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    Voxl 2 DFS Server failed

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    • C
      cch
      last edited by 1 Nov 2023, 09:56

      Hi, I'm using voxl2 SDK 0.9.5. Follow these steps:
      1.Use exit to get out of the shell and adb reboot to restart your VOXL2
      2.Once the device restarts, use adb shell to access the terminal and then use voxl-camera-server to start the camera server manually
      3.In a web browser access VOXL Portal as you have been. You should be able to see the stereo camera output.
      4.In another terminal, use adb shell to access the terminal and then use voxl-dfs-server to launch the DFS Server.
      I can't see 'stereo front disparity', 'stereo front disparity scaled' or 'pointcloud pc' from voxl-portal:
      ![alt text](voxl-portal2.png voxl-portal.png image url)

      Terminal output:

      Terminal 1:

      voxl2:/$ voxl-inspect-services 
       Service Name         |  Enabled  |   Running   |  CPU Usage
      ---------------------------------------------------------------
       docker-autorun       | Disabled  | Not Running |  
       docker-daemon        | Disabled  | Not Running |  
       modallink-relink     | Disabled  | Not Running |  
       voxl-camera-server   |  Enabled  | Not Running |  
       voxl-cpu-monitor     | Disabled  | Not Running |  
       voxl-dfs-server      |  Enabled  |   Running   |     0.0
       voxl-imu-server      |  Enabled  |   Running   |     0.0
       voxl-mavlink-server  | Disabled  | Not Running |  
       voxl-modem           | Disabled  | Not Running |  
       voxl-portal          |  Enabled  |   Running   |     0.0
       voxl-px4-imu-server  | Disabled  | Not Running |  
       voxl-px4             |  Enabled  |   Running   |     0.0
       voxl-qvio-server     | Disabled  | Not Running |  
       voxl-remote-id       | Disabled  | Not Running |  
       voxl-softap          | Disabled  | Not Running |  
       voxl-static-ip       | Disabled  | Not Running |  
       voxl-streamer        | Disabled  | Not Running |  
       voxl-tag-detector    | Disabled  | Not Running |  
       voxl-tflite-server   | Disabled  | Not Running |  
       voxl-time-sync       | Disabled  | Not Running |  
       voxl-vision-px4      | Disabled  | Not Running |  
       voxl-wait-for-fs     |  Enabled  |  Completed  |  
      voxl2:/$ voxl-camera-server
      
      ------ voxl-camera-server: Camera server is now running
      WARNING: Camera stereo recieved much newer master than child (33), discarding child and trying again
      
      

      Terminal 2:

      --------------------------------------------------------------------------------
      system-image: 1.5.5-M0054-14.1a-perf
      kernel:       #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125
      --------------------------------------------------------------------------------
      hw version:   M0054
      --------------------------------------------------------------------------------
      voxl-suite:   0.9.5
      --------------------------------------------------------------------------------
      
      
      voxl2:/$ voxl-dfs-server 
      =================================================================
      min_disparity:   4
      max_disparity:   64
      min_threshold:   10
      cost_threshold:  10
      width:           640
      height:          480
      pc_skip_n_lines: 4
      dfs pair #0
          enable:             1
          input_pipe:         stereo_front
          skip_n_frames:      1
          blur_size:          0
          post_median_size:   0
          intrinsics_file:    /data/modalai/opencv_stereo_front_intrinsics.yml
          extrinsics_file:    /data/modalai/opencv_stereo_front_extrinsics.yml
      dfs pair #1
          enable:             0
          input_pipe:         stereo_rear
          skip_n_frames:      1
          blur_size:          0
          post_median_size:   0
          intrinsics_file:    /data/modalai/opencv_stereo_rear_intrinsics.yml
          extrinsics_file:    /data/modalai/opencv_stereo_rear_extrinsics.yml
      =================================================================
      existing instance of voxl-dfs-server found, attempting to stop it
      loading calibration files
      for Pair #0, loaded these lens params:
      f:  508.425964
      cx: 337.120087
      cy: 280.774963
      baseline_m: 0.037456
      initializing dfs module
      opening cameras paused
      client voxl-portal0 connected to ch 1
      client voxl-portal0 connected to ch 0
      client voxl-portal0 connected to ch 2
      client voxl-portal0 connected to ch 2
      

      Terminal 3:

      voxl2:/$ voxl-inspect-services 
       Service Name         |  Enabled  |   Running   |  CPU Usage
      ---------------------------------------------------------------
       docker-autorun       | Disabled  | Not Running |  
       docker-daemon        | Disabled  | Not Running |  
       modallink-relink     | Disabled  | Not Running |  
       voxl-camera-server   |  Enabled  | Not Running |  
       voxl-cpu-monitor     | Disabled  | Not Running |  
       voxl-dfs-server      |  Enabled  | Not Running |  
       voxl-imu-server      |  Enabled  |   Running   |     0.0
       voxl-mavlink-server  | Disabled  | Not Running |  
       voxl-modem           | Disabled  | Not Running |  
       voxl-portal          |  Enabled  |   Running   |    30.0
       voxl-px4-imu-server  | Disabled  | Not Running |  
       voxl-px4             |  Enabled  |   Running   |     0.0
       voxl-qvio-server     | Disabled  | Not Running |  
       voxl-remote-id       | Disabled  | Not Running |  
       voxl-softap          | Disabled  | Not Running |  
       voxl-static-ip       | Disabled  | Not Running |  
       voxl-streamer        | Disabled  | Not Running |  
       voxl-tag-detector    | Disabled  | Not Running |  
       voxl-tflite-server   | Disabled  | Not Running |  
       voxl-time-sync       | Disabled  | Not Running |  
       voxl-vision-px4      | Disabled  | Not Running |  
       voxl-wait-for-fs     |  Enabled  |  Completed  |  
      
      
      E 1 Reply Last reply 1 Nov 2023, 15:50 Reply Quote 0
      • E
        Eric Katzfey ModalAI Team @cch
        last edited by 1 Nov 2023, 15:50

        @cch Why are you starting it from the command line in terminal 2? It is already running so you don't need to run it again.

        C 1 Reply Last reply 2 Nov 2023, 06:56 Reply Quote 0
        • C
          cch @Eric Katzfey
          last edited by 2 Nov 2023, 06:56

          @Eric-Katzfey Thanks. I tried again but got the same result, could you please help me check out if there are other problems? Here are the steps I followed:

          1. power up the voxl2
          2. open up a terminal and check 'voxl-inspect-services':
          voxl2:/$ voxl-inspect-services 
           Service Name         |  Enabled  |   Running   |  CPU Usage
          ---------------------------------------------------------------
           docker-autorun       | Disabled  | Not Running |  
           docker-daemon        | Disabled  | Not Running |  
           modallink-relink     | Disabled  | Not Running |  
           voxl-camera-server   |  Enabled  |   Running   |    36.4
           voxl-cpu-monitor     | Disabled  | Not Running |  
           voxl-dfs-server      |  Enabled  |   Running   |     0.0
           voxl-imu-server      |  Enabled  |   Running   |     0.0
           voxl-mavlink-server  | Disabled  | Not Running |  
           voxl-modem           | Disabled  | Not Running |  
           voxl-portal          |  Enabled  |   Running   |     0.0
           voxl-px4-imu-server  | Disabled  | Not Running |  
           voxl-px4             |  Enabled  |   Running   |     0.0
           voxl-qvio-server     | Disabled  | Not Running |  
           voxl-remote-id       | Disabled  | Not Running |  
           voxl-softap          | Disabled  | Not Running |  
           voxl-static-ip       | Disabled  | Not Running |  
           voxl-streamer        | Disabled  | Not Running |  
           voxl-tag-detector    | Disabled  | Not Running |  
           voxl-tflite-server   | Disabled  | Not Running |  
           voxl-time-sync       | Disabled  | Not Running |  
           voxl-vision-px4      | Disabled  | Not Running |  
           voxl-wait-for-fs     |  Enabled  |  Completed  |  
          
          
          1. open up a web and check the output of voxl-portal:
            voxl-portal3.png
          2. check 'voxl-inspect-services' again:
          voxl2:/$ voxl-inspect-services 
           Service Name         |  Enabled  |   Running   |  CPU Usage
          ---------------------------------------------------------------
           docker-autorun       | Disabled  | Not Running |  
           docker-daemon        | Disabled  | Not Running |  
           modallink-relink     | Disabled  | Not Running |  
           voxl-camera-server   |  Enabled  |   Running   |    47.6
           voxl-cpu-monitor     | Disabled  | Not Running |  
           voxl-dfs-server      |  Enabled  |   Running   |     0.0
           voxl-imu-server      |  Enabled  |   Running   |     0.0
           voxl-mavlink-server  | Disabled  | Not Running |  
           voxl-modem           | Disabled  | Not Running |  
           voxl-portal          |  Enabled  |   Running   |     0.0
           voxl-px4-imu-server  | Disabled  | Not Running |  
           voxl-px4             |  Enabled  |   Running   |     0.0
           voxl-qvio-server     | Disabled  | Not Running |  
           voxl-remote-id       | Disabled  | Not Running |  
           voxl-softap          | Disabled  | Not Running |  
           voxl-static-ip       | Disabled  | Not Running |  
           voxl-streamer        | Disabled  | Not Running |  
           voxl-tag-detector    | Disabled  | Not Running |  
           voxl-tflite-server   | Disabled  | Not Running |  
           voxl-time-sync       | Disabled  | Not Running |  
           voxl-vision-px4      | Disabled  | Not Running |  
           voxl-wait-for-fs     |  Enabled  |  Completed  |  
          
          

          I'm so confused because there is no error showing up from anywhere.

          tomT 1 Reply Last reply 2 Nov 2023, 18:15 Reply Quote 0
          • tomT
            tom admin @cch
            last edited by 2 Nov 2023, 18:15

            @cch What do you see with systemctl status voxl-dfs-server

            C 1 Reply Last reply 3 Nov 2023, 07:42 Reply Quote 0
            • C
              cch @tom
              last edited by 3 Nov 2023, 07:42

              @tom Here are the full outputs:

              --------------------------------------------------------------------------------
              system-image: 1.5.5-M0054-14.1a-perf
              kernel:       #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125
              --------------------------------------------------------------------------------
              hw version:   M0054
              --------------------------------------------------------------------------------
              voxl-suite:   0.9.5
              --------------------------------------------------------------------------------
              
              
              voxl2:/$ voxl-inspect-services 
               Service Name         |  Enabled  |   Running   |  CPU Usage
              ---------------------------------------------------------------
               docker-autorun       | Disabled  | Not Running |  
               docker-daemon        | Disabled  | Not Running |  
               modallink-relink     | Disabled  | Not Running |  
               voxl-camera-server   |  Enabled  |   Running   |    55.0
               voxl-cpu-monitor     | Disabled  | Not Running |  
               voxl-dfs-server      |  Enabled  |   Running   |     0.0
               voxl-imu-server      |  Enabled  |   Running   |     0.0
               voxl-mavlink-server  | Disabled  | Not Running |  
               voxl-modem           | Disabled  | Not Running |  
               voxl-portal          |  Enabled  |   Running   |     0.0
               voxl-px4-imu-server  | Disabled  | Not Running |  
               voxl-px4             |  Enabled  |   Running   |     0.0
               voxl-qvio-server     | Disabled  | Not Running |  
               voxl-remote-id       | Disabled  | Not Running |  
               voxl-softap          | Disabled  | Not Running |  
               voxl-static-ip       | Disabled  | Not Running |  
               voxl-streamer        | Disabled  | Not Running |  
               voxl-tag-detector    | Disabled  | Not Running |  
               voxl-tflite-server   | Disabled  | Not Running |  
               voxl-time-sync       | Disabled  | Not Running |  
               voxl-vision-px4      | Disabled  | Not Running |  
               voxl-wait-for-fs     |  Enabled  |  Completed  |  
              voxl2:/$ systemctl status voxl-dfs-server
              ● voxl-dfs-server.service - voxl-dfs-server
                 Loaded: loaded (/usr/bin/voxl-dfs-server; enabled; vendor preset: enabled)
                 Active: active (running) since Thu 2023-11-02 13:19:52 UTC; 18h ago
               Main PID: 1425 (voxl-dfs-server)
                  Tasks: 14 (limit: 4915)
                 CGroup: /system.slice/voxl-dfs-server.service
                         └─1425 /usr/bin/voxl-dfs-server
              
              Nov 02 13:19:52 m0054 systemd[1]: Started voxl-dfs-server.
              
              C 1 Reply Last reply 4 Nov 2023, 10:23 Reply Quote 0
              • C
                cch @cch
                last edited by 4 Nov 2023, 10:23

                Can anybody find out the problems? Many thanks.

                1 Reply Last reply Reply Quote 0
                • C cch referenced this topic on 6 Nov 2023, 09:38
                • C cch referenced this topic on 25 Nov 2023, 03:06
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