Last modified by Richard Kreissig on 2023/09/14 10:54
<
From version < 7.1 >
edited by ybe
on 2012/04/23 12:45
To version < 10.1 >
edited by ybe
on 2012/04/23 13:36
>
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1 -{{warning}}
2 -This page is not migrated yet. Try the [[old wiki>>url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler||shape="rect"]] until someone fills me with content.
3 -{{/warning}}
4 -
5 5  {{panel title="Project Overview" borderStyle="dashed"}}
6 6  Responsible:
7 7  
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26 26  
27 27  For more information about the leJOS NXJ project and especially the leJOS tutorial and NXT Programming API please visit the [[leJOS NXJ website>>url:http://lejos.sourceforge.net/||shape="rect" class="ext-link"]].
28 28  
29 -**Note that KLOTS currently uses leJOS NXJ v0.8.5, not the brand new v0.9.0.** You can download the v0.8.5 API from here [[url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/attachment/wiki/Projects/KLOTS/leJOS_v0.8.5_API.zip||title="Attachment 'leJOS_v0.8.5_API.zip' in Projects/KLOTS" shape="rect" class="attachment"]](% class="noprint" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/chrome/common/download.png]][[attach:leJOS_v0.8.5_API.zip]](%%).
25 +**Note that KLOTS currently uses leJOS NXJ v0.8.5, not the brand new v0.9.0.** You can download the v0.8.5 API from (% class="confluence-link" %) (% class="confluence-link confluence-link" %)[[here>>attach:leJOS_v0.8.5_API.zip]](% class="confluence-link" %) (% class="confluence-link noprint confluence-link" %)[[image:attach:download.png]][[attach:leJOS_v0.8.5_API.zip]](% class="noprint confluence-link" %) (%%).
30 30  
31 31  ----
32 32  
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95 95  
96 96  If you are running KLOTS from a non-root user, you will need to ensure that you have read and write access for the NXT USB device in ///dev/bus/usb//. If you can identify the device in ///dev/bus/usb//, you can do this by:
97 97  
98 -{{{sudo chmod a+w /dev/bus/usb/xxx/yyy
99 -}}}
94 +{{code language="bash"}}
95 +sudo chmod a+w /dev/bus/usb/xxx/yyy
96 +{{/code}}
100 100  
101 101  However, the //yyy// number will count up each time the NXT is disconnected and reconnected. A better solution is to use **udev rules**. How to do this may vary with different Linux systems. To use //udev rules//, set up a file such as ///etc/udev/rules.d/70-lego.rules// and populate it with the following lines:
102 102  
103 -{{{# Lego NXT
104 -BUS=="usb", SYSFS{idVendor}=="03eb", GROUP="a Linux user group", MODE="0660"
105 -BUS=="usb", SYSFS{idVendor}=="0694", GROUP="a Linux user group", MODE="0660"
106 -}}}
100 +{{code language="bash"}}
101 +# Lego NXT
102 +BUS=="usb", SYSFS{idVendor}=="03eb", GROUP="a Linux user group", MODE="0660"
103 +BUS=="usb", SYSFS{idVendor}=="0694", GROUP="a Linux user group", MODE="0660"
104 +{{/code}}
107 107  
108 108  You should replace the //a Linux user group// entry with the user group to witch your Linux user account belongs. The two vendors are LEGO and Atmel (for the Sam-Ba driver used in firmware update mode). You may need to reload the rules or restart //udev//. On some Linux systems, the command to reload the rules is:
109 109  
110 -{{{sudo udevadm control --reload-rules.
111 -}}}
108 +{{code language="bash"}}
109 +sudo udevadm control --reload-rules
110 +{{/code}}
112 112  
113 113  === (optional) Bluetooth set-up on Linux systems ===
114 114  
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130 130  
131 131  Next you must specify how KLOTS shall communicate with the NXT brick. There are two possible options: communication via USB or communication via Bluetooth. Select //Window->Preferences->KIELER->Lego execution// and choose your favored connection type. In addition you can specify the brick's hardware address or friendly name. To save you all the manual selections, you can simply click on the //Search for NXTs// button and then choose your NXT from the list of found bricks. Note that for establishing Bluetooth connection, your NXT and computer should be already paired. The pairing procedure may vary with different operating systems and Bluetooth stacks. However you should always initiate it from the computer, not from the NXT brick. The default NXT PIN for the Bluetooth connection is set to **1234**.
132 132  
133 -[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_connection1.png]][[attach:preferences_connection1.png]][[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_connection2.png]][[attach:preferences_connection2.png]]
132 +[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_connection1.png]][[attach:preferences_connection1.png]][[image:attach:preferences_connection2.png]]
134 134  
135 135  ----
136 136  
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152 152  
153 153  == Introducing the KLOTS Editor ==
154 154  
155 -[[~[~[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/buttons_all.png~]~]>>url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/attachment/wiki/Projects/KLOTS/buttons_all.png||shape="rect"]]When the KLOTS perspective is activated, Embedded Java files //(.java)// will be automatically associated with the //KLOTS Editor//. To open an Embedded Java file simply double-click on it. The KLOTS Editor offers the full functionality of the //standard Eclipse Java Editor// as well as means to build, download and execute Embedded Java programs on the NXT brick. The easiest way to check if a file is displayed in the KLOTS Editor is to look at the editor's toolbar. There should be four new buttons.
154 +{{section}}
155 +{{column width="90%"}}
156 +When the KLOTS perspective is activated, Embedded Java files //(.java)// will be automatically associated with the //KLOTS Editor//. To open an Embedded Java file simply double-click on it. The KLOTS Editor offers the full functionality of the //standard Eclipse Java Editor// as well as means to build, download and execute Embedded Java programs on the NXT brick. The easiest way to check if a file is displayed in the KLOTS Editor is to look at the editor's toolbar. There should be four new buttons.
157 +{{/column}}
156 156  
157 -[[~[~[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/buttons_build.png~]~]>>url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/attachment/wiki/Projects/KLOTS/buttons_build.png||shape="rect"]]You can now write your code in the corresponding section and click on the **Build Embedded Java Program** button. Your program will then be build and linked with the leJOS NXJ library. An executable file named //<your_program's_name>.nxj// should appear in the project's //bin// folder.
158 - Sometimes, while running your program on the NXT brick, you may get a "blue screen", i.e. the brick plays an error tune and a message like
159 +{{column width="10%"}}
160 +[[image:attach:buttons_all.png]]
161 +{{/column}}
162 +{{/section}}
159 159  
164 +{{section}}
165 +{{column width="90%"}}
166 +You can now write your code in the corresponding section and click on the **Build Embedded Java Program** button. Your program will then be build and linked with the leJOS NXJ library. An executable file named //<your_program's_name>.nxj// should appear in the project's //bin// folder.
167 +{{/column}}
168 +
169 +{{column width="10%"}}
170 +[[image:attach:buttons_build.png]]
171 +{{/column}}
172 +{{/section}}
173 +
174 +Sometimes, while running your program on the NXT brick, you may get a "blue screen", i.e. the brick plays an error tune and a message like
175 +
160 160  |(((
161 161  Java Exception:
162 162  )))
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173 173  appears on the display. This indicates that an uncaught Java //Runtime Exception//, e.g. (% style="color: rgb(0, 0, 0); color: rgb(0, 0, 0)" %)//NullPointerException//(% style="color: rgb(0,0,0);" %),(%%) occurred somewhere in your program. The error message indicates the kind of the exception and the method where it was thrown. This information is produced by the program build procedure and you can see it by clicking on the //Details// button. It can be very helpful for debugging your programs.
174 174  
175 175  [[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/build_program_output.png]][[attach:build_program_output.png]]
176 -\\
177 177  
178 -[[~[~[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/buttons_download.png~]~]>>url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/attachment/wiki/Projects/KLOTS/buttons_download.png||shape="rect"]]By clicking on the **Download Embedded Java Program to NXT** button the executable file will be downloaded to your NXT brick. The file will then appear in the //Files// submenu on the brick. Note that for the downloading process the NXT should be turned on and connected to the computer via USB. (You can also download programs via Bluetooth.)
193 +{{section}}
194 +{{column width="90%"}}
195 +By clicking on the **Download Embedded Java Program to NXT** button the executable file will be downloaded to your NXT brick. The file will then appear in the //Files// submenu on the brick. Note that for the downloading process the NXT should be turned on and connected to the computer via USB. (You can also download programs via Bluetooth.)
196 +{{/column}}
179 179  
180 -[[~[~[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/buttons_run.png~]~]>>url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/attachment/wiki/Projects/KLOTS/buttons_run.png||shape="rect"]]To run the program on your NXT brick, in case the program uses the //remote print// option and you want to enable remote printing, you should click on the **Run Embedded Java Program on NXT** button. The program will then be started on the NXT and you should specify **on the brick** whether or not you want to enable remote printing and the protocol for the connection with the computer (USB or Bluetooth). Then you should make the corresponding selection in KLOTS.
198 +{{column width="10%"}}
199 +[[image:attach:buttons_download.png]]
200 +{{/column}}
201 +{{/section}}
202 +
203 +{{section}}
204 +{{column width="90%"}}
205 +To run the program on your NXT brick, in case the program uses the //remote print// option and you want to enable remote printing, you should click on the **Run Embedded Java Program on NXT** button. The program will then be started on the NXT and you should specify **on the brick** whether or not you want to enable remote printing and the protocol for the connection with the computer (USB or Bluetooth). Then you should make the corresponding selection in KLOTS.
181 181  **Remember to do the connection selection always on the NXT site first, since doing otherwise can trigger connection abort!**
207 +{{/column}}
182 182  
183 -[[~[~[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/buttons_console.png~]~]>>url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/attachment/wiki/Projects/KLOTS/buttons_console.png||shape="rect"]]The remote prints will be then displayed on the //KLOTS Console// on the right site of the KLOTS Perspective. You can temporary disable the remote printing by clicking on the **Disable Console** button. You can then enable remote printing at any time by simply clicking on that button again.
209 +{{column width="10%"}}
210 +[[image:attach:buttons_run.png]]
211 +{{/column}}
212 +{{/section}}
184 184  
214 +{{section}}
215 +{{column width="90%"}}
216 +The remote prints will be then displayed on the //KLOTS Console// on the right site of the KLOTS Perspective. You can temporary disable the remote printing by clicking on the **Disable Console** button. You can then enable remote printing at any time by simply clicking on that button again.
217 +{{/column}}
218 +
219 +{{column width="10%"}}
220 +[[image:attach:buttons_console.png]]
221 +{{/column}}
222 +{{/section}}
223 +
185 185  [[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_file_example_console1.png]][[attach:new_embedded_java_file_example_console1.png]][[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_file_example_console2.png]][[attach:new_embedded_java_file_example_console2.png]]
186 186  
187 187  If you are not using remote printing, or do not want to enable communication with a computer, you can also start a program by choosing it from the //Files// submenu on the NXT brick.
Confluence.Code.ConfluencePageClass[0]
Id
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1 -885154
1 +885162
URL
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1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/885154/Lego On-Line Testing System (KLOTS)
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/885162/Lego On-Line Testing System (KLOTS)

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