Did the little boy -or girl- in you ever wondered if Eclipse was cool enough to develop code for Lego Mindstorms? The answer is definitively yes, and this talk will show you how fun it is to use Eclipse technologies dedicated to embedded development (CDT, TM, ...) to create the brain of your future cybernetic buddy!

1. Programming forLego® Mindstorms™using Eclipseto take you back to your childhood! Benjamin CabéOct 28th, 2009

2. Agenda The Mindstorms NXT brick The LeJOS VM Eclipse + Mindstorms = FUN! Implementing an RSE connector Data visualization inside an Eclipse editor State machines modeling and code generation ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

3. The NXT brick 32-bit ARM7 processor @48MHz 256kB of Flash 64kB of RAM 100x64 pixel LCD display USB 2.0 Bluetooth Open Source firmware! ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

4. 4 input ports ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

5. 3 output ports (motors) ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

6. LeJOS NXJ VM A tiny (10kb) but stillcool Java VM Threads / Synchronization Exceptions Most of the java.lang, java.util and java.io classes Generics, enums, « for each » loops A “robotics”, event-based, API Open Source! Limitations No GarbageCollector No switch() ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

7. LeJOS NXJ Eclipse plug-in Useful to upload firmware and/or programs to the brick Not much integrated in the IDE… … how about leveraging DSDP/TM?! ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

8. TM/RSE hacking LeJOS NXJ comes with APIs to : List/get/send files Execute programs Get sensor states … it should be possible to define an RSE connector and a file subsystem…! ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

9. Brief RSE introduction A frameworkat Eclipse to connect to remotesystems and provide: remote file systems through SSH, FTP, a dedicated agent, or whatever remote shell access remote process monitoring remote debugging (gdb) It comeswithgeneric, reusable, UI ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

10. TM/RSE hacking (2) In a couple of hours: A new 'LeJOS' system is available An RSE file 'subsystem' allows to: Browse the brick's filesystem Remotely execute programs Another subystem could bewritten to retrieve sensors values Nota: Communication with the brick can be done using either BT or USB ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

11. TM/RSE hacking (3) Very straightforward 1..1 mapping between RSE and LEJOS APIs Example: LejosRemoteFile implementation publicvoid launch() throwsIOException { LejosConnectorService connector = (LejosConnectorService) getParentRemoteFileSubSystem() .getConnectorService(); connector.getComm().startProgram(_hostFile.getName()); } RSE LEJOS ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

12. Let’stoy a cool sonar! Follows a closed track Scans the interior of the track with the ultrasonic sensor Writes a binary output file into flash memory The file will be retrieved using the RSE connector ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

13. Robot behavior ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

14. Robot Java program publicstaticvoid main(String[] args) { tachoNav= new TachoNavigator(5.6f, 11.5f, Motor.A, Motor.B); File fRadar = new File("result.radar"); FileOutputStream fosRadar = new FileOutputStream(fRadar); tachoNav.goTo(0, TERRAIN_WIDTH, true); while(tachoNav.isMoving()) { intdist = ultrasonic.getDistance(); fosRadar.writeInt(dist); } } ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

15. Display captured data In an Eclipse editor associated to .radar files Parse binary files Process signal sin(α)… cos(α)… Remember?!  Since the ambient noise level is also recorded, we can display it in a similar manner http://www.sxc.hu/photo/1099687 ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

16. ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

17. 17 State machines modeling LeJOS comes with an event-based robotics API, remember? Eclipse has a bunch of cool modeling/diagramming/code generation technologies … how about mixingboth?! ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

18. 18 LeJOS Visual Development Toolkit A state machine framework on top of LeJOS A GMF editor Xpandtemplates for code generation An integrationwith the LeJOS Eclipse plugin Auto-deployment of the binary Communication between the brick and the IDE to monitor the state machine ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

19. A state machine diagram… ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

20. ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

21. ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0

22. Questions? Benjamin Cabé BCabe@sierrawireless.com

23. If youwannaplay by yourself! http://www.mindstorms.com http://lejos.sourceforge.net http://www.juanantonio.info/p_articles/archive/2008/leJOSStatemachineDevelopmentToolkit.pdf http://www.eclipse.org/dsdp/tm/ ©2009 Sierra Wireless inc. – Made availableunderEPL v1.0