Difference between revisions of "Field Service Menu (FSM)"

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<span style="font-size:120%;">'''The Field Service Menu (FSM) is a pre-boot configuration menu that allows the user to do advanced tasks such as check network interface configuration, change the robot computer's hostname, and run low-level hardware checks.'''</span>
 
<span style="font-size:120%;">'''The Field Service Menu (FSM) is a pre-boot configuration menu that allows the user to do advanced tasks such as check network interface configuration, change the robot computer's hostname, and run low-level hardware checks.'''</span>
 
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</div>
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{{TOClimit|limit=2}}
  
 
<div class="content-block">
 
<div class="content-block">
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== Quickstart - FSM Activation / Deactivation ==
 
== Quickstart - FSM Activation / Deactivation ==
 +
 
=== Accessing the FSM ===
 
=== Accessing the FSM ===
 
The FSM can only be accessed by hitting a specific key combination during robot boot-up:
 
The FSM can only be accessed by hitting a specific key combination during robot boot-up:
  
#  Turn off Baxter with the Power button. Wait for complete shutdown (no lights, no noise).
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#  Turn off Sawyer with the Power button. Wait for complete shutdown (no lights, no noise).
#  Plug in a USB keyboard to Baxter's USB port (on rear).
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#  Plug in a USB keyboard to one of Sawyer's USB ports (on the Controller).
#  You will need to hit <code><Alt+FF></code> on the keyboard during the boot-up to trigger the FSM:
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#  You will need to hit <code><Alt+F></code> on the keyboard during the boot-up to trigger the FSM:
#* Turn Baxter back on by hitting the Power button.
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#* Turn Sawyer back on by hitting the Power button.
 
#* Once you see the Rethink Animation ...   
 
#* Once you see the Rethink Animation ...   
#* ... on your keyboard, start repeatedly hitting the key combination <code><Alt+FF></code>   
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#* ... on your keyboard, start repeatedly hitting the key combination <code><Alt+F></code>   
 
#*:      ''(Hit and hold the <code>Alt</code> key, press down on the <code>F</code> key, release, press down on the <code>F</code> key again, release both and repeat)''.
 
#*:      ''(Hit and hold the <code>Alt</code> key, press down on the <code>F</code> key, release, press down on the <code>F</code> key again, release both and repeat)''.
 
#  Repeat this key combination until you see the FSM screen come up:   
 
#  Repeat this key combination until you see the FSM screen come up:   
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==== Exiting: Disabling the FSM ====
 
==== Exiting: Disabling the FSM ====
'''Important:''' Once the FSM is activated, it will come up every boot thereafter -- unless Disabled before exiting the menu.
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'''Important:''' Once the FSM is activated, you must choose what the next boot sequence will be from the front page of the FSM.
  
 
To disable the FSM from reappearing next boot:   
 
To disable the FSM from reappearing next boot:   
  
Select the 'Disable field service menu' option and hit Enter.
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From the front FSM screen, choose Next Boot in: "Intera-SDK" to boot back into the SDK mode.
#: 
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'''Important:''' In version 5.0.4.16 of the Sawyer SDK, the boot into Intera choice will be password protected.  You can only boot into the SDK or the FSM
#: You should now see a line near the top saying: <code>On next boot FSM will be disabled</code>
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# Now, if you press the Reboot button the system will boot into the selected mode.
#: [[File: fsm_disabled.png|link=]]
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# You can now leave the FSM through any of the normal [[Field Service Menu (FSM)#exit-actions|Exit Actions]], such as Reboot Robot.
 
  
 
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== Menu Functions ==
 
== Menu Functions ==
After [[Field Service Menu (FSM)#accessing-the-fsm|Activating the FSM]], the top level of the Field Service Menu provides access to three sub-menus and shutdown/reboot options.
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After the FSM has been activated, the top level of the Field Service Menu provides access to seven sub-menus and shutdown/reboot options.
  
 
=== Configuration Menu ===
 
=== Configuration Menu ===
This menu provides access to Baxter's hostname, timezone, and network configuration information.  Information here is useful for setting up Baxter on your [[Networking|Network]].   
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This menu provides access to Sawyer's hostname, timezone, and network configuration information.  Information here is useful for setting up Sawyer on your [[Networking|Network]].   
  
  
* '''Hostname''' - Rename your Baxter (i.e. change robot computer's hostname)
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* '''Hostname''' - Rename your Sawyer (i.e. change robot computer's hostname)
*: Changing the Hostname will also change Baxter's network identity name.
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*: Changing the Hostname will also change Sawyer's network identity name.
*: Upon reboot, Baxter will then be accessible via the new name followed by '.local', rather than by the serial number (default hostname).  In the case shown in the screenshot, Baxter's new [[avahi]] address would be <code>test.local</code>.
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*: Upon reboot, Sawyer will then be accessible via the new name followed by 'Hostname.local', rather than by the serial number (default hostname).   
* '''Addr Type''' - Change the network addressing method from DHCP to Custom
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* '''IP Type''' - Change the network addressing method from Dynamic IP to Static IP
*: Toggling this will set '''Address''', '''Netmask''', '''Gateway''', and '''DNS Server''' to blank, and enable editing them
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* '''ROS Naming Type''' - Change how the master publishes node locations
* '''ROS Naming''' - Change how the master publishes node locations
 
 
*: Options are:
 
*: Options are:
** ROS-Hostname
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** IP
** ROS-Hostname.local
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** Hostname
** ROS-IP
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** Hostname.local
 
*: See the [[Networking]] page for more information on network configurations.
 
*: See the [[Networking]] page for more information on network configurations.
* '''Delete stored task data''' is a flag for the Production version of Baxter, and has no impact on the BRR.
 
  
''Tip:'' Make sure to Save Changes after editing any Configuration options, and then Shutdown or Reboot Baxter from the FSM main menu to apply the changes.
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''Tip:'' Make sure to Save Changes after editing any Configuration options, and then Shutdown or Reboot Sawyer from the FSM main menu to apply the changes.
  
 
===='''Date, Time, Timezone, NTP Servers'''====
 
===='''Date, Time, Timezone, NTP Servers'''====
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* '''NTP Servers''' - Set your pool of NTP servers.
 
* '''NTP Servers''' - Set your pool of NTP servers.
  
=== Applications Menu ===
 
The Applications menu launches the RSDK software application from the FSM. 
 
  
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=== MFG Tests ===
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The Tests menu provides a number of low-level hardware tests that can be run to verify the embedded hardware throughout Sawyer.
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 +
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* To run a test, select the test from the menu and follow the on-screen instructions.
  
* The 'Robot GUI' action will launch the xdisplay on Baxter and display the Baxter Research Robot logo.
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=== Export Logs to USB ===
* The 'RSDK Demo Mode' action will launch the [[Demo Mode]]
 
  
=== Tests Menu ===
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* Exports the current logs to a FAT32 USB connected to the Controller.
The Tests menu provides a number of low-level hardware tests that can be run to verify the embedded hardware throughout Baxter.
 
  
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=== Export Registration Data to USB ===
  
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* Exports the robot registration data to a FAT32 USB connected to the Controller.
  
* To run a test, select the test from the menu and follow the on-screen instructions.
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=== Run External Diagnostics ===
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* Runs Rethink specific external diagnostic tools from a USB.  A customer will be supplied this tests from Rethink if it becomes necessary.
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=== Shutdown ===
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* Shuts down Sawyer - next boot sequence will be specified through the Next boot in: choice.
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=== Reboot ===
  
=== Exit Actions ===
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* Reboots Sawyer - next boot sequence will be specified through the Next boot in: choice.
* '''Disable field service menu'''
 
*: Select to disable the FSM from appearing at boot-up.
 
*: ''Note:'' By default, accessing the FSM will enable it for future boots.
 
* '''Reboot Robot'''
 
*: Shuts down the robot computer and hardware, then restarts the robot, reflashing the controller boards and configurations if needed.
 
* '''Shutdown Robot'''
 
*: Shuts down the entire robot.  Use to power off the robot, or do a hard-restart of the robot to ensure new configurations or firmware are written to the hardware.
 
   
 
''Note: You can also leave the FSM via the Applications menu to go directly to normal RSDK operation.''
 
  
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=== Serial numbers ===
  
<div class="content-block">
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* The arm and controller serial numbers can be obtained through the front page of the FSM.
== Troubleshooting ==
 
For common issues related to core dumps or files on Baxter, check out the [[Contact|Troubleshooting page]].
 
  
 
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Revision as of 20:06, 7 December 2016

The Field Service Menu (FSM) is a pre-boot configuration menu that allows the user to do advanced tasks such as check network interface configuration, change the robot computer's hostname, and run low-level hardware checks.


Overview

The primary purpose of the Field Service Menu (FSM) is to give the user access to low-level, computer configuration options on the robot, especially:

  • Edit Hostname
  • Edit Network Configuration
    • Set Static IP/DNS
    • Set NTP Servers
    • Set ROS naming convention
  • Edit Timezone
  • Change Run Mode (RSDK vs Demo Mode)

The FSM also provides the ability to run low-level hardware tests to do light-weight verification of hardware components that sit below the robot application software level.

Quickstart - FSM Activation / Deactivation

Accessing the FSM

The FSM can only be accessed by hitting a specific key combination during robot boot-up:

  1. Turn off Sawyer with the Power button. Wait for complete shutdown (no lights, no noise).
  2. Plug in a USB keyboard to one of Sawyer's USB ports (on the Controller).
  3. You will need to hit <Alt+F> on the keyboard during the boot-up to trigger the FSM:
    • Turn Sawyer back on by hitting the Power button.
    • Once you see the Rethink Animation ...
    • ... on your keyboard, start repeatedly hitting the key combination <Alt+F>
      (Hit and hold the Alt key, press down on the F key, release, press down on the F key again, release both and repeat).
  4. Repeat this key combination until you see the FSM screen come up:
    • If you hit a screen that says "Loading...", you missed your chance.

Use the Up/Down arrow keys to change menu selections, and the Enter key to go into a menu or select an option.

Exiting: Disabling the FSM

Important: Once the FSM is activated, you must choose what the next boot sequence will be from the front page of the FSM.

To disable the FSM from reappearing next boot:

  1. From the front FSM screen, choose Next Boot in: "Intera-SDK" to boot back into the SDK mode.

Important: In version 5.0.4.16 of the Sawyer SDK, the boot into Intera choice will be password protected. You can only boot into the SDK or the FSM.

  1. Now, if you press the Reboot button the system will boot into the selected mode.


Menu Functions

After the FSM has been activated, the top level of the Field Service Menu provides access to seven sub-menus and shutdown/reboot options.

Configuration Menu

This menu provides access to Sawyer's hostname, timezone, and network configuration information. Information here is useful for setting up Sawyer on your Network.


  • Hostname - Rename your Sawyer (i.e. change robot computer's hostname)
    Changing the Hostname will also change Sawyer's network identity name.
    Upon reboot, Sawyer will then be accessible via the new name followed by 'Hostname.local', rather than by the serial number (default hostname).
  • IP Type - Change the network addressing method from Dynamic IP to Static IP
  • ROS Naming Type - Change how the master publishes node locations
    Options are:
    • IP
    • Hostname
    • Hostname.local
    See the Networking page for more information on network configurations.

Tip: Make sure to Save Changes after editing any Configuration options, and then Shutdown or Reboot Sawyer from the FSM main menu to apply the changes.

Date, Time, Timezone, NTP Servers

  • Timezone - Set the robot's clock to your local timezone.
    This will primarily affect the time listed in the log files.
  • NTP Servers - Set your pool of NTP servers.


MFG Tests

The Tests menu provides a number of low-level hardware tests that can be run to verify the embedded hardware throughout Sawyer.


  • To run a test, select the test from the menu and follow the on-screen instructions.

Export Logs to USB

  • Exports the current logs to a FAT32 USB connected to the Controller.

Export Registration Data to USB

  • Exports the robot registration data to a FAT32 USB connected to the Controller.

Run External Diagnostics

  • Runs Rethink specific external diagnostic tools from a USB. A customer will be supplied this tests from Rethink if it becomes necessary.

Shutdown

  • Shuts down Sawyer - next boot sequence will be specified through the Next boot in: choice.

Reboot

  • Reboots Sawyer - next boot sequence will be specified through the Next boot in: choice.

Serial numbers

  • The arm and controller serial numbers can be obtained through the front page of the FSM.