RoboRIO Teleop Freezeup

[gerthworm]

Howdy all! Working through a infrequently-occurring issue on our roboRIO:

A few times while connected to a field management system, we've had the RIO partially freeze up. We're still trying to gather telemetry to see what's happening exactly, but the symptoms are that the motors lock in at a single value (causing unwanted rotation we have to e-stop to prevent).

What we're observing via the driver station is a bump in processor load from 50% to 70%, and the RIO (but not the driver station) drops out of teleop mode.

There's no loops in this part of our code that would cause it to lock up. When it was happening, we were writing to a text log file on the RIO. Additonally, we read data from our sensors in separate threads from the main robot code. Other than that, it's just simple if statements and math.

We're already in the process of re-flashing the RIO firmware. It's hard to debug anything else since we can't reliably trigger the behavior yet. We're a bit worried there might be some corner-case in the RTOS we're hitting every now and then....

Anyone else observed similar odd behavior in the RIO?

Thanks much!

EDIT: Attached is a picture of our driver station log we captured during the anomaly.

[legts]

My team has lost comms with the RIO after autonomous mode ran because of IP address assigned manually. I've never seen your issue before, but checking to make sure that the IP address is automatically assigned. Has re-imaging the RIO helped at all?

[Altainia]

I'd be curious to see your code for writing to a text file since you say that's occurring when you lock up, as well as the code that's around that (context is important). Also, I'd like to see the code that's locking up.

I'm also curious: does the text file get successfully written?

[nickbrickmaster]

If it's writing to the file on the main thread, then that would cause some freezing. Try creating a new thread to use only for file I/O.

[Fauge7]

If your doing any form of file io, I would reccamend using network tables and logging all the data on the driverstation computer. If you need help with it pm me.