SmartDashboard Extension

Ozuru · February 7, 2015, 5:27pm

Hello,

I’ve been having some trouble with SmartDashboard extensions. I tried a simple extension that extends WPICameraExtension and has an override for processImage to return the image. I can add it to the SmartDashboard fine but it says no connection - a Simple Camera Viewer works, though. The Camera widget also says no connection. Any ideas why it isn’t able to connect? I thought it was my extension at first but due to the fact that the Camera widget/extension also says no connection makes me wonder if it’s something non-plugin related.

I’m using the vanilla SmartDashboard - not SFX.

Thanks.

Ozuru · February 7, 2015, 6:11pm

It doesn’t seem to load the extension when I load the dashboard through the driver station - only when I open the .jar file through the command line in Users/<user>/wpilib/tools/ will it load my extension. Even if it loads the extension if won’t display the image - it displays the image using the Camera extension/widget though, if I launch it via the driver station.

Any ideas?

Ozuru · February 9, 2015, 4:16pm

I hate to bump this but I’m still having this issue.

GeeTwo · February 9, 2015, 4:39pm

We had some issues with a bad connection (I believe it was called a broken pipe) trying to use the intermediate vision example. I don’t recall the exact solution, but it turned out that the broken connection was not between the 'RIO and the driver station, but between the driver station and the image widget we were displaying it in. I’ll see if I can get more details at our build this evening.

Ozuru · February 10, 2015, 11:28am

Interesting. I’d love to hear what the issue was.

I spent more time working on this and am still having this issue. The Java SmartDashboard is opening with the same arguments I pass to it (java -jar /path/to/dashboard/SmartDashboard.jar) but for some reason, the one spawned through selecting the “Java” SmartDashboard is refusing to acknowledge my plugin. When I open it through the command line, it opens it and loads my extension/plugin.

The Camera widget still does not work for me and won’t establish a connection when opened through the command line. It works fine if it is opened through the Driver Station. I used a process monitoring tool to confirm that it is opening the same SmartDashboard I’m opening via command line (shoutout to Procmon!).

I’m nearly at my wits end for this issue and have tried almost everything I can think of. Due to the non-existent documentation for SmartDashboard I’ve decompiled SmartDashboard and am trying to determine the cause of this issue but it’s not going too well.

If anyone who has experience with extensions/widgets or a SmartDashboard developer sees this I would love it if you could post.

Thanks.

nickmcski · February 10, 2015, 2:37pm

Hum, The only think I can think of is the driver station may be using a different java version if you have multiple java installs on your computer. I cant access the smart dashboard code from this laptop but when I get home I will make sure its not checking for any weird arguments from the driver station.

The other thing you can try (If you have a java JDK installed and correctly added to your path variable) is to start the dashboard with the driver station then open the command prompt and type

jps

That will list the java process ID for every java application running, remember the number associated with smart dashboard then you can run the command

jstack <Number Here>

That will print out a list of all the java threads currently running and the stack trace to go with them, if you can copy them then post them back here I can look through them and see if there is anything out of the ordinary, (Like its stuck trying to load a plugin or didn’t start a thread correctly)

Ozuru · February 10, 2015, 4:08pm

nickmcski:

Hum, The only think I can think of is the driver station may be using a different java version if you have multiple java installs on your computer. I cant access the SFX code from this laptop but when I get home I will make sure its not checking for any weird arguments from the driver station.

The other thing you can try (If you have a java JDK installed and correctly added to your path variable) is to start the dashboard with the driver station then open the command prompt and type
jps
That will list the java process ID for every java application running, remember the number associated with smart dashboard then you can run the command
jstack <Number Here>
That will print out a list of all the java threads currently running and the stack trace to go with them, if you can copy them then post them back here I can look through them and see if there is anything out of the ordinary, (Like its stuck trying to load a plugin or didn’t start a thread correctly)

Thanks for the reply, Nick. I checked my installs and I had two others – now I’m only using Java 8 Update 25 and the JDK 8 Update 25.

Here’s the result of its stack trace:


C:\WINDOWS\system32>jstack 5480
2015-02-10 16:02:43
Full thread dump Java HotSpot(TM) 64-Bit Server VM (25.25-b02 mixed mode):

"TimerQueue" #28 daemon prio=5 os_prio=0 tid=0x0000000018802800 nid=0x14d0 waiti
ng on condition [0x000000001d10e000]
   java.lang.Thread.State: WAITING (parking)
        at sun.misc.Unsafe.park(Native Method)
        - parking to wait for  <0x00000000a4aca258> (a java.util.concurrent.lock
s.AbstractQueuedSynchronizer$ConditionObject)
        at java.util.concurrent.locks.LockSupport.park(Unknown Source)
        at java.util.concurrent.locks.AbstractQueuedSynchronizer$ConditionObject
.await(Unknown Source)
        at java.util.concurrent.DelayQueue.take(Unknown Source)
        at javax.swing.TimerQueue.run(Unknown Source)
        at java.lang.Thread.run(Unknown Source)

"Client Connection Reader Thread" #27 prio=6 os_prio=0 tid=0x00000000187c7000 ni
d=0x1520 runnable [0x000000001c9ff000]
   java.lang.Thread.State: RUNNABLE
        at java.net.SocketInputStream.socketRead0(Native Method)
        at java.net.SocketInputStream.read(Unknown Source)
        at java.net.SocketInputStream.read(Unknown Source)
        at java.io.BufferedInputStream.fill(Unknown Source)
        at java.io.BufferedInputStream.read(Unknown Source)
        - locked <0x00000000a4ac92a8> (a java.io.BufferedInputStream)
        at java.io.DataInputStream.readByte(Unknown Source)
        at edu.wpi.first.wpilibj.networktables2.connection.NetworkTableConnectio
n.read(NetworkTableConnection.java:115)
        at edu.wpi.first.wpilibj.networktables2.connection.ConnectionMonitorThre
ad.run(ConnectionMonitorThread.java:30)
        at edu.wpi.first.wpilibj.networktables2.thread.DefaultThreadManager$Peri
odicNTThread$1.run(DefaultThreadManager.java:18)
        at java.lang.Thread.run(Unknown Source)

"D3D Screen Updater" #26 daemon prio=7 os_prio=1 tid=0x0000000018551000 nid=0x14
90 in Object.wait() [0x000000001c4ef000]
   java.lang.Thread.State: TIMED_WAITING (on object monitor)
        at java.lang.Object.wait(Native Method)
        at sun.java2d.d3d.D3DScreenUpdateManager.run(Unknown Source)
        - locked <0x00000000a4aca4a8> (a java.lang.Object)
        at java.lang.Thread.run(Unknown Source)

"DestroyJavaVM" #25 prio=5 os_prio=0 tid=0x0000000002410800 nid=0x1234 waiting o
n condition [0x0000000000000000]
   java.lang.Thread.State: RUNNABLE

"Swing-Shell" #18 daemon prio=6 os_prio=0 tid=0x0000000018405800 nid=0x13bc wait
ing on condition [0x000000001a9be000]
   java.lang.Thread.State: WAITING (parking)
        at sun.misc.Unsafe.park(Native Method)
        - parking to wait for  <0x00000000a4aca828> (a java.util.concurrent.lock
s.AbstractQueuedSynchronizer$ConditionObject)
        at java.util.concurrent.locks.LockSupport.park(Unknown Source)
        at java.util.concurrent.locks.AbstractQueuedSynchronizer$ConditionObject
.await(Unknown Source)
        at java.util.concurrent.LinkedBlockingQueue.take(Unknown Source)
        at java.util.concurrent.ThreadPoolExecutor.getTask(Unknown Source)
        at java.util.concurrent.ThreadPoolExecutor.runWorker(Unknown Source)
        at java.util.concurrent.ThreadPoolExecutor$Worker.run(Unknown Source)
        at sun.awt.shell.Win32ShellFolderManager2$ComInvoker$3.run(Unknown Sourc
e)
        at java.lang.Thread.run(Unknown Source)

"Write Manager Thread" #15 prio=6 os_prio=0 tid=0x0000000018376000 nid=0x464 wai
ting on condition [0x0000000018c5f000]
   java.lang.Thread.State: TIMED_WAITING (sleeping)
        at java.lang.Thread.sleep(Native Method)
        at edu.wpi.first.wpilibj.networktables2.WriteManager.run(WriteManager.ja
va:148)
        at edu.wpi.first.wpilibj.networktables2.thread.DefaultThreadManager$Peri
odicNTThread$1.run(DefaultThreadManager.java:18)
        at java.lang.Thread.run(Unknown Source)

"AWT-EventQueue-0" #14 prio=6 os_prio=0 tid=0x0000000017770800 nid=0x7ec waiting
 on condition [0x000000001835f000]
   java.lang.Thread.State: WAITING (parking)
        at sun.misc.Unsafe.park(Native Method)
        - parking to wait for  <0x00000000a49da150> (a java.util.concurrent.lock
s.AbstractQueuedSynchronizer$ConditionObject)
        at java.util.concurrent.locks.LockSupport.park(Unknown Source)
        at java.util.concurrent.locks.AbstractQueuedSynchronizer$ConditionObject
.await(Unknown Source)
        at java.awt.EventQueue.getNextEvent(Unknown Source)
        at java.awt.EventDispatchThread.pumpOneEventForFilters(Unknown Source)
        at java.awt.EventDispatchThread.pumpEventsForFilter(Unknown Source)
        at java.awt.EventDispatchThread.pumpEventsForHierarchy(Unknown Source)
        at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
        at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
        at java.awt.EventDispatchThread.run(Unknown Source)

"AWT-Windows" #12 daemon prio=6 os_prio=0 tid=0x000000001776e800 nid=0x870 runna
ble [0x000000001813f000]
   java.lang.Thread.State: RUNNABLE
        at sun.awt.windows.WToolkit.eventLoop(Native Method)
        at sun.awt.windows.WToolkit.run(Unknown Source)
        at java.lang.Thread.run(Unknown Source)

"AWT-Shutdown" #11 prio=5 os_prio=0 tid=0x000000001776d800 nid=0xdac in Object.w
ait() [0x000000001803e000]
   java.lang.Thread.State: WAITING (on object monitor)
        at java.lang.Object.wait(Native Method)
        - waiting on <0x00000000a4acad50> (a java.lang.Object)
        at java.lang.Object.wait(Unknown Source)
        at sun.awt.AWTAutoShutdown.run(Unknown Source)
        - locked <0x00000000a4acad50> (a java.lang.Object)
        at java.lang.Thread.run(Unknown Source)

"Java2D Disposer" #10 daemon prio=10 os_prio=2 tid=0x000000001776b800 nid=0x1270
 in Object.wait() [0x0000000017f3f000]
   java.lang.Thread.State: WAITING (on object monitor)
        at java.lang.Object.wait(Native Method)
        - waiting on <0x00000000a49bf360> (a java.lang.ref.ReferenceQueue$Lock)
        at java.lang.ref.ReferenceQueue.remove(Unknown Source)
        - locked <0x00000000a49bf360> (a java.lang.ref.ReferenceQueue$Lock)
        at java.lang.ref.ReferenceQueue.remove(Unknown Source)
        at sun.java2d.Disposer.run(Unknown Source)
        at java.lang.Thread.run(Unknown Source)

"Service Thread" #9 daemon prio=9 os_prio=0 tid=0x000000001746f800 nid=0x124c ru
nnable [0x0000000000000000]
   java.lang.Thread.State: RUNNABLE

"C1 CompilerThread2" #8 daemon prio=9 os_prio=2 tid=0x0000000015bf6000 nid=0x14b
c waiting on condition [0x0000000000000000]
   java.lang.Thread.State: RUNNABLE

"C2 CompilerThread1" #7 daemon prio=9 os_prio=2 tid=0x0000000015bf1000 nid=0x14c
0 waiting on condition [0x0000000000000000]
   java.lang.Thread.State: RUNNABLE

"C2 CompilerThread0" #6 daemon prio=9 os_prio=2 tid=0x0000000015bed000 nid=0xa98
 waiting on condition [0x0000000000000000]
   java.lang.Thread.State: RUNNABLE

"Attach Listener" #5 daemon prio=5 os_prio=2 tid=0x0000000015bea800 nid=0xf78 wa
iting on condition [0x0000000000000000]
   java.lang.Thread.State: RUNNABLE

"Signal Dispatcher" #4 daemon prio=9 os_prio=2 tid=0x0000000015bea000 nid=0x167c
 runnable [0x0000000000000000]
   java.lang.Thread.State: RUNNABLE

"Finalizer" #3 daemon prio=8 os_prio=1 tid=0x0000000015bb7800 nid=0x1678 in Obje
ct.wait() [0x0000000016f4f000]
   java.lang.Thread.State: WAITING (on object monitor)
        at java.lang.Object.wait(Native Method)
        at java.lang.ref.ReferenceQueue.remove(Unknown Source)
        - locked <0x00000000a4bd0d10> (a java.lang.ref.ReferenceQueue$Lock)
        at java.lang.ref.ReferenceQueue.remove(Unknown Source)
        at java.lang.ref.Finalizer$FinalizerThread.run(Unknown Source)

"Reference Handler" #2 daemon prio=10 os_prio=2 tid=0x00000000024fe000 nid=0x175
8 in Object.wait() [0x0000000016e4f000]
   java.lang.Thread.State: WAITING (on object monitor)
        at java.lang.Object.wait(Native Method)
        at java.lang.Object.wait(Unknown Source)
        at java.lang.ref.Reference$ReferenceHandler.run(Unknown Source)
        - locked <0x00000000a4b23f48> (a java.lang.ref.Reference$Lock)

"VM Thread" os_prio=2 tid=0x0000000015bb6800 nid=0x1378 runnable

"GC task thread#0 (ParallelGC)" os_prio=0 tid=0x0000000002426000 nid=0x156c runn
able

"GC task thread#1 (ParallelGC)" os_prio=0 tid=0x0000000002428000 nid=0x15ac runn
able

"GC task thread#2 (ParallelGC)" os_prio=0 tid=0x0000000002429800 nid=0x1574 runn
able

"GC task thread#3 (ParallelGC)" os_prio=0 tid=0x000000000242b800 nid=0x1578 runn
able

"VM Periodic Task Thread" os_prio=2 tid=0x0000000017472000 nid=0x678 waiting on
condition

JNI global references: 373

Once I removed the two other Java installations I had for Java 7 it allowed me to select my plugin but, again, the camera widget isn’t working. Simple Camera Viewer is but Camera does not – any ideas?

Thanks!

mmaunu · February 10, 2015, 4:12pm

When you launch the dashboard from within the Driver Station, the Driver Station uses an ini file to determine which program to run. This ini file is located in the directory:

    C:\Users\Public\Documents\FRC

(note: the user here is “Public” for all installs)

The name of the ini file is:

FRC DS Data Storage.ini

Open up the file to edit it and change the line with DashboardCmdLine to:

DashboardCmdLine = "java -jar "C:\\Users\\mmaunu\\wpilib\	ools\\SmartDashboard.jar""

(note: be sure to change the user name to something appropriate…not mmaunu)

Inside the Driver Station, on the “Setup” tab, leave the dashboard type to “Default”. By default, it will look for the command to run in the ini file.

Your extensions should be installed in the following folder:

C:\Users\mmaunu\SmartDashboard\extensions

(note: change mmaunu again and create the “extensions” folder if there isn’t one already)

We create a jar file that contains our extensions and then just save the jar file to the folder above.

Hope this helps.

Ozuru · February 10, 2015, 4:35pm

mmaunu:

When you launch the dashboard from within the Driver Station, the Driver Station uses an ini file to determine which program to run. This ini file is located in the directory:
    C:\Users\Public\Documents\FRC
(note: the user here is “Public” for all installs)

The name of the ini file is:
FRC DS Data Storage.ini
Open up the file to edit it and change the line with DashboardCmdLine to:
DashboardCmdLine = "java -jar "C:\\Users\\mmaunu\\wpilib\	ools\\SmartDashboard.jar""
(note: be sure to change the user name to something appropriate…not mmaunu)

Inside the Driver Station, on the “Setup” tab, leave the dashboard type to “Default”. By default, it will look for the command to run in the ini file.

Your extensions should be installed in the following folder:
C:\Users\mmaunu\SmartDashboard\extensions
(note: change mmaunu again and create the “extensions” folder if there isn’t one already)

We create a jar file that contains our extensions and then just save the jar file to the folder above.

Hope this helps.

Interesting. Thanks for that. I have it opening fine now, the only issue is that the Camera widget does not work (and neither does my extension). Any ideas? My extensions folder contains my plugin, WPICameraExtension.jar, and a lib folder.

Inside the lib folder is javacpp.jar, javacv.jar, javacv-windows-x86.jar, and WPIJavaCV.jar.

The timestamps for everything is around 2013 – could I be using an outdated jar? Can someone upload their WPICameraExtension.jar and others for me? I think this might be the case.

Thanks!

mmaunu · February 10, 2015, 5:44pm

I haven’t written any custom extensions that have dependencies on other jars so I’m unsure. I can try to test it later, but have you tried something like putting all of the jar files directly in the extensions folder (instead of having the java cv and cpp jars in “lib”, put them all in “extensions”)?

Ozuru · February 10, 2015, 6:09pm

Thanks for the reply. I just tried that and no change. If anyone has a copy of an up-to-date WPICameraExtension.jar it would be awesome. The Camera widget still doesn’t work which makes me wonder if WPICameraExtension.jar might be the issue?

Ben_Wolsieffer · February 10, 2015, 8:12pm

The source for the SmartDashboard can be found here.

Ozuru · February 11, 2015, 4:29pm

Thank you. I’m still having this issue. Does anyone have any idea why the Camera add-on doesn’t work while the Simple Camera Viewer still does?

CreativeName55 · February 13, 2015, 2:12pm

Are you using 32 bit java with your smartdashboard? If I remember correctly one of the libraries only works on 32 bit java (i think it’s javacpp).