDebugOrDefault(false)
}
// Built in artifact to deploy arbitrary files to the roboRIO.
fileTreeArtifact('frcStaticFileDeploy') {
// The directory below is the local directory to deploy
files = fileTree(dir: 'src/main/deploy')
// Deploy to RoboRIO target, into /home/lvuser/deploy
targets << "roborio"
directory = '/home/lvuser/deploy'
}
}
}
// Set this to true to enable desktop support.
def includeDesktopSupport = false
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 4.
dependencies {
implementation wpi.deps.wpilib()
nativeZip wpi.deps.wpilibJni(wpi.platforms.raspbian)
nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
implementation wpi.deps.vendor.java()
nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian)
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
testImplementation 'junit:junit:4.12'
// Enable simulation gui support. Must check the box in vscode to enable support
// upon debugging
simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
}
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
// in order to make them all available at runtime. Also adding the manifest so WPILib
// knows where to look for our Robot Class.
jar {
from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
}Robot.java
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc.robot;
import edu.wpi.first.wpilibj.Joystick;
// import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.TimedRobot;
// import edu.wpi.first.wpilibj.Timer;
// import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the TimedRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends TimedRobot {
// private final DifferentialDrive m_robotDrive
// = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
private final Joystick m_stick = new Joystick(0);
// private final Timer m_timer = new Timer();
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
}
/**
* This function is run once each time the robot enters autonomous mode.
*/
@Override
public void autonomousInit() {
// m_timer.reset();
// m_timer.start();
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
// // Drive for 2 seconds
// if (m_timer.get() < 2.0) {
// m_robotDrive.arcadeDrive(0.5, 0.0); // drive forwards half speed
// } else {
// m_robotDrive.stopMotor(); // stop robot
// }
}
/**
* This function is called once each time the robot enters teleoperated mode.
*/
@Override
public void teleopInit() {
}
/**
* This function is called periodically during teleoperated mode.
*/
@Override
public void teleopPeriodic() {
// m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
}
}
So, should I add something back in, or have we found the source of the problem?
KadenK
commented
4 years ago We aren't able to see your original project files, so we can't tell what the difference is. Could you zip your original project root folder and send it to kaden@kauailabs.com and scott@kauailabs.com? It seems like you previously tried to attach the Main.java, Robot.java, and build.gradle files of your project to your email which was converted into a GitHub comment, so the files were not posted. Additionally, those three files alone would not tell us what vendordeps you have installed, so the entire project, or at least all the vendordep .json's, would be preferable.
cpeppler01
commented
4 years ago I deleted the build directory because it was massive, and temporary, but here is the entire directory zipped up, in case it helps to determine what went wrong. BringUpSparkOnCAN.zip
cpeppler01
commented
4 years ago I added the Spark Libraries back in, and have redeployed, and I can turn the motor, which is a good sign of life.
I have no idea what I did wrong (except for building OpenCV on the same raspi).
You did find that doc bug for modifying the build.gradle file which is good. I will keep adding stuff back in, and if I run into a problem I'll let you know.
KadenK
commented
4 years ago Upon opening your project and trying it out straight out of the zip, I ran into the same error as you. I then swapped out the build.gradle for what I normally use on my projects, which can be found here. This worked perfectly fine.
I then compared the two versions of build.gradle, and I found the culprit. It is directly related to the change I previously had you make.
The 2019 dependencies{} block is this:
dependencies { compile wpi.deps.wpilib() compile wpi.deps.vendor.java() nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) testCompile 'junit:junit:4.12' }
Note the bolded compile lines, and that there is a nativeZip line only for wpi.deps.vendor.java()
The 2020 dependencies{} block is this:
dependencies { implementation wpi.deps.wpilib() nativeZip wpi.deps.wpilibJni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop) implementation wpi.deps.vendor.java() nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) testImplementation 'junit:junit:4.12' // Enable simulation gui support. Must check the box in vscode to enable support // upon debugging simulation wpi.deps.sim.gui(wpi.platforms.desktop, false) }
Note it has two nativeZip lines, this time one for wpi.deps.wpilibJni(). It also no longer uses "compile", but rather "implementation". This change in methods is once again used at the end of the build.gradle in the jar{} block
2019 jar{} block
jar { from { configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } } manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) }
2020 jar{} block
jar { from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) }
I'm not exactly sure at this point what these differences mean, but they do seem critical to a functioning 2020 robot. You can either replace both your dependencies{} and your jar{} blocks with what I've put here, or you can just copy the build.gradle that I have used that is in the above link. If you use the linked build.gradle file, it does currently contain a new GradleRIO installation/update method that is not yet documented, but functions much smoother and uses the same process as the official GradleRIO. Documentation should be out soon if you do choose to use it.
cpeppler01
commented
4 years ago Glad you found the source of the problem. Always bugs me if the root cause is not found.
I think for now, I'm going to go to bed. Thanks for the support!
On Wed, May 6, 2020 at 12:45 AM KadenK notifications@github.com wrote:
Upon opening your project and trying it out straight out of the zip, I ran into the same error as you. I then swapped out the build.gradle for what I normally use on my projects, which can be found here https://github.com/KadenK/VMX-Pi-Test-Programs/blob/master/GradleRIO-FRCJ-2020/build.gradle. This worked perfectly fine.
I then compared the two versions of build.gradle, and I found the culprit. It is directly related to the change I previously had you make.
The 2019 dependencies{} block is this:
dependencies { compile wpi.deps.wpilib() compile wpi.deps.vendor.java() nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) testCompile 'junit:junit:4.12' }
Note the bolded compile lines, and that there is a nativeZip line only for wpi.deps.vendor.java()
The 2020 dependencies{} block is this:
dependencies { implementation wpi.deps.wpilib() nativeZip wpi.deps.wpilibJni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
implementation wpi.deps.vendor.java() nativeZip wpi.deps.vendor.jni(wpi.platforms.raspbian) nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
testImplementation 'junit:junit:4.12'
// Enable simulation gui support. Must check the box in vscode to enable support // upon debugging simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
}
Note it has two nativeZip lines, this time one for wpi.deps.wpilibJni(). It also no longer uses "compile", but rather "implementation". This change in methods is once again used at the end of the build.gradle in the jar{} block
2019 jar{} block
jar { from { configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } } manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) }
2020 jar{} block
jar { from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) }
I'm not exactly sure at this point what these differences mean, but they do seem critical to a functioning 2020 robot. You can either replace both your dependencies{} and your jar{} blocks with what I've put here, or you can just copy the build.gradle that I have used that is in the above link. If you use the linked build.gradle file, it does currently contain a new GradleRIO installation/update method that is not yet documented, but functions much smoother and uses the same process as the official GradleRIO. Documentation should be out soon if you do choose to use it.
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/kauailabs/allwpilib/issues/33#issuecomment-624438772, or unsubscribe https://github.com/notifications/unsubscribe-auth/AGTNZJMGF7VM35HY6CZEZ3DRQDTMTANCNFSM4MZ2UXLA .
-- Charlie Peppler Manufacturing Information Systems (978) 852-0245 (cell) www.capnetix.com
I just recently upgraded to WPIlib 2020, and on Sunday was able to bring up the application developed with 2019 on 2020.
Today I tried to start things up, and received an unexpected surprise. I followed normal procedure, establishing network connection between dev computer and VMXpi. I could bring up VNC viewer, ping, etc.....but FRC driver station would not establish communications with the robot software on the VMXpi.
I went to the Diagnostics panel, and the Robot IP address was green, but the Robot Communications icon was red:
I then used VSCode to build the robot program (successful), and then deployed robot code, which was also successful, so dev computer was able to establish communications with the VMXpi on both a network level, and an os/SSH level.
I then looked at the results of the gradle output, and saw the script used on the VMXpi to start the robot code running. The script was in /home/lvuser/robotCommand.
I sshd into the VMXpi, and had the following session:
Excess Removed
Here is the interesting part...
Please advise.