No Robot Code!!!

[masoug]

Hi,
We are using a Vista machine with WindRiver to program the cRIO. When we install the updates (for WindRiver), the robot complains with "No Robot Code". We re-imaged the cRIO with version 20 and it still does not work. We downloaded the code and rebooted the robot, but it still does not work.

Does anyone else have the same problem?

Any help will be appreciated.

-Masoug

[Al Skierkiewicz]

Masoug,
A team in Minnesota had the same problem last weekend. They claimed it was a Vista machine that was causing the problem but I think it was more the type of machine than the operating system. Have you been using this machine all through the season or is this something new? They switched to an XP machine and were able to download just fine. It had me and the NI rep scratching our heads. If it works use it in good health.

[Radical Pi]

Install NetConsole (from the WPI update site) and post what is says. It could give a bit more insight about what the root problem is

[Peter Johnson]

Generally the cause for sudden "No Robot Code" is a missing symbol. WindRiver is set up to link dynamic executables so it doesn't report missing symbol errors at build time. NetConsole will definitely help you determine whether this is the cause, as any missing symbols will be reported to the console when the cRIO attempts to run UserProgram.out. They will be name mangled (C++'s way of converting "foo::bar::baz(int a, int b, int c)" into a unique name of only upper/lowercase/numbers/underscores) but you should be able to decipher it pretty easily. I've sometimes found a full rebuild fixes it. A particularly common cause is missing symbols in the WPILib camera code.

[heydowns]

You can also "Undeploy", reboot the robot, then load using the Debug method (described in C++ Getting Started guide). When loading this way, any unresolved symbols will be reported to you. In addition, if the program is crashing, the debugger may help you figure out where and/or why.

[masoug]

Hmmm, okay. I guess I will try it. Thanks!!!

-Masoug

[masoug]

It still does not work...
The executable is still there, but the DS is not recognizing it and cannot execute the program.
Plus, NetConsole doesn't work either, nothing shows up on the NetConsole client even after changing the "ni-rt.ini" file and rebooting the robot, nothing comes up.
Is there a step we were supposed to do right after competition that involved this?

Is there a way to manually execute the "FRC_UserProgram.out" file?

And now WindRiver cannot connect to the cRIO,

Wed Apr 21 17:27:05 2010
Target name is 10.01.14.2
tgtsvr (VxWorks6x_10.01.14.2@VistaProX9): Wed Apr 21 17:27:05 2010
WTX Library version: 4.1.1.22
Tgtsvr core version: 4.1.1.17
Wind River Target Server: Win32 version
Connecting to the target agent ...
... switching to WDB4 mode ... ... succeeded !
Loading plug-in for VxWorks... succeeded.
Checking License... OK
VxWorks plugin version: 4.1.1.11
Attaching elf OMF reader for PPC CPU family... succeeded.

Differences for module "vxWorks" segment's address 0x100000:
Offset Target Value Host Value
0x152 0x9d 0x62
0x153 0xd0 0x5c
0x49d 0x09 0x0c
0x49e 0xaf 0xc8
Stopping dump. Other errors might exist.

Error: The systems running on the target and loaded into the target server memory are different.
Either wrong core file is selected on the host or text section is corrupted on target side.
Error during target server core initialization
Target Server will exit

How does this entire system work?

THANKS!!!

-Masoug

[Radical Pi]

are you sure Wind River is set to look at the right cRIO image?

also, is the "No App" switch set on the cRIO?

[masoug]

Yes, I double checked that WindRiver is downloading the right code. I hope I don't sound too wierd saying this, but what is the no app switch? THANKS!!!-Masoug

[Radical Pi]

It's one of the switches on the cRIO (next to the Serial out, no FPGA, etc). When set, it prevents the user code from running. Often used because many LabVIEW team's code starves the downloader of CPU time. I believe the edge nearest the end of the cRIO being down indicates the off position, but try it both ways to be sure

I didn't mean the .out file that is your user code. If Wind River doesn't have a local copy of the current cRIO image the serial port communications will fail. I don't know the exact instructions of how to point wind river to the right file, but I think they were in last year's control system manual.

Also, are you using serial CAN? If you have the Console Out switch set on it will take up the serial port, causing the CAN plugin to fail and possibly mess up all your other code.

With NetConsole, did you manually type in the IP of the cRIO into the box? I've had trouble getting it to auto-connect and I just type it in every time

[byteit101]

Just to make sure, do you have WPILib update 4.3?

[masoug]

Originally Posted by byteit101

Just to make sure, do you have WPILib update 4.3?

Yes, rather I think THAT was the problem to this "No Robot Code" thing...

Would Driver Station updates have anything to do with this?

With NetConsole, did you manually type in the IP of the cRIO into the box? I've had trouble getting it to auto-connect and I just type it in every time

For the NetConsole thing, NOTHING came up, auto-connect or not.

I hope this doesn't sound too weird either, but what is "Serial CAN"?

-Masoug

[Radical Pi]

Originally Posted by masoug

Would Driver Station updates have anything to do with this?

Do you have the 2nd update?

Originally Posted by masoug

For the NetConsole thing, NOTHING came up, auto-connect or not.

That means either you didn't install it correctly, or something on the cRIO is crashing it

Originally Posted by masoug

I hope this doesn't sound too weird either, but what is "Serial CAN"?

If you don't know what it is you probably don't have it. It's the version of the CAN motor control network that runs through a black jaguar

If you install the DS software on another computer (just run the updater), does it work?

Did you try the "No App" switch thing?

[byteit101]

Originally Posted by masoug

Yes, rather I think THAT was the problem to this "No Robot Code" thing...

it could be (although if you are not using the camera or DriverStationLCD, having 4.1, 4.2 and 4.3 are the same)

4.2 caused this error if you were using the camera, hence the 4.3 update


Try rebuilding:
right click the project>Rebuild

[masoug]

Okay, thanks for all the wonderful suggestions and comments, but there is too much going on. Lets answer each question one by one...

1) What are the Driver stations updates for? What do they do?

2) What are the possible ways that trigger a "No Robot Code" error?
(I am pretty sure that we did not enable the "No App" switch, lets assume we didn't.)
3) I have installed NetConsole on my computer (with LabView Runtime) and enabled the "NetConsole.out" in "ni-rt.ini" via FTP. I rebooted the robot but it still doesn't work... (auto-connect or not) Has anyone have this problem before?
4) What is supposed to come up upon booting (of cRIO) on the NetConsole?
5) What does updating the cRIO image do? Would it help?

Thank you very much, I appreciate your help!

-Masoug