Last modified by Alexander Schulz-Rosengarten on 2023/09/11 16:17
<
From version < 34.1 >
edited by aas2
on 2016/02/23 13:34
To version < 40.1 >
edited by aas2
on 2017/10/16 13:09
>
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -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 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 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  
139 139  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  )))|=(((
... ... @@ -158,7 +158,7 @@
158 158  **Clock,** milliseconds
159 159  )))|(% colspan="1" %)(% colspan="1" %)
160 160  (((
161 -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.
162 162  )))|(% colspan="1" %)(% colspan="1" %)
163 163  (((
164 164  input
... ... @@ -207,7 +207,7 @@
207 207  int
208 208  )))|(% colspan="1" %)(% colspan="1" %)
209 209  (((
210 -
235 +\\
211 211  )))|(% colspan="1" %)(% colspan="1" %)
212 212  (((
213 213  timing.ftl
... ... @@ -214,7 +214,7 @@
214 214  )))
215 215  |(% colspan="1" %)(% colspan="1" %)
216 216  (((
217 -**TickDuration,** targetInMilliseconds
242 +**TickLoopDuration,** targetInMilliseconds
218 218  )))|(% colspan="1" %)(% colspan="1" %)
219 219  (((
220 220  Delays the execution until the tick loop takes at least as long as the given target duration.
... ... @@ -235,6 +235,27 @@
235 235  )))
236 236  |(% colspan="1" %)(% colspan="1" %)
237 237  (((
263 +**TickWakeUp**
264 +)))|(% colspan="1" %)(% colspan="1" %)
265 +(((
266 +Sets the input variable to the current system time. The model can add to this variable to get a new value. This is the next system time it will be called.
267 +
268 +This means the next tick function call is delayed until the wake up time has been reached.
269 +)))|(% colspan="1" %)(% colspan="1" %)
270 +(((
271 +input
272 +)))|(% colspan="1" %)(% colspan="1" %)
273 +(((
274 +int
275 +)))|(% colspan="1" %)(% colspan="1" %)
276 +(((
277 +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.
278 +)))|(% colspan="1" %)(% colspan="1" %)
279 +(((
280 +timing.ftl
281 +)))
282 +|(% colspan="1" %)(% colspan="1" %)
283 +(((
238 238  **Sleep**
239 239  )))|(% colspan="1" %)(% colspan="1" %)
240 240  (((
... ... @@ -247,7 +247,7 @@
247 247  int
248 248  )))|(% colspan="1" %)(% colspan="1" %)
249 249  (((
250 -
296 +\\
251 251  )))|(% colspan="1" %)(% colspan="1" %)
252 252  (((
253 253  timing.ftl
... ... @@ -285,7 +285,7 @@
285 285  string
286 286  )))|(% colspan="1" %)(% colspan="1" %)
287 287  (((
288 -
334 +\\
289 289  )))|(% colspan="1" %)(% colspan="1" %)
290 290  (((
291 291  print.ftl
... ... @@ -323,7 +323,7 @@
323 323  bool
324 324  )))|(% colspan="1" %)(% colspan="1" %)
325 325  (((
326 -
372 +\\
327 327  )))|(% colspan="1" %)(% colspan="1" %)
328 328  (((
329 329  touch_and_buttons.ftl
... ... @@ -384,7 +384,7 @@
384 384  bool
385 385  )))|(% colspan="1" %)(% colspan="1" %)
386 386  (((
387 -
433 +\\
388 388  )))|(% colspan="1" %)(% colspan="1" %)
389 389  (((
390 390  light.ftl
... ... @@ -403,7 +403,7 @@
403 403  bool
404 404  )))|(% colspan="1" %)(% colspan="1" %)
405 405  (((
406 -
452 +\\
407 407  )))|(% colspan="1" %)(% colspan="1" %)
408 408  (((
409 409  light.ftl
... ... @@ -443,7 +443,7 @@
443 443  bool
444 444  )))|(% colspan="1" %)(% colspan="1" %)
445 445  (((
446 -
492 +\\
447 447  )))|(% colspan="1" %)(% colspan="1" %)
448 448  (((
449 449  motor.ftl
... ... @@ -462,7 +462,7 @@
462 462  int
463 463  )))|(% colspan="1" %)(% colspan="1" %)
464 464  (((
465 -
511 +\\
466 466  )))|(% colspan="1" %)(% colspan="1" %)
467 467  (((
468 468  motor.ftl
... ... @@ -542,7 +542,7 @@
542 542  int
543 543  )))|(% colspan="1" %)(% colspan="1" %)
544 544  (((
545 -
591 +\\
546 546  )))|(% colspan="1" %)(% colspan="1" %)
547 547  (((
548 548  ultrasonic.ftl
... ... @@ -590,7 +590,7 @@
590 590  gyro.ftl
591 591  )))
592 592  
593 -
639 +\\
594 594  
595 595  ----
596 596  
... ... @@ -608,6 +608,7 @@
608 608  
609 609  The following presents typical issues and how to solve them.
610 610  
657 +(% class="wrapped" %)
611 611  |=(((
612 612  Issue
613 613  )))|=(((
... ... @@ -633,7 +633,7 @@
633 633  Uploading to the brick does not respond
634 634  )))|(% colspan="1" %)(% colspan="1" %)
635 635  (((
636 -
683 +\\
637 637  )))|(% colspan="1" %)(% colspan="1" %)
638 638  (((
639 639  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.
... ... @@ -659,7 +659,7 @@
659 659  Brick does nothing after program finished and prints "Program exit"
660 660  )))|(% colspan="1" %)(% colspan="1" %)
661 661  (((
662 -
709 +\\
663 663  )))|(% colspan="1" %)(% colspan="1" %)
664 664  (((
665 665  A program was uploaded and finished without errors. Afterwards the brick prints "Program exit" but does not open the main menu.
... ... @@ -668,8 +668,6 @@
668 668  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.
669 669  )))
670 670  
671 -
718 +\\
672 672  
673 -
674 -
675 -input
720 +\\
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -18776104
1 +37814287
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/18776104/LEGO Mindstorms with leJOS and SCCharts
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/37814287/LEGO Mindstorms with leJOS and SCCharts