Last modified by Alexander Schulz-Rosengarten on 2023/09/11 16:17
<
From version < 33.1 >
edited by aas2
on 2016/02/15 16:25
To version < 41.1 >
edited by aas2
on 2018/01/15 13:08
>
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... ... @@ -12,6 +12,12 @@
12 12  
13 13  Several open-source, third-party replacements for the offical Lego firmware have been developed. These support many well known programming languages, such as Java, C/C++, Python, Lua, etc. In the following we will use KIELER SCCharts to program Mindstorms running the Lego Java Operating System ([[leJOS>>url:http://www.lejos.org/||shape="rect"]]). Therefore we will first install leJOS NXJ and flash its firmware. Afterwards we will create a simple SCCharts project in KIELER that we will compile and deploy to the NXT brick.
14 14  
15 +If you want to learn the SCCharts langugage first, you can follow these links:
16 +
17 +* [[Introduction to SCCharts>>doc:SCCharts]]
18 +* [[The Textual SCCharts Language SCT>>doc:Textual SCCharts Language SCT]]
19 +* [[SCCharts Examples>>doc:Examples]]
20 +
15 15  ----
16 16  
17 17  == Download and install leJOS ==
... ... @@ -71,8 +71,12 @@
71 71  
72 72  If you have an **NXT** **brick**, install the **leJOS NXJ** Plug-in. If you have an **EV3 brick**, install the **leJOS EV3** plugin.
73 73  
74 -[[image:attach:lejos_eclipse_plugin.png]]
80 +[[image:attach:Screenshot_20171016_130805.png]]
75 75  
82 +**Tip:** To speed up the installation, uncheck the option "Contact all update sites during install to find required software". This will reduce the installation time from drastically (around 30 seconds instead 10 minutes).
83 +
84 +\\
85 +
76 76  After the installation, the plugin requires a **little configuration**. Go to //Window > Preferences > leJOS NXJ// (//Window > Preferences > leJOS EV3 //respectively) and enter the base directory of your **leJOS** **installation** in the **NXJ_HOME field**.
77 77  
78 78  For EV3, the plugin requires the IP address to connect to the brick (it may work without, but its safer to directly set the name. Reduces headache ). Check **Connect to named brick** and enter the **IP adress** of the brick (displayed on the brick at startup).
... ... @@ -90,7 +90,7 @@
90 90  1. The project wizard from the leJOS plugin opens. Set the project name to //Flashlight// and click //finish//.
91 91  1. The project is created and the model file is opened in an editor (This might take a few seconds).
92 92  
93 -=== Edit the model: ===
103 +=== Edit the Model: ===
94 94  
95 95  Change the contents of the model file to the following code and save it.
96 96  
... ... @@ -115,29 +115,44 @@
115 115  
116 116  The annotations on the input and output variable are used to define which wrapper code is used to set / read them. **@Wrapper TouchSensor, S4** will set the input variable to true iff the touch sensor on the port S4 is pressed. **@Wrapper Floodlight, S1** on the output variable will turn on the red led of the light sensor that is attatched to port S1 iff the variable is true.
117 117  
118 -The available wrapper code snippets are defined in the //snippets// directory of the project in ftl files (FreeMarker template files). The table below gives an overview of the available wrapper code snippets.
128 +The available wrapper code snippets are defined in the directory //assets/snippets// in ftl files (FreeMarker template files). The table below gives an overview of the available wrapper code snippets.
119 119  
120 120  **Note:** The Floodlight of the EV3 has a pretty high latency when switching between on and off.
121 121  
122 -**Note: **To view ftl files with highlighting, you may want to install the //FreeMarker IDE// feature from the JBoss Tools. However, this is not necessary to work with KIELER. JBoss Tools is available in the Eclipse Market Place and via update site. The update site for Eclipse Luna is [[http:~~/~~/download.jboss.org/jbosstools/updates/stable/luna/>>url:http://download.jboss.org/jbosstools/updates/stable/luna/||shape="rect"]] . Note that only the //FreeMarker IDE// feature is required (Abridged JBoss Tools > FreeMarker IDE).**
132 +**Note: **To view ftl files with highlighting, you may want to install the //FreeMarker IDE// feature from the JBoss Tools. However, this is not necessary to work with KIELER. JBoss Tools is available in the Eclipse Market Place and via update site. The update site for stable releases is [[http:~~/~~/download.jboss.org/jbosstools/neon/stable/updates/ >>url:http://download.jboss.org/jbosstools/neon/stable/updates/||shape="rect"]]. Note that only the //FreeMarker IDE// feature is required (Abridged JBoss Tools > FreeMarker IDE).**
123 123  **
124 124  
125 -=== Launch the project: ===
135 +=== Build the Project: ===
126 126  
127 -With the mouse over the SCT file in the project explorer, perform //Right Click > Run As > KiCo Compilation.//
137 +The model is now ready to be compiled. Compilation is done in the background when the project is built. There are two ways to build a project: manually using //Project > Build Project//, or automatically via //Project > Build Automatically//. If the automatic build is enabled, resources are built when they are saved.
128 128  
129 -A launch config is created, which compiles the model to Java code and creates wrapper code from the annotations in the model file. Afterwards this output is compiled and deployed to the Mindstorms brick, by using the launch shortcut from the leJOS plugin. If any errors occur, you can see them in the Console View.
139 +Building the project will create a new folder //kieler-gen// in which all results are saved. This includes the compiled code from the model, an executable simulation for the model and wrapper code that is ready to be deployed to the Mindstorms Brick.
130 130  
131 -For a deeper understanding of the project launch and initialization, take a look at the [[wiki page for Prom>>url:http://rtsys.informatik.uni-kiel.de/confluence/pages/viewpage.action?pageId=13762626||shape="rect"]].
141 +The simulation is saved as JAR file in //kieler-gen/sim/bin// and can be started via //Right Click > Run as > KIELER Simulation//. Models and variables of a running simulation are displayed in the Data Pool View.
132 132  
143 +[[image:attach:Screenshot_20171016_110005.png]]
144 +
145 +Besides the simulation, the finished wrapper code that can be uploaded to the Mindstorms brick is created as part of the project build. It is saved in //kieler-gen/model//. To upload it to the Mindstorms brick, use //Right Click > Run as > leJOS NXT Program//.
146 +
147 +[[image:attach:Screenshot_20171016_120554.png]]
148 +
149 +==== Excluding the Simulation from the NXT Build ====
150 +
151 +It is necessary to exclude the simulation directory and org.json directory inside kieler-gen from the NXT project specific build via //Right Click > Build Path > Exclude//. Afterwards the project has to be build again to remove all error markers in these directories.
152 +
153 +[[image:attach:Screenshot_20171016_105821.png]]
154 +
155 +Normally the NXT project attempts to compile all Java files in the kieler-gen directory for the platform. However, the simulation that is generated is not targeted at the Mindstorms brick and has compilation errors. It is compiled separately by KIELER.
156 +
133 133  === Available Wrapper Code Snippets ===
134 134  
135 -There are several wrapper code snippets that can be used on input and output variables in the model file. These snippets are inserted in the main file template as part of the project launch. The available snippets are listed below.
159 +There are several wrapper code snippets that can be used as annotations on input and output variables in the model file. These snippets are inserted in the main file template as part of the project build. The available snippets are listed below.
136 136  
137 137  For sensors, the port has to be on of S1, S2, S3, S4.
138 138  
139 -For motors the port has to be one of A, B, C, D.
163 +For motors / actuators the port has to be one of A, B, C, D.
140 140  
165 +(% class="wrapped" %)
141 141  |=(((
142 142  Snippet Name and Parameters
143 143  )))|=(((
... ... @@ -149,6 +149,9 @@
149 149  Variable type
150 150  )))|=(((
151 151  Remark
177 +)))|=(% colspan="1" %)(% colspan="1" %)
178 +(((
179 +Defined in File
152 152  )))
153 153  |(% colspan="1" %)(% colspan="1" %)
154 154  (((
... ... @@ -155,7 +155,7 @@
155 155  **Clock,** milliseconds
156 156  )))|(% colspan="1" %)(% colspan="1" %)
157 157  (((
158 -Sets a variable to true if the time in milliseconds passed
186 +Sets a variable to true for one tick if the time in milliseconds passed since the last time it was set to true.
159 159  )))|(% colspan="1" %)(% colspan="1" %)
160 160  (((
161 161  input
... ... @@ -165,6 +165,9 @@
165 165  )))|(% colspan="1" %)(% colspan="1" %)
166 166  (((
167 167  See also ResetClock.
196 +)))|(% colspan="1" %)(% colspan="1" %)
197 +(((
198 +timing.ftl
168 168  )))
169 169  |(% colspan="1" %)(% colspan="1" %)
170 170  (((
... ... @@ -183,6 +183,9 @@
183 183  )))|(% colspan="1" %)(% colspan="1" %)
184 184  (((
185 185  autoFalse is true per default.
217 +)))|(% colspan="1" %)(% colspan="1" %)
218 +(((
219 +timing.ftl
186 186  )))
187 187  |(% colspan="1" %)(% colspan="1" %)
188 188  (((
... ... @@ -189,7 +189,7 @@
189 189  **Time**
190 190  )))|(% colspan="1" %)(% colspan="1" %)
191 191  (((
192 -Reads the elapsed time since program start
226 +Reads the elapsed time since program start (milliseconds)
193 193  )))|(% colspan="1" %)(% colspan="1" %)
194 194  (((
195 195  input
... ... @@ -198,11 +198,14 @@
198 198  int
199 199  )))|(% colspan="1" %)(% colspan="1" %)
200 200  (((
201 -
235 +\\
236 +)))|(% colspan="1" %)(% colspan="1" %)
237 +(((
238 +timing.ftl
202 202  )))
203 203  |(% colspan="1" %)(% colspan="1" %)
204 204  (((
205 -**TickDuration,** targetInMilliseconds
242 +**TickLoopDuration,** targetInMilliseconds
206 206  )))|(% colspan="1" %)(% colspan="1" %)
207 207  (((
208 208  Delays the execution until the tick loop takes at least as long as the given target duration.
... ... @@ -217,9 +217,40 @@
217 217  )))|(% colspan="1" %)(% colspan="1" %)
218 218  (((
219 219  Should be used on the very first input variable in the model, such that waiting is the last action in the tick loop.
257 +
258 +In case the actual tick loop duration is longer than the target duration, the modeler can provide some error handling.
259 +)))|(% colspan="1" %)(% colspan="1" %)
260 +(((
261 +timing.ftl
220 220  )))
221 221  |(% colspan="1" %)(% colspan="1" %)
222 222  (((
265 +**TickWakeUp**
266 +)))|(% colspan="1" %)(% colspan="1" %)
267 +(((
268 +(% class="content-wrapper" %)
269 +(((
270 +Sets the input variable to the current system time (milliseconds). The model can add to this variable to get a new value. This is the next system time the tick function will be called.
271 +
272 +In other words, the next tick function call is delayed until the wake up time has been reached.
273 +
274 +For instance the statement **nextTickWakeUp += 500** could be used to call the tick function again in 500 milliseconds, if nextTickWakeUp is an input with the corresponding annotation.
275 +)))
276 +)))|(% colspan="1" %)(% colspan="1" %)
277 +(((
278 +input
279 +)))|(% colspan="1" %)(% colspan="1" %)
280 +(((
281 +int
282 +)))|(% colspan="1" %)(% colspan="1" %)
283 +(((
284 +Should be used on the very last input variable in the model, such that waiting and settings the system time is the last action done, before the tick function call.
285 +)))|(% colspan="1" %)(% colspan="1" %)
286 +(((
287 +timing.ftl
288 +)))
289 +|(% colspan="1" %)(% colspan="1" %)
290 +(((
223 223  **Sleep**
224 224  )))|(% colspan="1" %)(% colspan="1" %)
225 225  (((
... ... @@ -232,7 +232,10 @@
232 232  int
233 233  )))|(% colspan="1" %)(% colspan="1" %)
234 234  (((
235 -
303 +\\
304 +)))|(% colspan="1" %)(% colspan="1" %)
305 +(((
306 +timing.ftl
236 236  )))
237 237  |(% colspan="1" %)(% colspan="1" %)
238 238  (((
... ... @@ -249,6 +249,9 @@
249 249  )))|(% colspan="1" %)(% colspan="1" %)
250 250  (((
251 251  autoReset is true per default.
323 +)))|(% colspan="1" %)(% colspan="1" %)
324 +(((
325 +print.ftl
252 252  )))
253 253  |(% colspan="1" %)(% colspan="1" %)
254 254  (((
... ... @@ -264,7 +264,10 @@
264 264  string
265 265  )))|(% colspan="1" %)(% colspan="1" %)
266 266  (((
267 -
341 +\\
342 +)))|(% colspan="1" %)(% colspan="1" %)
343 +(((
344 +print.ftl
268 268  )))
269 269  |(% colspan="1" %)(% colspan="1" %)
270 270  (((
... ... @@ -281,6 +281,9 @@
281 281  )))|(% colspan="1" %)(% colspan="1" %)
282 282  (((
283 283  The buttonId has to be one of ENTER, LEFT, RIGHT
361 +)))|(% colspan="1" %)(% colspan="1" %)
362 +(((
363 +touch_and_buttons.ftl
284 284  )))
285 285  |(% colspan="1" %)(% colspan="1" %)
286 286  (((
... ... @@ -296,7 +296,10 @@
296 296  bool
297 297  )))|(% colspan="1" %)(% colspan="1" %)
298 298  (((
299 -
379 +\\
380 +)))|(% colspan="1" %)(% colspan="1" %)
381 +(((
382 +touch_and_buttons.ftl
300 300  )))
301 301  |(% colspan="1" %)(% colspan="1" %)
302 302  (((
... ... @@ -315,6 +315,9 @@
315 315  )))|(% colspan="1" %)(% colspan="1" %)
316 316  (((
317 317  percentValue is not available on EV3
401 +)))|(% colspan="1" %)(% colspan="1" %)
402 +(((
403 +light.ftl
318 318  )))
319 319  |(% colspan="1" %)(% colspan="1" %)
320 320  (((
... ... @@ -331,6 +331,9 @@
331 331  )))|(% colspan="1" %)(% colspan="1" %)
332 332  (((
333 333  signal has to be one of High, Low
420 +)))|(% colspan="1" %)(% colspan="1" %)
421 +(((
422 +light.ftl
334 334  )))
335 335  |(% colspan="1" %)(% colspan="1" %)
336 336  (((
... ... @@ -348,7 +348,10 @@
348 348  bool
349 349  )))|(% colspan="1" %)(% colspan="1" %)
350 350  (((
351 -
440 +\\
441 +)))|(% colspan="1" %)(% colspan="1" %)
442 +(((
443 +light.ftl
352 352  )))
353 353  |(% colspan="1" %)(% colspan="1" %)
354 354  (((
... ... @@ -364,7 +364,10 @@
364 364  bool
365 365  )))|(% colspan="1" %)(% colspan="1" %)
366 366  (((
367 -
459 +\\
460 +)))|(% colspan="1" %)(% colspan="1" %)
461 +(((
462 +light.ftl
368 368  )))
369 369  |(% colspan="1" %)(% colspan="1" %)
370 370  (((
... ... @@ -383,6 +383,9 @@
383 383  )))|(% colspan="1" %)(% colspan="1" %)
384 384  (((
385 385  brake is true per default.
481 +)))|(% colspan="1" %)(% colspan="1" %)
482 +(((
483 +motor.ftl
386 386  )))
387 387  |(% colspan="1" %)(% colspan="1" %)
388 388  (((
... ... @@ -398,7 +398,10 @@
398 398  bool
399 399  )))|(% colspan="1" %)(% colspan="1" %)
400 400  (((
401 -
499 +\\
500 +)))|(% colspan="1" %)(% colspan="1" %)
501 +(((
502 +motor.ftl
402 402  )))
403 403  |(% colspan="1" %)(% colspan="1" %)
404 404  (((
... ... @@ -414,7 +414,10 @@
414 414  int
415 415  )))|(% colspan="1" %)(% colspan="1" %)
416 416  (((
417 -
518 +\\
519 +)))|(% colspan="1" %)(% colspan="1" %)
520 +(((
521 +motor.ftl
418 418  )))
419 419  |(% colspan="1" %)(% colspan="1" %)
420 420  (((
... ... @@ -431,6 +431,9 @@
431 431  )))|(% colspan="1" %)(% colspan="1" %)
432 432  (((
433 433  default volume is 10
538 +)))|(% colspan="1" %)(% colspan="1" %)
539 +(((
540 +sound.ftl
434 434  )))
435 435  |(% colspan="1" %)(% colspan="1" %)
436 436  (((
... ... @@ -447,6 +447,9 @@
447 447  )))|(% colspan="1" %)(% colspan="1" %)
448 448  (((
449 449  default volume is 10
557 +)))|(% colspan="1" %)(% colspan="1" %)
558 +(((
559 +sound.ftl
450 450  )))
451 451  |(% colspan="1" %)(% colspan="1" %)
452 452  (((
... ... @@ -467,6 +467,9 @@
467 467  direction has to be one of Up, Down
468 468  
469 469  default volume is 10
580 +)))|(% colspan="1" %)(% colspan="1" %)
581 +(((
582 +sound.ftl
470 470  )))
471 471  |(% colspan="1" %)(% colspan="1" %)
472 472  (((
... ... @@ -482,7 +482,10 @@
482 482  int
483 483  )))|(% colspan="1" %)(% colspan="1" %)
484 484  (((
485 -
598 +\\
599 +)))|(% colspan="1" %)(% colspan="1" %)
600 +(((
601 +ultrasonic.ftl
486 486  )))
487 487  |(% colspan="1" %)(% colspan="1" %)
488 488  (((
... ... @@ -501,6 +501,9 @@
501 501  Not available on NXT
502 502  
503 503  mode hat to be one of Angle, Rate
620 +)))|(% colspan="1" %)(% colspan="1" %)
621 +(((
622 +gyro.ftl
504 504  )))
505 505  |(% colspan="1" %)(% colspan="1" %)
506 506  (((
... ... @@ -519,9 +519,12 @@
519 519  )))|(% colspan="1" %)(% colspan="1" %)
520 520  (((
521 521  autoReset is true per default
641 +)))|(% colspan="1" %)(% colspan="1" %)
642 +(((
643 +gyro.ftl
522 522  )))
523 523  
524 -
646 +\\
525 525  
526 526  ----
527 527  
... ... @@ -539,6 +539,7 @@
539 539  
540 540  The following presents typical issues and how to solve them.
541 541  
664 +(% class="wrapped" %)
542 542  |=(((
543 543  Issue
544 544  )))|=(((
... ... @@ -564,7 +564,7 @@
564 564  Uploading to the brick does not respond
565 565  )))|(% colspan="1" %)(% colspan="1" %)
566 566  (((
567 -
690 +\\
568 568  )))|(% colspan="1" %)(% colspan="1" %)
569 569  (((
570 570  You compile a file successfully and when uploading the result, the connected brick is found. Anyway the upload does not terminate and does not react.
... ... @@ -590,7 +590,7 @@
590 590  Brick does nothing after program finished and prints "Program exit"
591 591  )))|(% colspan="1" %)(% colspan="1" %)
592 592  (((
593 -
716 +\\
594 594  )))|(% colspan="1" %)(% colspan="1" %)
595 595  (((
596 596  A program was uploaded and finished without errors. Afterwards the brick prints "Program exit" but does not open the main menu.
... ... @@ -599,8 +599,6 @@
599 599  This is normal behaviour if uploading a program in debug mode instead run mode (//Debug As// instead //Run As// in Eclipse). To get back to the main menu, press the ENTER and ESCAPE button of the brick at the same time.
600 600  )))
601 601  
602 -
725 +\\
603 603  
604 -
605 -
606 -input
727 +\\
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -15532304
1 +37814289
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/15532304/LEGO Mindstorms with leJOS and SCCharts
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/37814289/LEGO Mindstorms with leJOS and SCCharts

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