Last modified by Richard Kreissig on 2023/09/14 10:54
<
From version < 8.1 >
edited by ybe
on 2012/04/23 13:22
To version < 27.1
edited by Richard Kreissig
on 2023/09/14 10:54
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1 +KIELER.SCCharts (DeprecatedHistorical Documentation & Features).WebHome
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1 -XWiki.ybe
1 +XWiki.stu230980
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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}}
1 +== Project Overview ==
4 4  
5 -{{panel title="Project Overview" borderStyle="dashed"}}
6 6  Responsible:
7 7  
5 +* [[Christian Motika>>url:http://www.informatik.uni-kiel.de/rtsys/kontakt/cmot/||shape="rect"]]
8 8  * Yvan Benekov
9 -{{/panel}}
10 10  
11 -= KLOTS - KIELER Lego On-line Testing System[[url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/wiki/Projects/KLOTS#KLOTS-KIELERLegoOn-lineTestingSystem||title="Link to this section" shape="rect" class="anchor"]] =
8 += KLOTS - KIELER Lego On-line Testing System[[url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/wiki/Projects/KLOTS#KLOTS-KIELERLegoOn-lineTestingSystem||shape="rect" title="Link to this section" class="anchor"]] =
12 12  
13 13  [[image:attach:klots_logo.png]]
14 14  
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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 (% class="noprint" %) (%%).
26 +**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 confluence-link noprint" %)[[image:attach:download.png]][[attach:leJOS_v0.8.5_API.zip]](% class="confluence-link noprint" %) (%%).
30 30  
31 31  ----
32 32  
33 33  == Getting Started ==
34 34  
35 -The KLOTS is part of the KIELER Rich Client Application (RCA) which can be found in the [[Downloads>>url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/wiki/Downloads||shape="rect" class="wiki"]]. It is a standalone application containing all KLOTS features.
32 +The KLOTS is part of the KIELER Rich Client Application (RCA) which can be found in the [[Downloads>>url:http://www.informatik.uni-kiel.de/rtsys/kieler/downloads/||shape="rect"]]. It is a standalone application containing all KLOTS features.
36 36  
37 37  The required Eclipse plug-ins can also be downloaded from the KIELER update page. To get the full functionality of the KLOTS several plug-ins are required:
38 38  
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39 39  * de.cau.cs.kieler.core
40 40  * de.cau.cs.kieler.core.kivi
41 41  * de.cau.cs.kieler.core.model
39 +* de.cau.cs.kieler.core.model.gmf
40 +* de.cau.cs.kieler.core.model.xtext
42 42  * de.cau.cs.kieler.core.ui
43 43  * de.cau.cs.kieler.klots
44 44  * de.cau.cs.kieler.sim.kiem
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45 45  * de.cau.cs.kieler.sim.kiem.config
46 46  * de.cau.cs.kieler.sim.kiem.ui
47 47  * de.cau.cs.kieler.sim.table
47 +* de.cau.cs.kieler.sim.signals
48 +* de.cau.cs.kieler.sim.syncsignalreset
49 +* de.cau.cs.kieler.sj
48 48  * net.sf.antcontrib.cpptasks
49 49  * org.apache.bcel
50 50  * org.bluecove
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61 61  ** de.cau.cs.kieler.kiml
62 62  ** de.cau.cs.kieler.kiml.service
63 63  ** de.cau.cs.kieler.kiml.ui
66 +** de.cau.cs.kieler.klots.examples
64 64  * **be sure to click on the "Add Required Plug-ins" button**
65 65  
66 66  Then you should be able to start KIELER and select the //KLOTS perspective// (Window->Open Perspective->Other...->KLOTS).
67 67  
68 -[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/perspective.png]][[attach:perspective.png]]
71 +(% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/perspective.png]]
69 69  
70 70  ----
71 71  
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75 75  
76 76  **Note: Currently there are some problems when using the 64-bit version of KLOTS. Since leJOS is using only the 32-bit Lego USB Fantom driver, you will not be able to connect the NXT brick via USB cable, i. e. you will also not be able to flash the leJOS firmware on the NXT. Bluetooth connection will work with most (but not all) bluetooth devices. So, if you want to be on the safe side, you will have to use the 32-bit version of KLOTS on your 64-bit machine.**
77 77  
78 -
79 79  
80 80  === USB set-up on Microsoft Windows systems ===
81 81  
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85 85  
86 86  For the communication over Bluetooth, you will need a Bluetooth dongle or built-in support on your computer, and a Bluetooth software stack. The Microsoft and Widcomm stacks have been tested and proven to work, but other stacks should work as well.
87 87  
88 -**Note: The (% style="color: rgb(0, 0, 0); color: rgb(0, 0, 0)" %)__BlueSoleil__(%%) stack has been reported as currently not working with KLOTS.**
90 +**Note: The (% style="color:#000000" %)__BlueSoleil__(%%) stack has been reported as currently not working with KLOTS.**
89 89  
90 -
91 91  
92 92  === USB set-up on Linux systems ===
93 93  
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115 115  
116 116  === (optional) Bluetooth set-up on Linux systems ===
117 117  
118 -If you want to communicate with the NXT over Bluetooth, you will need a Linux supported Bluetooth dongle or built-in support on your computer. KLOTS uses the Bluecove libraries which are included in the distribution. Note however, that not all Bluetooth adapters are compatible with Linux. A list of the supported hardware in several Linux distributions can be found on the web, for example [[Ubuntu Hardwaredatenbank (German)>>url:http://wiki.ubuntuusers.de/Hardwaredatenbank||shape="rect" class="ext-link"]] for the Ubuntu distribution.
119 +If you want to communicate with the NXT over Bluetooth, you will need a Linux supported Bluetooth dongle or built-in support on your computer. KLOTS uses the Bluecove libraries which are included in the distribution. Note however, that not all Bluetooth adapters are compatible with Linux. A list of the supported hardware in several Linux distributions can be found on the web, for example [[Ubuntu Hardwaredatenbank (German)>>url:http://wiki.ubuntuusers.de/Hardwaredatenbank||shape="rect" class="ext-link"]] for the Ubuntu distribution.
119 119  You may also need to install the **libbluetooth** and **libbluetooth-dev** libraries, however on most systems they are already pre-installed.
120 120  
121 121  ----
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124 124  
125 125  In order to be able to download and execute Embedded Java programs, the leJOS NXJ firmware should be installed on your NXT brick. KLOTS provides an easy firmware flash feature. To install the leJOS NXJ firmware connect the NXT with the computer via USB and turn it on. Then select //Window->Preferences->KIELER->Lego execution->Firmware flash// and follow the instructions. You do not need to set the NXT brick in firmware-update mode, although doing so may help in case you are getting errors during the flash procedure. The whole process should not take more than a minute and after that the new firmware is permanently saved on the NXT's flash memory, so that the original Lego firmware is fully removed. If you want to remove the leJOS NXJ firmware and switch back to the original Lego firmware, you have to flash it on the NXT brick. More information on how to do so can be found on the [[Lego Mindstorms website>>url:http://mindstorms.lego.com/en-us/support/default.aspx||shape="rect" class="ext-link"]].
126 126  
127 -[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_firmware_flash1.png]][[attach:preferences_firmware_flash1.png]]
128 -[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_firmware_flash2.png]][[attach:preferences_firmware_flash2.png]][[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_firmware_flash3.png]][[attach:preferences_firmware_flash3.png]]
128 +(% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_firmware_flash1.png]](%%)
129 +(% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_firmware_flash2.png]][[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_firmware_flash3.png]]
129 129  
130 130  ----
131 131  
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133 133  
134 134  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**.
135 135  
136 -[[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]]
137 +(% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_connection1.png]][[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/preferences_connection2.png]]
137 137  
138 138  ----
139 139  
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141 141  
142 142  In order to be able to write your first program, you should create a new Embedded Java project. To do so, select //File->New->Project...->KIELER->Embedded Java Project//. Then specify the new project's name and click on //Finish//. The project will be then automatically created and appears in the //Project Explorer View// on the right site.
143 143  
144 -[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_project.png]][[attach:new_embedded_java_project.png]]
145 +(% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_project.png]]
145 145  
146 146  ----
147 147  
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149 149  
150 150  You are now ready to create a new Embedded Java file. Click on the project and package in witch you wish to create the new file and select //New->Other...->KIELER->Embedded Java File//. Type in a name for the new file and click on //Finish//. Note that the file name should not exceed 20 characters including the file extension.
151 151  
152 -[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_file.png]][[attach:new_embedded_java_file.png]]
153 +(% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_file.png]]
153 153  
154 154  ----
155 155  
156 156  == Introducing the KLOTS Editor ==
157 157  
158 -{{section}}
159 -{{column width="90%"}}
159 +
160 160  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.
161 -{{/column}}
162 162  
163 -{{column width="10%"}}
164 164  [[image:attach:buttons_all.png]]
165 -{{/column}}
166 -{{/section}}
167 167  
168 -{{section}}
169 -{{column width="90%"}}
170 170  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.
171 -{{/column}}
172 172  
173 -{{column width="10%"}}
174 174  [[image:attach:buttons_build.png]]
175 -{{/column}}
176 -{{/section}}
177 177  
168 +
178 178  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
179 179  
180 180  |(((
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190 190  PC: 28087
191 191  )))
192 192  
193 -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.
184 +appears on the display. This indicates that an uncaught Java //Runtime Exception//, e.g. (% style="color:#000000" %)//NullPointerException//,(%%) 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.
194 194  
195 -[[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]]
186 +(% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/build_program_output.png]]
196 196  
197 -{{section}}
198 -{{column width="90%"}}
199 199  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.)
200 -{{/column}}
201 201  
202 -{{column width="10%"}}
203 203  [[image:attach:buttons_download.png]]
204 -{{/column}}
205 -{{/section}}
206 206  
207 -{{section}}
208 -{{column width="90%"}}
209 209  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.
210 210  **Remember to do the connection selection always on the NXT site first, since doing otherwise can trigger connection abort!**
211 -{{/column}}
212 212  
213 -{{column width="10%"}}
214 214  [[image:attach:buttons_run.png]]
215 -{{/column}}
216 -{{/section}}
217 217  
218 -{{section}}
219 -{{column width="90%"}}
220 220  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.
221 -{{/column}}
222 222  
223 -{{column width="10%"}}
224 224  [[image:attach:buttons_console.png]]
225 -{{/column}}
226 -{{/section}}
227 227  
228 -[[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]]
201 +(% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/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]]
229 229  
230 230  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.
231 231  
232 232  === An Embedded Java sample program ===
233 233  
234 -[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_file_example_editor1.png]][[attach:new_embedded_java_file_example_editor1.png]][[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_file_example_editor2.png]][[attach:new_embedded_java_file_example_editor2.png]]
207 +(% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_file_example_editor1.png]][[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_file_example_editor2.png]]
235 235  
236 236  ----
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1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/328099/Lego On-Line Testing System (KLOTS)

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