Last modified by Alexander Schulz-Rosengarten on 2023/09/11 16:17
<
From version < 37.1 >
edited by aas2
on 2016/11/25 16:26
To version < 40.1 >
edited by aas2
on 2017/10/16 13:09
>
Change comment: There is no comment for this version

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... ... @@ -77,9 +77,11 @@
77 77  
78 78  If you have an **NXT** **brick**, install the **leJOS NXJ** Plug-in. If you have an **EV3 brick**, install the **leJOS EV3** plugin.
79 79  
80 +[[image:attach:Screenshot_20171016_130805.png]]
81 +
80 80  **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).
81 81  
82 -[[image:attach:lejos_eclipse_plugin.png]]
84 +\\
83 83  
84 84  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**.
85 85  
... ... @@ -98,7 +98,7 @@
98 98  1. The project wizard from the leJOS plugin opens. Set the project name to //Flashlight// and click //finish//.
99 99  1. The project is created and the model file is opened in an editor (This might take a few seconds).
100 100  
101 -=== Edit the model: ===
103 +=== Edit the Model: ===
102 102  
103 103  Change the contents of the model file to the following code and save it.
104 104  
... ... @@ -123,24 +123,38 @@
123 123  
124 124  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.
125 125  
126 -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.
127 127  
128 128  **Note:** The Floodlight of the EV3 has a pretty high latency when switching between on and off.
129 129  
130 -**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).**
131 131  **
132 132  
133 -=== Launch the project: ===
135 +=== Build the Project: ===
134 134  
135 -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.
136 136  
137 -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.
138 138  
139 -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.
140 140  
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 +
141 141  === Available Wrapper Code Snippets ===
142 142  
143 -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.
144 144  
145 145  For sensors, the port has to be on of S1, S2, S3, S4.
146 146  
... ... @@ -216,7 +216,7 @@
216 216  int
217 217  )))|(% colspan="1" %)(% colspan="1" %)
218 218  (((
219 -
235 +\\
220 220  )))|(% colspan="1" %)(% colspan="1" %)
221 221  (((
222 222  timing.ftl
... ... @@ -223,7 +223,7 @@
223 223  )))
224 224  |(% colspan="1" %)(% colspan="1" %)
225 225  (((
226 -**TickDuration,** targetInMilliseconds
242 +**TickLoopDuration,** targetInMilliseconds
227 227  )))|(% colspan="1" %)(% colspan="1" %)
228 228  (((
229 229  Delays the execution until the tick loop takes at least as long as the given target duration.
... ... @@ -244,6 +244,27 @@
244 244  )))
245 245  |(% colspan="1" %)(% colspan="1" %)
246 246  (((
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 +(((
247 247  **Sleep**
248 248  )))|(% colspan="1" %)(% colspan="1" %)
249 249  (((
... ... @@ -256,7 +256,7 @@
256 256  int
257 257  )))|(% colspan="1" %)(% colspan="1" %)
258 258  (((
259 -
296 +\\
260 260  )))|(% colspan="1" %)(% colspan="1" %)
261 261  (((
262 262  timing.ftl
... ... @@ -294,7 +294,7 @@
294 294  string
295 295  )))|(% colspan="1" %)(% colspan="1" %)
296 296  (((
297 -
334 +\\
298 298  )))|(% colspan="1" %)(% colspan="1" %)
299 299  (((
300 300  print.ftl
... ... @@ -332,7 +332,7 @@
332 332  bool
333 333  )))|(% colspan="1" %)(% colspan="1" %)
334 334  (((
335 -
372 +\\
336 336  )))|(% colspan="1" %)(% colspan="1" %)
337 337  (((
338 338  touch_and_buttons.ftl
... ... @@ -393,7 +393,7 @@
393 393  bool
394 394  )))|(% colspan="1" %)(% colspan="1" %)
395 395  (((
396 -
433 +\\
397 397  )))|(% colspan="1" %)(% colspan="1" %)
398 398  (((
399 399  light.ftl
... ... @@ -412,7 +412,7 @@
412 412  bool
413 413  )))|(% colspan="1" %)(% colspan="1" %)
414 414  (((
415 -
452 +\\
416 416  )))|(% colspan="1" %)(% colspan="1" %)
417 417  (((
418 418  light.ftl
... ... @@ -452,7 +452,7 @@
452 452  bool
453 453  )))|(% colspan="1" %)(% colspan="1" %)
454 454  (((
455 -
492 +\\
456 456  )))|(% colspan="1" %)(% colspan="1" %)
457 457  (((
458 458  motor.ftl
... ... @@ -471,7 +471,7 @@
471 471  int
472 472  )))|(% colspan="1" %)(% colspan="1" %)
473 473  (((
474 -
511 +\\
475 475  )))|(% colspan="1" %)(% colspan="1" %)
476 476  (((
477 477  motor.ftl
... ... @@ -551,7 +551,7 @@
551 551  int
552 552  )))|(% colspan="1" %)(% colspan="1" %)
553 553  (((
554 -
591 +\\
555 555  )))|(% colspan="1" %)(% colspan="1" %)
556 556  (((
557 557  ultrasonic.ftl
... ... @@ -599,7 +599,7 @@
599 599  gyro.ftl
600 600  )))
601 601  
602 -
639 +\\
603 603  
604 604  ----
605 605  
... ... @@ -643,7 +643,7 @@
643 643  Uploading to the brick does not respond
644 644  )))|(% colspan="1" %)(% colspan="1" %)
645 645  (((
646 -
683 +\\
647 647  )))|(% colspan="1" %)(% colspan="1" %)
648 648  (((
649 649  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.
... ... @@ -669,7 +669,7 @@
669 669  Brick does nothing after program finished and prints "Program exit"
670 670  )))|(% colspan="1" %)(% colspan="1" %)
671 671  (((
672 -
709 +\\
673 673  )))|(% colspan="1" %)(% colspan="1" %)
674 674  (((
675 675  A program was uploaded and finished without errors. Afterwards the brick prints "Program exit" but does not open the main menu.
... ... @@ -678,8 +678,6 @@
678 678  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.
679 679  )))
680 680  
681 -
718 +\\
682 682  
683 -
684 -
685 -input
720 +\\
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -20153916
1 +37814287
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/20153916/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

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