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MAVSDK client for Java.
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camera/possibleSettingOptions segfaults using MAVSDK-Java 2.0.1 and MAVSDK-server-Android 2.0.0 #155

Open rayw-dronesense opened 8 months ago

rayw-dronesense commented 8 months ago

This did not occur with previous version 1.3.2

2024-03-13 17:39:40.622 25779-26537 libc++abi               com.dronesense.pilot                 E  terminating with uncaught exception of type std::invalid_argument: stoul: no conversion
2024-03-13 17:39:40.622 25779-26537 libc                    com.dronesense.pilot                 A  Fatal signal 6 (SIGABRT), code -1 (SI_QUEUE) in tid 26537 (RxCachedThreadS), pid 25779 (ronesense.pilot)
2024-03-13 17:39:40.633 25779-26540 ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Lsun/misc/Unsafe;->getInt(Ljava/lang/Object;J)I (greylist, linking, allowed)
2024-03-13 17:39:40.633 25779-26540 ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Lsun/misc/Unsafe;->putInt(Ljava/lang/Object;JI)V (greylist, linking, allowed)
2024-03-13 17:39:40.633 25779-26540 ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Lsun/misc/Unsafe;->putObject(Ljava/lang/Object;JLjava/lang/Object;)V (greylist, linking, allowed)
2024-03-13 17:39:40.633 25779-26540 ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Lsun/misc/Unsafe;->getObject(Ljava/lang/Object;J)Ljava/lang/Object; (greylist, linking, allowed)
2024-03-13 17:39:40.638 25779-26416 ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Lsun/misc/Unsafe;->putLong(Ljava/lang/Object;JJ)V (greylist, linking, allowed)
2024-03-13 17:39:40.645 25779-26416 ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Lsun/misc/Unsafe;->putInt(Ljava/lang/Object;JI)V (greylist, linking, allowed)
2024-03-13 17:39:40.725 25779-25779 ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Landroid/view/View;->getViewRootImpl()Landroid/view/ViewRootImpl; (greylist, reflection, allowed)
2024-03-13 17:39:40.729 26548-26548 DEBUG                   pid-26548                            A  pid: 25779, tid: 26537, name: RxCachedThreadS  >>> com.dronesense.pilot <<<
2024-03-13 17:39:40.730 25779-25779 ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden field Landroid/view/View$AttachInfo;->mVisibleInsets:Landroid/graphics/Rect; (greylist, reflection, allowed)
2024-03-13 17:39:40.730 25779-25779 ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden field Landroid/view/ViewRootImpl;->mAttachInfo:Landroid/view/View$AttachInfo; (greylist, reflection, allowed)
2024-03-13 17:39:40.730 26548-26548 DEBUG                   pid-26548                            A        #01 pc 00000000000d1cc0  /data/app/com.dronesense.pilot-RbUkTiXzrdIfRxYjrPikzQ==/base.apk!libc++_shared.so (offset 0xfb3000) (BuildId: a59088f9640cd272bc9542d94dc84a0c88afd558)

Repro code

        system.camera.possibleSettingOptions.subscribe {
            it?.forEach {
                log.e("RAWR: ${it?.settingDescription}")
            }
        }
JonasVautherin commented 8 months ago

Maybe you could try to reproduce it in C++? That would make it easier to debug.

rayw-dronesense commented 8 months ago

@JonasVautherin Thanks for getting back to me, I'm not sure how one would do that on Android.

I was able to get more detailed logs by removing log filters,

2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Trying to compare different types.
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Comparison type mismatch between uint8_t and float
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Trying to compare different types.
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Comparison type mismatch between uint8_t and float
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Trying to compare different types.
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Comparison type mismatch between uint8_t and float
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Trying to compare different types.
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Comparison type mismatch between uint8_t and float
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Trying to compare different types.
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Comparison type mismatch between uint8_t and float
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Trying to compare different types.
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Comparison type mismatch between uint8_t and uint32_t
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Trying to compare different types.
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Comparison type mismatch between uint8_t and uint32_t
2024-03-14 11:55:06.930  4661-5594  Mavsdk                  com.dronesense.pilot                 W  Trying to compare different types.
--------- beginning of crash
2024-03-14 11:55:06.930  4661-5594  libc++abi               com.dronesense.pilot                 E  terminating with uncaught exception of type std::invalid_argument: stoul: no conversion
2024-03-14 11:55:06.930  4661-5594  libc                    com.dronesense.pilot                 A  Fatal signal 6 (SIGABRT), code -1 (SI_QUEUE) in tid 5594 (RxCachedThreadS), pid 4661 (ronesense.pilot)
2024-03-14 11:55:06.932  4661-5598  ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Lsun/misc/Unsafe;->putLong(Ljava/lang/Object;JJ)V (greylist, linking, allowed)
2024-03-14 11:55:06.957  4661-5407  ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Lsun/misc/Unsafe;->putInt(Ljava/lang/Object;JI)V (greylist, linking, allowed)
2024-03-14 11:55:06.957  4661-5598  ronesense.pilo          com.dronesense.pilot                 W  Accessing hidden method Lsun/misc/Unsafe;->putInt(Ljava/lang/Object;JI)V (greylist, linking, allowed)
...
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A  *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A  Build fingerprint: 'qti/kona/kona:10/V1.0.0.17/eng.jenkin.20230915.165135:userdebug/test-keys'
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A  Revision: '0'
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A  ABI: 'arm64'
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A  Timestamp: 2024-03-14 08:55:07-0700
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A  pid: 4661, tid: 5594, name: RxCachedThreadS  >>> com.dronesense.pilot <<<
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A  uid: 10120
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A  signal 6 (SIGABRT), code -1 (SI_QUEUE), fault addr --------
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A  Abort message: 'terminating with uncaught exception of type std::invalid_argument: stoul: no conversion'
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A      x0  0000000000000000  x1  00000000000015da  x2  0000000000000006  x3  0000007d6f4086e0
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A      x4  ff6d6e6872716475  x5  ff6d6e6872716475  x6  ff6d6e6872716475  x7  7f7f7f7f7f7f7f7f
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A      x8  00000000000000f0  x9  cc32b44918147016  x10 0000000000000001  x11 0000000000000000
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A      x12 fffffff0fffffbdf  x13 0000000065f31dda  x14 003731a364064800  x15 00004350de94e70b
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A      x16 0000007ec61468c0  x17 0000007ec6122910  x18 0000007d2b6d2000  x19 0000000000001235
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A      x20 00000000000015da  x21 00000000ffffffff  x22 0000007d6f408810  x23 0000007d6f408850
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A      x24 0000007d6f408930  x25 0000007d6f408878  x26 0000007d6f408f18  x27 0000007d84323cd0
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A      x28 0000007dc3f22700  x29 0000007d6f408780
2024-03-14 11:55:07.073  5614-5614  DEBUG                   pid-5614                             A      sp  0000007d6f4086c0  lr  0000007ec60d40c4  pc  0000007ec60d40f0
2024-03-14 11:55:07.074  5614-5614  DEBUG                   pid-5614                             A  
                                                                                                    backtrace:
2024-03-14 11:55:07.074  5614-5614  DEBUG                   pid-5614                             A        #00 pc 00000000000830f0  /apex/com.android.runtime/lib64/bionic/libc.so (abort+160) (BuildId: 21847aa9757f000b0461310a9f5e6e51)
2024-03-14 11:55:07.074  5614-5614  DEBUG                   pid-5614                             A        #01 pc 00000000000d1cc0  /data/app/com.dronesense.pilot-GkDbKAZ1krjjpU4_zdAUxg==/base.apk!libc++_shared.so (offset 0xfb3000) (BuildId: a59088f9640cd272bc9542d94dc84a0c88afd558)
rayw-dronesense commented 8 months ago

I was finally able to grab the Tombstone for the crash,

tombstone_33.zip

JonasVautherin commented 8 months ago

I'm not sure how one would do that on Android.

No need to do it from Android: try to reproduce in C++ from your computer :blush:

rayw-dronesense commented 8 months ago

@JonasVautherin - Hmm...I'm unsure on how to do this on the computer - the camera module only emits with the real drone, as far as I'm aware, and it is connected via this Android-based controller.

JonasVautherin commented 8 months ago

Oh, I see... What controller is that?

julianoes commented 8 months ago 
std::invalid_argument: stoul: no conversion'

Can you share the xml camera definition file that it parses? Using that we should be able to spot the problem or reproduce it?

rayw-dronesense commented 8 months ago

Sure, here is one,

<?xml version="1.0" encoding="UTF-8" ?>
<mavlinkcamera>
    <definition version="19">
        <model>Greenseer EO v1.0</model>
        <vendor>XXXXXXXXXXXXXXXXXXX</vendor>
    </definition>
    <parameters>
        <!-- control = 0 tells us this should not create an automatic UI control -->
        <parameter name="CAM_MODE" type="uint8" default="0">
            <description>Camera Mode</description>
            <!-- This tells us when this parameter changes, these parameters must be updated (requested)-->
            <options>
                <option name="Photo" value="0">
                    <!-- This tells us when Camera Mode is set to Photo mode, the following parameters should be ignored (hidden from UI or disabled)-->
                    <exclusions>

                    </exclusions>
                </option>
                <option name="Video" value="1">
                    <!-- Conversely, when Camera Mode is set to Photo mode, the following parameters should be ignored (hidden from UI or disabled)-->
                    <exclusions>
                    </exclusions>
                </option>
            </options>
        </parameter>
        <parameter name="CAM_VIDRES" type="uint8" default="1">
            <description>Video Resolution</description>
            <options>
                <!-- 4096 x 2160 -->
                <option name="3840 x 2160 30fps (UHD)" value="1"></option>
                <option name="1920 x 1080 12-Bit Binned 10fps (HD)" value="2"></option>
            </options>
        </parameter>
        <parameter name="CAM_WBMODE" type="uint32" default="1">
            <description>White Balance Mode</description>
            <options>
                <option name="Off" value="0" />
                <option name="Auto" value="1" />
                <option name="Incandescent" value="2" />
                <option name="Fluorescent" value="3" />
                <option name="Warm Fluorescent" value="4" />
                <option name="Daylight" value="5" />
                <option name="Cloudy Daylight" value="6" />
                <option name="Twilight" value="7" />
                <option name="Shade" value="8" />
            </options>
        </parameter>
        <parameter name="CAM_EXPMODE" type="uint32" default="1">
            <description>Exposure Mode</description>
            <updates>
                <update>CAM_SHUTTERSPD</update>
                <update>CAM_ISO</update>
                <update>CAM_EV</update>
            </updates>            
            <options >
                <option name="Manual" value="2">
                    <exclusions>
                        <exclude>CAM_EV</exclude>
                    </exclusions>
                </option>
                <option name="Auto" value="1">
                    <exclusions>
                        <exclude>CAM_ISO</exclude>
                        <exclude>CAM_SHUTTERSPD</exclude>
                    </exclusions>               
                </option>
            </options>
        </parameter>  
        <parameter name="CAM_SHUTTERSPD" type="float" default=".033">
            <description>Shutter Speed</description>
            <options>
                <option name="1" value="1" />
                <option name="1/2" value=".5" />
                <option name="1/4" value=".25" />
                <option name="1/8" value=".125" />
                <option name="1/15" value=".066" />
                <option name="1/30" value=".033" />
                <option name="1/60" value=".016" />
                <option name="1/125" value=".008" />
                <option name="1/250" value=".004" />
                <option name="1/500" value=".002" />
                <option name="1/1000" value=".001" />
                <option name="1/2000" value=".0005" />
                <option name="1/5000" value=".00025" />
                <option name="1/10000" value=".00001" />
            </options>
        </parameter>
        <parameter name="CAM_ISO" type="uint32" default="400">
            <description>ISO</description>
            <options>
                <option name="10" value="10" />
                <option name="50" value="50" />
                <option name="100" value="100" />
                <option name="150" value="150" />
                <option name="200" value="200" />
                <option name="300" value="300" />
                <option name="400" value="400" />
                <option name="500" value="500" />
                <option name="600" value="600" />
                <option name="800" value="800" />
                <option name="1000" value="1000" />
                <option name="1200" value="1200" />
                <option name="1400" value="1400" />
                <option name="1600" value="1600" />
                <option name="2000" value="2000" />
                <option name="2400" value="2400" />
                <option name="2800" value="2800" />
                <option name="3200" value="3200" />                
            </options>
        </parameter>
        <parameter name="CAM_EV" type="float" default="0">
            <description>Exposure Compensation</description>
            <options>
                <option name="-3" value="-3" />
                <option name="-2.5" value="-2.5" />
                <option name="-2" value="-2" />
                <option name="-1.5" value="-1.5" />
                <option name="-1" value="-1" />
                <option name="-0.5" value="-0.5" />
                <option name="0" value="0" />
                <option name="+0.5" value="0.5" />
                <option name="+1" value="1" />
                <option name="+1.5" value="1.5" />
                <option name="+2" value="2" />
                <option name="+2.5" value="2.5" />
                <option name="+3" value="3" />
            </options>
        </parameter>
    </parameters>
</mavlinkcamera>

and here is the other,

<?xml version="1.0" encoding="UTF-8" ?>
<mavlinkcamera>
    <definition version="21">
        <model>Greenseer IR v1.0</model>
        <vendor>XXXXXXXXXXXXXXXXXXXXX</vendor>
    </definition>
    <parameters>
        <!-- control = 0 tells us this should not create an automatic UI control -->
        <parameter name="CAM_MODE" type="uint8" default="1" control="0">
            <description>Camera Mode</description>
            <!-- This tells us when this parameter changes, these parameters must be updated (requested)-->
            <options>
                <option name="Photo" value="0">
                    <!-- This tells us when Camera Mode is set to Photo mode, the following parameters should be ignored (hidden from UI or disabled)-->
                    <exclusions>
                        <exclude>CAM_PHOTOFMT</exclude>
                        <exclude>CAM_PHOTOQUAL</exclude>
                        <exclude>CAM_VIDFMT</exclude>
                        <exclude>CAM_COLORMODE</exclude>
                        <exclude>CAM_ISO</exclude>
                        <exclude>CAM_WBMODE</exclude>
                        <exclude>CAM_EXPMODE</exclude>
                        <exclude>CAM_SHUTTERSPD</exclude>
                        <exclude>CAM_ISO</exclude>
                        <exclude>CAM_EV</exclude>
                        <exclude>CAM_VIDRES</exclude>
                    </exclusions>
                </option>
                <option name="Video" value="1">
                    <!-- Conversely, when Camera Mode is set to Photo mode, the following parameters should be ignored (hidden from UI or disabled)-->
                    <exclusions>
                        <exclude>CAM_PHOTOFMT</exclude>
                        <exclude>CAM_PHOTOQUAL</exclude>
                        <exclude>CAM_VIDFMT</exclude>
                        <exclude>CAM_COLORMODE</exclude>
                        <exclude>CAM_ISO</exclude>
                        <exclude>CAM_WBMODE</exclude>
                        <exclude>CAM_EXPMODE</exclude>
                        <exclude>CAM_SHUTTERSPD</exclude>
                        <exclude>CAM_ISO</exclude>
                        <exclude>CAM_EV</exclude>
                        <exclude>CAM_VIDRES</exclude>
                    </exclusions>
                </option>
            </options>
        </parameter>
        <parameter name="CAM_COLORPAL" type="uint32" default="0">
            <description>Color Palette</description>
            <options>
                <option name="White hot"    value="0" />
                <option name="Black hot"    value="1" />
                <option name="Spectra"      value="2" />
                <option name="Prism"        value="3" />
                <option name="Tyrian"       value="4" />
                <option name="Iron"         value="5" />
                <option name="Amber"        value="6" />
                <option name="Hi"           value="7" />
                <option name="Green"        value="8" />
            </options>
        </parameter>
        <parameter name="CAM_AGCMODE" type="uint32" default="1">
            <description>AGC Mode</description>
            <options>
                <option name="Linear"     value="1" />
                <option name="Histogram"  value="2" />
            </options>
        </parameter>
    </parameters>
</mavlinkcamera>
julianoes commented 8 months ago

This doesn't look right:

03-14 08:59:28.011  5974  6729 W Mavsdk  : Trying to compare different types.
03-14 08:59:28.011  5974  6729 W Mavsdk  : Comparison type mismatch between uint8_t and float
03-14 08:59:28.011  5974  6729 W Mavsdk  : Trying to compare different types.
03-14 08:59:28.011  5974  6729 W Mavsdk  : Comparison type mismatch between uint8_t and float
03-14 08:59:28.011  5974  6729 W Mavsdk  : Trying to compare different types.
03-14 08:59:28.011  5974  6729 W Mavsdk  : Comparison type mismatch between uint8_t and float
03-14 08:59:28.011  5974  6729 W Mavsdk  : Trying to compare different types.
03-14 08:59:28.011  5974  6729 W Mavsdk  : Comparison type mismatch between uint8_t and uint32_t
03-14 08:59:28.011  5974  6729 W Mavsdk  : Trying to compare different types.
03-14 08:59:28.011  5974  6729 W Mavsdk  : Comparison type mismatch between uint8_t and uint32_t
03-14 08:59:28.011  5974  6729 W Mavsdk  : Trying to compare different types.

Given that the xml looks correct, presumably the type set in param_get_ext or param_set_ext is not correctly set by the camera implementation. Can you check that part?

rayw-dronesense commented 8 months ago

Hi @julianoes ,

Unfortunately we don't have access to the source code for the drone.

What we do know is, the same logic and drone works using the mavsdk-server-android 1.3.2

julianoes commented 8 months ago

Right, so it could also be a mavsdk regression then... :thinking:

I guess we need to add a bunch of debug output and then try that.

Are you compiling mavsdk_server yourself? In which case you could add some debug things around where std::stoul happens. Otherwise, I need to make a release for it...

rayw-dronesense commented 8 months ago

Are you compiling mavsdk_server yourself?

@julianoes - Nope, this was repro'd with the latest artifacts published on maven.

julianoes commented 8 months ago

Right, well, I need to put this on my todo list. If it's urgent to you, consider github sponsoring.

rayw-dronesense commented 1 week ago

@julianoes / @JonasVautherin - Found the root cause of this issue. The underlying logic for parsing and comparing ParamValues is expecting a string to be numeric, using functions like stoul to check equality. However, one code path was erroneously passing a string representation of ParamValue class instead of the numeric value.

The fix can be done in

bool CameraImpl::get_possible_options(
    const std::string& setting_id, std::vector<Camera::Option>& options)

whereby,

        std::stringstream ss{};
        ss << value;

needs to be changed to

        std::stringstream ss{};
        ss << value.get_string();

Here specifically: https://github.com/mavlink/MAVSDK/blob/v2.12.12/src/mavsdk/plugins/camera/camera_impl.cpp#L1852

JonasVautherin commented 1 week ago

Would you mind opening a PR with this fix?

rayw-dronesense commented 5 days ago

@JonasVautherin - Done https://github.com/mavlink/MAVSDK/pull/2451