Yet another camera issue

[adamdb]

We are using Java, but I don't think it is a Java issue so I am posting this in the "general" programming category.

We are trying to do a very simple program to drive the robot and see an image on the classmate from the camera. I am reasonably certain that the camera is configured correctly, and I am confident we have the right firmware (v19) on the cRIO.

Our program is pretty simple:

public class RobotTemplate extends IterativeRobot
{
    AxisCamera cam;
    RobotDrive drive;
    Joystick joy;

    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit()
    {

        System.out.println("init()");

        // Setup camera
        cam = AxisCamera.getInstance();
        //cam.writeResolution(AxisCamera.ResolutionT.k320x240);
        //cam.writeBrightness(0);

        // Setup drive system components
        drive = new RobotDrive(1, 2);
        joy = new Joystick(1);
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic()
    {
        Watchdog.getInstance().feed();

    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic()
    {
        Watchdog.getInstance().feed();

        double rot = this.joy.getAxis(Joystick.AxisType.kX);
        double fwd = -1.0 * this.joy.getAxis(Joystick.AxisType.kY);

        this.drive.arcadeDrive(fwd, rot);

        Timer.delay(0.005);

    }
}

And the error we are getting is the following. The error is at the bottom, but I am including the whole build/deploy/run just in case it suggests anything to anyone.

init:
init:
No to.jar.file specified.
Using "suite/SimpleCamera_1.0.0.jar"
clean:
Created dir: /home/adam/Dev/workspaces/FIRST/SimpleCamera/build
Compiling 1 source file to /home/adam/Dev/workspaces/FIRST/SimpleCamera/build
compile:
Created dir: /home/adam/Dev/workspaces/FIRST/SimpleCamera/j2meclasses
preverify:
Created dir: /home/adam/Dev/workspaces/FIRST/SimpleCamera/suite
Building jar: /home/adam/Dev/workspaces/FIRST/SimpleCamera/suite/SimpleCamera_1.0.0.jar
jar-app:
Using "suite/SimpleCamera_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 113 classes and generated these files:
  /home/adam/Dev/workspaces/FIRST/SimpleCamera/image.sym
  /home/adam/Dev/workspaces/FIRST/SimpleCamera/image.suite
  /home/adam/Dev/workspaces/FIRST/SimpleCamera/image.suite.metadata
  /home/adam/Dev/workspaces/FIRST/SimpleCamera/image.suite.api
Expanding: /home/adam/Dev/workspaces/FIRST/SimpleCamera/suite/SimpleCamera_1.0.0.jar into /home/adam/Dev/workspaces/FIRST/SimpleCamera/suite
Moving 1 file to /home/adam/Dev/workspaces/FIRST/SimpleCamera/suite
Moving 1 file to /home/adam/Dev/workspaces/FIRST/SimpleCamera/suite
Moving 1 file to /home/adam/Dev/workspaces/FIRST/SimpleCamera/suite
Deleting: /home/adam/Dev/workspaces/FIRST/SimpleCamera/image.suite.api
Connecting FTP @10.15.83.2
upgrade:
Sending local file image.suite
flashapp:
deploy:
init:
Setting up for RUN
[cRIO] 
   Waiting for prompt "-> "
[cRIO] -> 
[cRIO] -> xdelete "/ni-rt/system/SQUAWK_DEBUG_ENABLED"
[cRIO] deleting file /ni-rt/system/SQUAWK_DEBUG_ENABLED
[cRIO] /ni-rt/system/SQUAWK_DEBUG_ENABLED: S_relFsLib_FILE_NOT_FOUND
[cRIO] value = -1 = 0xffffffff
[cRIO] -> 
   Waiting for cRIO to reboot (1s)
   Waiting for cRIO to reboot (2s)
   Waiting for cRIO to reboot (3s)
   Waiting for cRIO to reboot (4s)
   Waiting for cRIO to reboot (5s)
   Waiting for cRIO to reboot (6s)
   Waiting for cRIO to reboot (7s)
   Waiting for cRIO to reboot (8s)
   Waiting for cRIO to reboot (9s)
[cRIO] -> 
[cRIO] -> * Loading StartupDlls: debug
[cRIO] Entering debug.o StartupLibraryInit
[cRIO] Debugging is up, target server mounted at /tsfs
[cRIO] 
[cRIO] 
[cRIO]                 VxWorks
[cRIO] 
[cRIO] Copyright 1984-2006  Wind River Systems, Inc.
[cRIO] 
[cRIO]              CPU: MPC5200 -- Wind River Lite5200 BSP.
[cRIO]     Runtime Name: VxWorks
[cRIO]  Runtime Version: 6.3
[cRIO]      BSP version: 2.0/10
[cRIO]          Created: Jul 29 2009, 13:41:47
[cRIO] ED&R Policy Mode: Deployed
[cRIO]    WDB Comm Type: WDB_COMM_END
[cRIO]              WDB: Ready.
[cRIO] 
[cRIO] Leaving debug.o StartupLibraryInit
[cRIO] * Loading StartupDlls: NiRioRpc
[cRIO] * Loading StartupDlls: niorbs
[cRIO] * Loading StartupDlls: NiViSrvr
[cRIO] * Loading StartupDlls: nivissvc
[cRIO] task 0xee4118 (PAL00fb54b8) deleted: errno=0 (0) status=0 (0)
[cRIO] NI-RIO Server 3.2 started successfully.
[cRIO] task 0xc5f520 (NiRioRpc) deleted: errno=0 (0) status=0 (0)
[cRIO] * Loading StartupDlls: nivision
[cRIO] * Loading StartupDlls: niserial
[cRIO] * Loading StartupDlls: FRC_FPGA
[cRIO] * Loading StartupDlls: FRC_NetworkCommunication
[cRIO] FRC_NetworkCommunication was compiled from SVN revision 2064
[cRIO] FPGA Hardware GUID: 0xAD9A5591CC64E4DF756D77D1B57A549E
[cRIO] FPGA Software GUID: 0xAD9A5591CC64E4DF756D77D1B57A549E
[cRIO] FPGA Hardware Version: 2010
[cRIO] FPGA Software Version: 2010
[cRIO] FPGA Hardware Revision: 1.3.0
[cRIO] FPGA Software Revision: 1.3.0
[cRIO] * Loading StartupDlls: FRC_JavaVM
[cRIO] task 0x1d7f5c8 (t2) deleted: errno=0 (0) status=0 (0)
[cRIO] 
[cRIO] NI-VISA Server 4.5 started successfully.
[cRIO] task 0xe628e0 (t1) deleted: errno=1835009 (0x1c0001) status=1 (0x1)
[cRIO] 
[cRIO] 
[cRIO] [OTA Server] Version: 2010 FRC, Dec 30 2009, 15:22:08
[cRIO] 
[cRIO] [OTA Server] Starting...
[cRIO] 
[cRIO] [OTA Command Server] In serverSocketListener()
[cRIO] 
[cRIO] [OTA Redirector] In serverSocketListener()
[cRIO] 
[cRIO] 
[cRIO] Welcome to LabVIEW Real-Time 8.6.1f2
[cRIO] [OTA Server] Restarting Java VM
[cRIO] 
[cRIO] [Squawk VM] Starting up...
[cRIO] 
[cRIO] 
[cRIO] [Squawk VM] Version: 2010 FRC, Jan 11 2010, 23:01:10
[cRIO] 
[cRIO] [Squawk VM] File SQUAWK_DEBUG_ENABLED not found, starting squawk in normal mode...
[cRIO] [Squawk VM]    arg: squawk.out
[cRIO] [Squawk VM] Squawk command line file SQUAWK_CMD_LINE not found, using default args...
[cRIO] [Squawk VM]    arg: -suite:robot
[cRIO] [Squawk VM]    arg: -Xmxnvm:1M
[cRIO] Bootstrap suite loaded
[cRIO] In Startup
[cRIO] Looking for implementation class com.sun.squawk.platform.posix.vxworks.natives.SelectImpl
[cRIO] Looking for implementation class com.sun.squawk.platform.posix.vxworks.natives.LibCImpl
[cRIO] FPGA Hardware GUID: 0xad9a5591cc64e4df756d77d1b57a549e
[cRIO] FPGA Software GUID: 0xad9a5591cc64e4df756d77d1b57a549e
[cRIO] IterativeRobot Constructor Start
[cRIO] IterativeRobot Constructor Finish
[cRIO] IterativeRobot startCompetition() Start
[cRIO] init()
[cRIO] 
[cRIO] Squawk VM caught signal 10
[cRIO] CRASH
[cRIO]     si_code: 0x7c6802a6
[cRIO]     si_value.sival_int: 0x7c7043a6
[cRIO]     In callout to native function: 211d42c
[cRIO]    named: AxisCameraStart
[cRIO] Resuming system signal handler...
[cRIO] 
[cRIO] data access
[cRIO] Exception current instruction address: 0x00198f84
[cRIO] Machine Status Register: 0x0000b032
[cRIO] Data Access Register: 0x6f787acc
[cRIO] Condition Register: 0x88224444
[cRIO] Data storage interrupt Register: 0x42000000
[cRIO] Task: 0x21727d0 "SquawkRobotTask"
[cRIO] 0x21727d0 (SquawkRobotTask): task 0x21727d0 has had a failure and has been stopped.
[cRIO] 0x21727d0 (SquawkRobotTask): fatal kernel task-level exception!

If I comment out the "cam = AxisCamera.getInstance();" line, everything works fine and we can drive the robot as expected.

I don't think it is the environment as we have built and downloaded this same code to the robot with 3 different PCs, two running Windows (one was the Classmate) and one running Linux. We always get the same result, and I get the same result if I try to use the CircleTrackerDemo program.

We are using an Axis M1011 as our 206 from last year disappeared.

It looks like maybe the cRIO is missing a needed library or something, but I can't figure out where it might be.

Thanks