overriding *Continuous methods

[stevethetinker]

I am using IterativeRobot and it spits out messages saying 'override me' for each of the DisabledContinuous, TeleopContinuous, and AutonomousContinuous methods. But when I try to do that and give it an empty method implementation, the program crashes. I don't have the console output of the crash now but I can post it later. Not sure what good it will do, it's just a bunch of hex numbers. Has anyone run into this? what is the solution?

[basicxman]

Could we see your code and a copy of the error/console output?

[stevethetinker]

The code is very simple:

void DisabledContinuous(void)
{
}

TeleopContinuous is similar.

Here is what I get from trying to run code with these methods in it.

task 0x1347df0 (FRC_DriverStation) deleted: errno=0 (0) status=0 (0)

If TeleopContinuous is the only one enabled, the code runs.

If both TeleopContinuous and DisabledContinuous are enabled, here is what I get. Note that the task stopped is not the robot task; our robot task still runs.

instruction access
Exception next instruction address: 0x6f744260
Machine Status Register: 0x4000b032
Condition Register: 0x20000844
Task: 0xe40e58 "FRC_RobotTask"
0xe40e58 (FRC_RobotTask): task 0xe40e58 has had a failure and has been stopped.
0xe40e58 (FRC_RobotTask): fatal kernel task-level exception!
task 0xe40e58 (FRC_RobotTask) deleted: errno=0 (0) status=0 (0)
task 0x1d5fe28 (t7) deleted: errno=0 (0) status=0 (0)
task 0x1314a50 (t8) deleted: errno=0 (0) status=0 (0)
WPILib was compiled from SVN revision 2069
task 0x1e13f20 (tFRC_UserProgram_StartupLibraryInit) deleted: errno=196709 (0x30065)
status=0 (0)


Here is what I get when DisabledContinuous is the only one enabled:

task 0x1314870 (FRC_DriverStation) deleted: errno=0 (0) status=0 (0)
task 0xe40e58 (FRC_RobotTask) deleted: errno=0 (0) status=0 (0)
task 0x1d60e60 (t9) deleted: errno=0 (0) status=45106 (0xb032)
task 0x1314a50 (t10) deleted: errno=0 (0) status=0 (0)
WPILib was compiled from SVN revision 2069
task 0x1e13f00 (tFRC_UserProgram_StartupLibraryInit) deleted: errno=196709 (0x30065)
status=0 (0)

[jhersh]

Please post the whole source file as is that causes the crash.

[stevethetinker]

I have cleaned some things up. Can't leave tasks unterminated. The posted errors are from the cleaned up code and are different from those I originally posted. I have also posted the file.

I have put some comments towards the top of the file with some #define directives that activate the questionable code.

With both teleopcontinuous and disabledcontinuous enabled:

task 0x1d5ae90 (FRC_DriverStation) deleted: errno=0 (0) status=0 (0)
task 0x1d54c20 (FRC_RobotTask) deleted: errno=0 (0) status=0 (0)
task 0x899560 (t5) deleted: errno=0 (0) status=45106 (0xb032)
task 0x1d5b070 (t6) deleted: errno=0 (0) status=0 (0)
WPILib was compiled from SVN revision 2069
task 0x1e119a8 (tFRC_UserProgram_StartupLibraryInit) deleted: errno=196709 (0x30065)
status=0 (0)


With disabledcontinuous enabled only:
Please press Ctrl+Break to close the console.

task 0x1d611e8 (wtxC1112tmp) deleted: errno=196709 (0x30065) status=45106 (0xb032)
->


Here is the source:
/* RavenRobot.cpp

Provides the declaraion and implementation of the RavenRobot class.
*/

#include "IterativeRobot.h"
#include "RavenRobot.h"
#include "RavenGyro.h"
#include "AcquireAimKickMgr.h"
#include "AimKickMgr.h"
#include "KickMgr.h"
#include "DriveMgr.h"
#include "AnalogChannel.h"
#include "Joystick.h"
#include "WPILib.h"
#include "WatchDog.h"
/*
#include "Vision2009/AxisCamera.h"
#include "Vision2009/BaeUtilities.h"
#include "Vision2009/FrcError.h"
#include "VisionAPI.h"
*/

// continuous method anomaly:
//#define TC // only this fails as noted in the errors posted
//#define DC // only this works
// both turned on, fails as noted in the errors posted

static const UINT32 s_spinPort = 2;
static const UINT32 s_drivePort = 1;

ASSIGN_ANALOG(s_gyroPort, 3);

class RavenRobot : public IterativeRobot
{
public:
RavenRobot();
~RavenRobot();

private:
void RobotInit(void); // for power on
void DisabledInit(void); // each time disabled is entered
void AutonomousInit(void); // each time auto is entered
void TeleopInit(void); // each time tele is entered

void DisabledPeriodic(void);
void AutonomousPeriodic(void);
void TeleopPeriodic(void);

#ifdef TC
void TeleopContinuous(void);
#endif
#ifdef DC
void DisabledContinuous(void);
//
#endif
// these can be created any time
//Watchdog m_watchdog;

//DriverStation *m_ds;
#if 0
AcquireAimKickMgr* m_acquireAimKickMgr;
AimKickMgr* m_aimKickMgr;
KickMgr* m_kickMgr;
#endif
AnalogChannel* m_rangeFinder[2];
DigitalOutput* m_rangeCommand[2];
Joystick* m_sticks[2];

// these must be created in a particular order and not in the constructor
RavenGyro* m_gyro; // initialized in disabled periodic - do first
RavenDrive* m_drive; // created in TeleopInit - do second
DriveMgr* m_driveMgr; // created in TeleopInit - do third

int m_printTimer;

//AutoTask* m_autoTask;
};

RavenRobot::RavenRobot()
{
#if 0
m_acquireAimKickMgr = new AcquireAimKickMgr(m_drive);
m_aimKickMgr = new AimKickMgr(m_drive);
m_kickMgr = new KickMgr();
#endif
#if 0
m_rangeFinder[0] = new AnalogChannel(2,3);
m_rangeFinder[0]->SetAverageBits(0);
m_rangeFinder[0]->SetOversampleBits(0);
m_rangeCommand[0] = new DigitalOutput(8);
m_rangeFinder[1] = new AnalogChannel(2,4);
m_rangeFinder[1]->SetAverageBits(0);
m_rangeFinder[1]->SetOversampleBits(0);
m_rangeCommand[1] = new DigitalOutput(9);
#endif
m_gyro = 0;
m_drive = 0;
m_driveMgr = 0;
m_sticks[SPIN] = 0;
m_sticks[DRIVE] = 0;
m_printTimer = 0;
//m_autoTask = 0;
GetWatchdog().SetEnabled(false);


}

RavenRobot::~RavenRobot()
{
#if 0
delete m_rangeFinder[0];
delete m_rangeCommand[0];
delete m_rangeFinder[1];
delete m_rangeCommand[1];
#endif
#if 0
delete m_acquireAimKickMgr;
delete m_aimKickMgr;
delete m_kickMgr;
//delete m_gyro;
#endif
if (m_driveMgr) delete m_driveMgr;
if (m_sticks[DRIVE]) delete m_sticks[DRIVE];
if (m_sticks[SPIN]) delete m_sticks[SPIN];
if (m_drive) delete m_drive;

//if (m_autoTask != 0)
//{
// m_autoTask->Stop();
// delete m_autoTask;
//}
//m_watchdog.Kill();
}

void RavenRobot::RobotInit(void)
{
// Runs exactly once at powerup.
}

void RavenRobot::DisabledInit(void)
{
#if 0
// figure out how to init the gyro
if (m_gyro != 0)
{
delete m_gyro;
}
m_gyro = new RavenGyro(s_gyroPort);
#endif
}

void RavenRobot::AutonomousInit(void)
{
//m_autoTask = new AutoTask; not ready for this yet
}

void RavenRobot::TeleopInit(void)
{
//if (m_autoTask != 0)
//{
// m_autoTask->Stop();
// delete m_autoTask;
// m_autoTask = 0;
//}
//m_ds = DriverStation::GetInstance();
m_drive = new RavenDrive();
m_sticks[SPIN] = new Joystick(s_spinPort);
m_sticks[DRIVE] = new Joystick(s_drivePort);
m_driveMgr = new DriveMgr(m_gyro, m_drive, m_sticks);

//GetWatchdog().SetEnabled(false);
}

void RavenRobot::DisabledPeriodic(void)
{
#if 0
// gyro init may need to go here
if (m_gyro == 0)
{
m_gyro = new RavenGyro(s_gyroPort);
return;
}

if ((m_printTimer % 5) == 0)
{
if (m_spinStick->GetRawButton(3))
{
float heading = m_gyro->GetAngleRadians();
printf("disabled gyro heading radians %f\n", heading);
}
}
m_printTimer++;
//m_watchdog.Feed();
#endif
}

void RavenRobot::AutonomousPeriodic(void)
{
//if (m_autoTask != 0)
// m_autoTask->Resume();
m_printTimer++;
//m_watchdog.Feed();
}

ASSIGN_BUTTON(s_sampleLeftSensor, SPIN, 1);
ASSIGN_BUTTON(s_sampleRightSensor, SPIN, 2);
ASSIGN_BUTTON(s_sampleGyro, SPIN, 3);

void RavenRobot::TeleopPeriodic(void)
{
bool gotSomething = false;

#if 0
for (UINT32 i = 0; i <= 12; i++)
{
bool value = m_sticks[DRIVE]->GetRawButton(i);
if (value)
printf("button %u\n", i);
}
#endif
#if 0
gotSomething = m_acquireAimKickMgr->TeleopPeriodic();

// Check for various switches and combinations. Order is important.

if (! gotSomething)
gotSomething = m_aimKickMgr->TeleopPeriodic();

if (! gotSomething)
gotSomething = m_kickMgr->TeleopPeriodic();
#endif
if (! gotSomething)
m_driveMgr->TeleopPeriodic();
#if 0
if ((m_printTimer % 5) == 0)
{
if (READ_BUTTON(s_sampleLeftSensor))
{
float volts = m_rangeFinder[0]->GetVoltage();
printf("rangefinder 0 %f volts\n", volts);
m_rangeCommand[0]->Pulse(22);
}
if (READ_BUTTON(s_sampleRightSensor))
{
float volts = m_rangeFinder[1]->GetVoltage();
printf("rangefinder 1 %f volts\n", volts);
m_rangeCommand[1]->Pulse(22);
}

#if 0
if (READ_BUTTON(s_sampleGyro))
{
float heading = m_gyro->GetAngleRadians();
printf("teleop gyro heading radians %f\n", heading);
}
#endif
}
#endif
m_printTimer++;
//m_watchdog.Feed();
}
#ifdef TC
void RavenRobot::TeleopContinuous(void)
{
}
#endif
#ifdef DC
void RavenRobot::DisabledContinuous(void)
{
}
#endif


START_ROBOT_CLASS(RavenRobot);