cRIO v20 Update Problems

[derekwhite]

1168Programmer,

The run command is failing after deploying the app but either before rebooting the crio or before connecting to the netconsole output.

So in theory your program is on the cRIO and will run on the next reboot.

To find out what is going on, go to a command line:
- change the directory to the directory of your robot project
- reboot the cRIO
- enter the command "ant echo"

You should then see a stream of text as the cRIO boots up, starts Java, and runs your robot code.

Please post what you find.

[1168Programmer]

Originally Posted by derekwhite

1168Programmer,

The run command is failing after deploying the app but either before rebooting the crio or before connecting to the netconsole output.

So in theory your program is on the cRIO and will run on the next reboot.

To find out what is going on, go to a command line:
- change the directory to the directory of your robot project
- reboot the cRIO
- enter the command "ant echo"

You should then see a stream of text as the cRIO boots up, starts Java, and runs your robot code.

Please post what you find.

We will do so tonight. Thank you for your input.

[1168Programmer]

Ok, I just reformatted and reimaged the cRIO with v20. The first attempt to load code onto it resulted in the OTA command server error. I then rebooted the cRIO and attempted to load the code again - it now works. I don't know what I did differently than we were doing yesterday - maybe we were not reformatting when we reimaged the cRIO.

Thanks everyone for your help.

[imcmahon01]

Hi Derek, our team seems to be experiencing similar problems to those which have been posted in this thread. We updated the cRIO and Netbeans and experienced OTA errors, but believed power cycling had solved our issue until netbeans began to hang and not communicate with the cRIO at all. Listed are the steps we took to remedy this problem since the update:

1) Updated cRIO & netbeans to v20
2) Tried to deploy & run code from netbeans
3) Waiting to connect to OTA command server error
4) Power cycled the robot
5) Deployed and ran code twice to the cRIO without issue
6) Code would not deploy the third time - communications would hang
7) Re-imaged the cRIO & attempted to run the code - communications would hang
8) Left it over night
9) Attempted to program today, received "Waiting to connect to OTA command server" error
10) Power cycled the robot
11) The code deployed and ran twice without issue
12) The third time code was attempted, communications just hung, again. Here is the output from that attempt:

init:
init:
No to.jar.file specified.
Using "suite/FRC_2010_Team1143_1.0.0.jar"
Deleting directory /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/build
Deleting directory /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/suite
Deleting directory /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/j2meclasses
clean:
Created dir: /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/build
Compiling 1 source file to /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/build
compile:
Created dir: /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/j2meclasses
preverify:
Created dir: /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/suite
Building jar: /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/suite/FRC_2010_Team1143_1.0.0.jar
jar-app:
Using "suite/FRC_2010_Team1143_1.0.0.jar"
CompilerOracle: exclude com/sun/squawk/Method.getParameterTypes
CompilerOracle: exclude com/sun/squawk/SymbolParser.getSignatureTypeAt
CompilerOracle: exclude com/sun/squawk/SymbolParser.stripMethods
[translating suite image [closed: false, parent: squawk] ...]
### Excluding compile: com.sun.squawk.Method::getParameterTypes
### Excluding compile: com.sun.squawk.SymbolParser::getSignatureTypeAt
Romizer processed 136 classes and generated these files:
  /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/image.sym
  /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/image.suite
  /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/image.suite.metadata
  /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/image.suite.api
Expanding: /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/suite/FRC_2010_Team1143_1.0.0.jar into /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/suite
Moving 1 file to /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/suite
Moving 1 file to /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/suite
Moving 1 file to /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/suite
Deleting: /Users/imcmahon01/Documents/FIRST Robotics/Java Development/Java Programs/NetBeansProjects/FRC_2010_Team1143/image.suite.api
Connecting FTP @10.11.43.2
/Users/imcmahon01/sunspotfrcsdk/build.xml:95: The following error occurred while executing this line:
/Users/imcmahon01/sunspotfrcsdk/ant/upgrade.xml:39: 
java.net.ConnectException: Operation timed out
        at java.net.PlainSocketImpl.socketConnect(Native Method)
        at java.net.PlainSocketImpl.doConnect(PlainSocketImpl.java:333)
        at java.net.PlainSocketImpl.connectToAddress(PlainSocketImpl.java:195)
        at java.net.PlainSocketImpl.connect(PlainSocketImpl.java:182)
        at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:432)
        at java.net.Socket.connect(Socket.java:525)
        at java.net.Socket.connect(Socket.java:475)
        at java.net.Socket.<init>(Socket.java:372)
        at java.net.Socket.<init>(Socket.java:186)
        at org.apache.commons.net.DefaultSocketFactory.createSocket(DefaultSocketFactory.java:53)
        at org.apache.commons.net.SocketClient.connect(SocketClient.java:162)
        at org.apache.commons.net.SocketClient.connect(SocketClient.java:250)
        at com.sun.spot.sdk.tool.ftp.JakartaFtpWrapper.connectAndLogin(JakartaFtpWrapper.java:37)
        at com.sun.spot.sdk.tool.ftp.UpgradeTask.execute(UpgradeTask.java:114)
        at org.apache.tools.ant.UnknownElement.execute(UnknownElement.java:288)
        at sun.reflect.GeneratedMethodAccessor76.invoke(Unknown Source)
        at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
        at java.lang.reflect.Method.invoke(Method.java:597)
        at org.apache.tools.ant.dispatch.DispatchUtils.execute(DispatchUtils.java:106)
        at org.apache.tools.ant.Task.perform(Task.java:348)
        at org.apache.tools.ant.Target.execute(Target.java:357)
        at org.apache.tools.ant.Target.performTasks(Target.java:385)
        at org.apache.tools.ant.Project.executeSortedTargets(Project.java:1337)
        at org.apache.tools.ant.helper.SingleCheckExecutor.executeTargets(SingleCheckExecutor.java:38)
        at org.apache.tools.ant.Project.executeTargets(Project.java:1189)
        at org.apache.tools.ant.taskdefs.Ant.execute(Ant.java:416)
        at org.apache.tools.ant.taskdefs.CallTarget.execute(CallTarget.java:105)
        at org.apache.tools.ant.UnknownElement.execute(UnknownElement.java:288)
        at sun.reflect.GeneratedMethodAccessor76.invoke(Unknown Source)
        at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
        at java.lang.reflect.Method.invoke(Method.java:597)
        at org.apache.tools.ant.dispatch.DispatchUtils.execute(DispatchUtils.java:106)
        at org.apache.tools.ant.Task.perform(Task.java:348)
        at org.apache.tools.ant.Target.execute(Target.java:357)
        at org.apache.tools.ant.Target.performTasks(Target.java:385)
        at org.apache.tools.ant.Project.executeSortedTargets(Project.java:1337)
        at org.apache.tools.ant.Project.executeTarget(Project.java:1306)
        at org.apache.tools.ant.helper.DefaultExecutor.executeTargets(DefaultExecutor.java:41)
        at org.apache.tools.ant.Project.executeTargets(Project.java:1189)
        at org.apache.tools.ant.module.bridge.impl.BridgeImpl.run(BridgeImpl.java:278)
        at org.apache.tools.ant.module.run.TargetExecutor.run(TargetExecutor.java:498)
        at org.netbeans.core.execution.RunClassThread.run(RunClassThread.java:151)
BUILD FAILED (total time: 1 minute 22 seconds)

Finally, I took your advice intended for 1168Programmer and rebooted the robot while using the ant echo command while in the robot project directory:

imcmahon01$ ant echo
Buildfile: build.xml

-pre-init:

-do-init:

-post-init:

-warn-jar-file:

init:

-prim-find-spots:

-checkhasremoteaddress:

-do-find-spots:

-local-echo:
  [frcecho] [cRIO] * Loading StartupDlls: niserial
  [frcecho] [cRIO] * Loading StartupDlls: FRC_FPGA
  [frcecho] [cRIO] * Loading StartupDlls: FRC_NetworkCommunication
  [frcecho] [cRIO] FRC_NetworkCommunication was compiled from SVN revision 2123
  [frcecho] [cRIO] FPGA Hardware GUID: 0xAD9A5591CC64E4DF756D77D1B57A549E
  [frcecho] [cRIO] FPGA Software GUID: 0xAD9A5591CC64E4DF756D77D1B57A549E
  [frcecho] [cRIO] FPGA Hardware Version: 2010
  [frcecho] [cRIO] FPGA Software Version: 2010
  [frcecho] [cRIO] FPGA Hardware Revision: 1.3.0
  [frcecho] [cRIO] FPGA Software Revision: 1.3.0
  [frcecho] [cRIO] * Loading StartupDlls: FRC_JavaVM
  [frcecho] [cRIO] ...FRC_JavaVM failed to load.
  [frcecho] [cRIO] 
  [frcecho] [cRIO] Welcome to LabVIEW Real-Time 8.6.1f2
  [frcecho] [cRIO] task 0x1308700 (t2) deleted: errno=0 (0) status=0 (0)
  [frcecho] [cRIO] 
  [frcecho] [cRIO] NI-VISA Server 4.5 started successfully.
  [frcecho] [cRIO] task 0xe62f30 (t1) deleted: errno=1835009 (0x1c0001) status=1 (0x1)

Do you have any advice for us moving forward? Thanks in advance!

[1168Programmer]

Hi all,
I reformatted and reimaged the cRIO with v20. I then attempted to download code onto the cRIO and encountered the OTA server error. After that I power cycled the cRIO and the code downloads and runs normally now. I don't know what we did differently than yesterday (maybe we were not reformatting yesterday?) but it seems to work now.

Thanks for all the help.

EDIT: imcmahon01, I will post again if we encounter the problem that you described. Unfortunately I can't offer you any advice right now.

[derekwhite]

imcmahon01,

The 2nd error may be due to FRC_JavaVM somehow being deleted from the cRIO. You can ftp to the cRIO, and see if there's a file named /ni-rt/system/FRC_JavaVM.out.

I'm still trying to figure out why it works for a while then falls apart. But a work-around may be to use an ftp tool to delete FRC_JavaVM.out, squawk.out, squawk.suite, and robot.suite. Then reboot the cRio and try to deploy your code from netBeans normally.

[imcmahon01]

Thanks for your input, Derek. We ftp:// 'ed into the cRIO only to find that the ni-rt/system/ folder did not contain FRC_JavaVM.out, squawk.out, squawk.suite, or robot.suite. So these files are somehow deleting upon programming?

[derekwhite]

I don't know why those files are being deleted. But doing a (successful) "Run Project" will copying them all back to the cRIO.

FYI. Here is the contents of my cRIO. If you notice other files missing then there's a bigger problem.

150 Opening data connection for listing of /ni-rt/system/
-rw-r--r-- 1 owner group 0 Feb 17 00:13 02030143322010
-rw-r--r-- 1 owner group 0 Feb 17 00:13 07151721542009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11031747302009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11031747322009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11031747342009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11031747362009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11031747382009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11031747402009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11031747422009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11031747442009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11031747462009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 11061526482009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 12111415542009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 12121537562009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 12142126022009
-rw-r--r-- 1 owner group 0 Feb 17 00:13 12142130182009
-rw-r--r-- 1 owner group 19176 Feb 17 00:13 config.cdf
-rw-r--r-- 1 owner group 0 Feb 17 00:13 config.old
-rw-r--r-- 1 owner group 366436 Feb 17 00:13 criosd.out
-rw-r--r-- 1 owner group 2632 Feb 17 00:13 debug.o
-rw-r--r-- 1 owner group 185302 Feb 17 00:13 FRC_FPGA.out
-rw-r--r-- 1 owner group 959207 Feb 17 00:13 FRC_FPGA_invariant.bit
-rw-r--r-- 1 owner group 959207 Feb 17 00:13 FRC_FPGA_runtime.bit
-rw-r--r-- 1 owner group 112401 Feb 17 00:13 FRC_NetworkCommunication.out
-rw-r--r-- 1 owner group 51902 Feb 17 00:13 ftpserve.out
-rw-r--r-- 1 owner group 73645 Feb 17 00:13 libexpat.out
-rw-r--r-- 1 owner group 53928 Feb 17 00:13 libiconv.out
-rw-r--r-- 1 owner group 112274 Feb 17 00:13 lvalarms.out
-rw-r--r-- 1 owner group 866415 Feb 17 00:13 lvanlys.out
-rw-r--r-- 1 owner group 77751 Feb 17 00:13 lvblas.out
-rw-r--r-- 1 owner group 3915564 Feb 17 00:13 lvrt.out
-rw-r--r-- 1 owner group 1696 Feb 17 00:13 lvuste.out
-rw-r--r-- 1 owner group 44760 Feb 17 00:13 nbfifo.out
-rw-r--r-- 1 owner group 10760 Feb 17 00:13 NetConsole.out
-rw-r--r-- 1 owner group 45396 Feb 17 00:13 ni_emb.out
-rw-r--r-- 1 owner group 110068 Feb 17 00:13 NiFpga.out
-rw-r--r-- 1 owner group 640 Feb 17 00:13 niorba.ocm
-rw-r--r-- 1 owner group 118751 Feb 17 00:13 niorbs.out
-rw-r--r-- 1 owner group 389577 Feb 17 00:13 nipals.out
-rw-r--r-- 1 owner group 68644 Feb 17 00:13 niriorpc.out
-rw-r--r-- 1 owner group 427260 Feb 17 00:13 niriosrv.out
-rw-r--r-- 1 owner group 101600 Feb 17 00:13 nirpcs.out
-rw-r--r-- 1 owner group 177 Feb 18 20:54 niserial.dbs
-rw-r--r-- 1 owner group 900 Feb 17 00:13 niserial.ini
-rw-r--r-- 1 owner group 207317 Feb 17 00:13 niserial.out
-rw-r--r-- 1 owner group 36484 Feb 17 00:13 nisvcloc.out
-rw-r--r-- 1 owner group 3813943 Feb 17 00:13 nivision.out
-rw-r--r-- 1 owner group 61279 Feb 17 00:13 NiViSrvr.out
-rw-r--r-- 1 owner group 1246518 Feb 17 00:13 nivissvc.out
-rw-r--r-- 1 owner group 92088 Feb 17 00:13 NiViSv32.out
-rw-r--r-- 1 owner group 48 Feb 18 20:54 nvdata.bin
-rw-r--r-- 1 owner group 47512 Feb 17 00:13 registry.out
-rw-r--r-- 1 owner group 197190 Feb 17 00:13 rtapp.rsc
-rw-r--r-- 1 owner group 99856 Feb 17 00:13 rtvarsup.out
-rw-r--r-- 1 owner group 2368 Feb 17 00:13 settime.out
-rw-r--r-- 1 owner group 47781 Feb 17 00:13 startuppatch.out
-rw-r--r-- 1 owner group 101592 Feb 17 00:13 target.out
-rw-r--r-- 1 owner group 155960 Feb 17 00:13 tdms.out
-rw-r--r-- 1 owner group 43110 Feb 17 00:14 ts_dio.out
-rw-r--r-- 1 owner group 36480 Feb 17 00:14 ts_rtc.out
-rw-r--r-- 1 owner group 61394 Feb 17 00:14 ts_sntp.out
-rw-r--r-- 1 owner group 85575 Feb 17 00:14 tsengine.out
-rw-r--r-- 1 owner group 59557 Feb 17 00:14 visa32.out
-rw-r--r-- 1 owner group 285 Feb 17 00:14 VisaCtrl.ocm
-rw-r--r-- 1 owner group 16252 Feb 17 00:14 VisaCtrl.out
-rw-r--r-- 1 owner group 424825 Feb 17 00:14 vx_exec.out
-rw-r--r-- 1 owner group 2256 Feb 17 00:14 vxfpsup.out
-rw-r--r-- 1 owner group 4161889 Feb 17 00:14 vxWorks
drwxr-xr-x 1 owner group 8192 Feb 17 00:14 errors
drwxr-xr-x 1 owner group 8192 Feb 17 00:14 ethernet
drwxr-xr-x 1 owner group 8192 Feb 17 00:14 vxipnp
drwxr-xr-x 1 owner group 8192 Feb 17 00:14 www
-rw-r--r-- 1 owner group 1020 Feb 17 00:15 errlog.txt
-rw-r--r-- 1 owner group 3564728 Feb 17 00:23 FRC_JavaVM.out
-rw-r--r-- 1 owner group 209938 Feb 17 00:23 squawk.out
-rw-r--r-- 1 owner group 922788 Feb 17 00:23 squawk.suite
-rw-r--r-- 1 owner group 84668 Feb 18 20:53 robot.suite

[imcmahon01]

We looked through the contents of the /ni-rt/system/ folder, and all of the files are present except those previously mentioned that deal with java. We went through comparing the lists side by side. For the next step, we are updating some other computers with the v20 netbeans update and going to attempt to reprogram the robot using one of those new computers (the idea being that our programming computer somehow corrupted/deleted the files on the cRIO). We will let you know the results.

[imcmahon01]

So we tried uploading code using two other computers, and so far so good. First, we reimaged the cRIO to Java for good measure. Then we programmed with other computers receiving OTA error like before, but after a quick reset the cRIO programmed successfully. However, we have only had a chance to program it twice before the hardware guys needed to mount everything on the robot. I am cautiously optimistic that the switch of computers solved our problem. Hopefully I can figure out what was wrong with our first computer, but until then we will be using one of our backups.

[PaulRevere]

As far as I know, doing any updates to the cRIO over 802.11 or 802.3 (Ethernet) won't matter, as the machine that is sending the update is simply sending the data as UDP packets to the cRIO. I've upgraded ours over wifi, over a LAN, and directly connected to our development machine. (On a side note, if you are using a separate developer's machines [NOT the Classmate], that has a Gigabit Ethernet port, then using a standard CAT-5 cable vs. a crossover would make no difference as Gigabit standards require that the Ethernet port itself can make any cable into whatever kind needed. [i.e. a crossover can be used where a standard cable should normally go, and vice versa.])

[phencer42]

When we updated the cRIO and got the Netbeans update everything just stopped working. We got the OTA error that people above got but we also started to get an "uncaught exception" error that was mentioned in another thread but the fix the other thread suggested, to change "\resources\META-INF\MANIFEST.MF" to fit the new package and worked then, isn't even applicable in this situation and thus isn't working. I see a lot of problems but few fixes here. Does anyone have any fixes we could use? Please?

[phencer42]

Okay, we started from scratch and added pieces back one-by-one to our program. Apparently our limit switch was the problem. So yeah... our problem is fixed.

[BBHSrobotics]

We finally found a solution to our problem as well. The perpetrator was the Digital Input the entire time. For whatever reason simply declaring a Digital Input was stopping our code from downloading to our robot correctly.

[derekwhite]

Hi BBHSrobotics,

I'm not sure if the Digital Input thing was coincidental or not. Can you tell me what sort of code you were using (or send me the code?) Thanks!