Last modified by Richard Kreissig on 2023/09/14 10:54
Hide last authors
Richard Kreissig 26.1 1 == Project Overview ==
2
cds 3.1 3 Responsible:
4
cmot 22.1 5 * [[Christian Motika>>url:http://www.informatik.uni-kiel.de/rtsys/kontakt/cmot/||shape="rect"]]
cds 3.1 6 * Yvan Benekov
ybe 4.1 7
Richard Kreissig 26.1 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"]] =
ybe 4.1 9
ybe 7.1 10 [[image:attach:klots_logo.png]]
ybe 4.1 11
12 ==== Topics ====
13
14
ybe 5.1 15
16 {{toc maxLevel="2" minLevel="2" outline="true"/}}
17
ybe 4.1 18 ----
19
20 == Overview ==
21
22 The KIELER Lego On-line Testing System (KLOTS) subproject provides an IDE for easy development of leJOS-NXJ-based Java programs for the Lego Mindstorms NXT system. The main purpose of KLOTS is to allow the implementation and testing of programs written in the Synchronous Java (SJ) dialect, although "old-fashioned" Java programs are supported as well.
23
24 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"]].
25
Richard Kreissig 26.1 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" %) (%%).
ybe 4.1 27
28 ----
29
30 == Getting Started ==
31
ybe 19.1 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.
ybe 4.1 33
34 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:
35
36 * de.cau.cs.kieler.core
37 * de.cau.cs.kieler.core.kivi
38 * de.cau.cs.kieler.core.model
ybe 23.1 39 * de.cau.cs.kieler.core.model.gmf
40 * de.cau.cs.kieler.core.model.xtext
ybe 4.1 41 * de.cau.cs.kieler.core.ui
42 * de.cau.cs.kieler.klots
43 * de.cau.cs.kieler.sim.kiem
44 * de.cau.cs.kieler.sim.kiem.config
45 * de.cau.cs.kieler.sim.kiem.ui
46 * de.cau.cs.kieler.sim.table
ybe 20.1 47 * de.cau.cs.kieler.sim.signals
48 * de.cau.cs.kieler.sim.syncsignalreset
49 * de.cau.cs.kieler.sj
ybe 4.1 50 * net.sf.antcontrib.cpptasks
51 * org.apache.bcel
52 * org.bluecove
53 * org.bluecove.gpl
54 * org.json
55 * org.lejos.classes
56 * org.lejos.jtools
57 * org.lejos.pccomms
58 * org.lejos.pctools
Richard Kreissig 26.1 59 * If you want to be able to import KLOTS example programs using the KIELER Example Management (KEX), you will also need:
ybe 4.1 60 ** de.cau.cs.kieler.core.kgraph
61 ** de.cau.cs.kieler.kex
62 ** de.cau.cs.kieler.kex.ui
63 ** de.cau.cs.kieler.kiml
64 ** de.cau.cs.kieler.kiml.service
65 ** de.cau.cs.kieler.kiml.ui
ybe 21.1 66 ** de.cau.cs.kieler.klots.examples
ybe 4.1 67 * **be sure to click on the "Add Required Plug-ins" button**
68
69 Then you should be able to start KIELER and select the //KLOTS perspective// (Window->Open Perspective->Other...->KLOTS).
70
ybe 18.1 71 (% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/perspective.png]]
ybe 4.1 72
73 ----
74
75 == USB and Bluetooth Connection Set-Up ==
76
77 In order to be able to communicate and exchange data with the Lego Mindstorms NXT brick, you need to ensure that the corresponding USB (and Bluetooth) drivers are properly installed and set-up.
78
79 **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.**
80
81
82 === USB set-up on Microsoft Windows systems ===
83
84 Download the Lego **Fantom USB driver** from the [[Lego Mindstorms website>>url:http://mindstorms.lego.com/en-us/support/files/Driver.aspx||shape="rect" class="ext-link"]] and install it. Note that if you have previously installed the standard Lego Mindstorms software, the Fantom driver is already installed on your computer.
85
86 === (optional) Bluetooth set-up on Microsoft Windows systems ===
87
88 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.
89
Richard Kreissig 26.1 90 **Note: The (% style="color:#000000" %)__BlueSoleil__(%%) stack has been reported as currently not working with KLOTS.**
ybe 4.1 91
92
93 === USB set-up on Linux systems ===
94
95 On Linux you need **libusb** installed on your system. It can be obtained from [[http:~~/~~/libusb.sourceforge.net>>url:http://libusb.sourceforge.net/||shape="rect" class="ext-link"]]. It is pre-installed with many Linux distributions, or is available as an optional package. Note that **libusb** (legacy release 0.1.12) is required, **not libusb1**. To build the **jlibnxt JNI** library, which is used for USB access, you need the //Development files for libusb// (**libusb-devel**).
96
97 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:
98
ybe 8.1 99 {{code language="bash"}}
100 sudo chmod a+w /dev/bus/usb/xxx/yyy
101 {{/code}}
ybe 4.1 102
103 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:
104
ybe 8.1 105 {{code language="bash"}}
106 # Lego NXT
107 BUS=="usb", SYSFS{idVendor}=="03eb", GROUP="a Linux user group", MODE="0660"
108 BUS=="usb", SYSFS{idVendor}=="0694", GROUP="a Linux user group", MODE="0660"
109 {{/code}}
ybe 4.1 110
111 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:
112
ybe 8.1 113 {{code language="bash"}}
114 sudo udevadm control --reload-rules
115 {{/code}}
ybe 4.1 116
117 === (optional) Bluetooth set-up on Linux systems ===
118
Richard Kreissig 26.1 119 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.
ybe 4.1 120 You may also need to install the **libbluetooth** and **libbluetooth-dev** libraries, however on most systems they are already pre-installed.
121
122 ----
123
124 == Installing the leJOS NXJ Firmware on the NXT Brick ==
125
126 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"]].
127
ybe 18.1 128 (% 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]]
ybe 4.1 130
131 ----
132
133 == Define Connection Protocol ==
134
135 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**.
136
ybe 18.1 137 (% 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]]
ybe 4.1 138
139 ----
140
141 == Create a New Embedded Java Project ==
142
143 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.
144
ybe 18.1 145 (% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_project.png]]
ybe 4.1 146
147 ----
148
149 == Create a New Embedded Java File ==
150
151 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.
152
ybe 18.1 153 (% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/new_embedded_java_file.png]]
ybe 4.1 154
155 ----
156
157 == Introducing the KLOTS Editor ==
158
Richard Kreissig 27.1 159
ybe 8.1 160 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.
ybe 4.1 161
ybe 8.1 162 [[image:attach:buttons_all.png]]
ybe 4.1 163
ybe 8.1 164 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.
165
166 [[image:attach:buttons_build.png]]
167
Richard Kreissig 27.1 168
ybe 8.1 169 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
170
ybe 4.1 171 |(((
172 Java Exception:
173 )))
174 |(((
175 Class: 16
176 )))
177 |(((
178 Method: 331
179 )))
180 |(((
181 PC: 28087
182 )))
183
Richard Kreissig 26.1 184 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.
ybe 4.1 185
ybe 18.1 186 (% class="confluence-link" %)[[image:url:http://trac.rtsys.informatik.uni-kiel.de/trac/kieler/raw-attachment/wiki/Projects/KLOTS/build_program_output.png]]
ybe 4.1 187
ybe 8.1 188 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.)
ybe 4.1 189
ybe 8.1 190 [[image:attach:buttons_download.png]]
191
192 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.
ybe 4.1 193 **Remember to do the connection selection always on the NXT site first, since doing otherwise can trigger connection abort!**
194
ybe 8.1 195 [[image:attach:buttons_run.png]]
ybe 4.1 196
ybe 8.1 197 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.
198
199 [[image:attach:buttons_console.png]]
200
ybe 18.1 201 (% 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]]
ybe 4.1 202
203 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.
204
205 === An Embedded Java sample program ===
206
ybe 18.1 207 (% 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]]
ybe 4.1 208
209 ----

Navigation

Quick Links

KIELER on GitHub
RTSYS Homepage