EV3 d3v Gradle plugin

This project contains the code for a Gradle plugin for LEGO® EV3 development.

Features

• Adds compileOnly dependency on com.github.bdeneuter:lejos-ev3-api:0.9.1-beta
  (Thanks to Bart De Neuter for making this available)
• Creates separate jars for dependencies and code to speed up development and deployment
• Incremental build: no unnecessary packaging and deployment
• Sets up port forwarding to attach a jdwp debugger
• Allows in-IDE debugging
• [In progress] Sets up debug configuration in IntelliJ IDEA, when the org.jetbrains.gradle.plugin.idea-ext plugin is applied
• [TODO] Runs the program using ssh with PTY
• [TODO] Supports key-based authentication

Using the plugin

Using the plugin api

plugins {
    id("com.legoethals.ev3.d3v")
}

Configuration

Defaults:

ev3 {
    mainClass.set("com.legoethals.ev3.TestProgramKt")
    jarDestinationDir.set("/home/lejos/programs")
    jarLibsRelativeDir.set("libs")
    ssh {
        hostname.set("10.0.1.1")
        port.set(22)
        username.set("root")
        password.set("")
    }
    debug {
        localPort.set(5005)
        remotePort.set(5005)
    }
}

Gradle tasks

• ev3AppJar: builds [projectname]-app.jar and .md5 checksum
• ev3DependenciesJar: builds [projectname]-dependencies.jar and .md5 checksum
• ev3Deploy: deploys [projectname]-app.jar and checksum to the ev3 if checksum doesn't match
• ev3DeployDependencies: deploys [projectname]-dependencies.jar and checksum to the ev3 if checksum doesn't match
• ev3Run: runs the app using the jrun script on the ev3
• ev3RunDebug
  • sets up local port forwarding for debugging
  • runs the app using the jrun script on the ev3, with jdwp agent attached
    ev3 image must be built with jdwp agent for this to work!

Develop/try out

The project structure is based on composite builds for plugin development. See https://github.com/cortinico/kotlin-gradle-plugin-template for the used template.

Project structure:

• example: the example project using the plugin
• plugin-build: the project to build the plugin
  • plugin: the plugin code

Try it out:

Plugin your ev3 with lejos installed and run ./gradlew :example:ev3Run, which packages, deploys and runs the example code on the ev3.

Additional installation and dev information (Not part of plugin)

LeJOS Api

http://www.lejos.org/ev3/docs/

First time installation

Download and extract the oracle eJDK 1.8

Download and extract the LeJOS API from https://sourceforge.net/projects/ev3.lejos.p/files/0.9.1-beta/
tar -xzvf ~/Downloads/leJOS_EV3_0.9.1-beta.tar.gz -C /opt/lejos

This directory contains:

• /bin -> Some utility programs to interact with the ev3
• /docs -> The Lejos api documentation
• /lib/ev3 -> The jars needed for ev3 development: dbusjava for the JNI Layer, ev3classes for the API
• /lib/pc -> The jars supporting the utilities
• /sd500.zip -> The zip containing the base image with the kernel to deploy on the SD Card
• /lejosimage.zip -> The zip that needs to be unzipped on the sd card

Set some environment variables in your ~/.profile (and logout and login again if necessary):

export LEJOS_EV3_JAVA_HOME=/opt/java/jdk1.8.0_112
export EV3_HOME=/opt/lejos/leJOS_EV3_0.9.1-beta
export PATH=/opt/lejos/leJOS_EV3_0.9.1-beta/bin:$PATH

-> Setting them in ~/.zshrc will make them accessible to a terminal, but not to Intellij when run from a desktop shortcut.

Installation on SD Card

Read https://sourceforge.net/p/lejos/wiki/Installing%20leJOS/ and read it again and again... It boils down to something like this:

unzip sd500.zip 
cat sd500.img >/dev/sdb
cd /run/media/*/SD500/
unzip /home/*/ev3/leJOS_EV3_0.9.1-beta/lejosimage.zip
cp -af /home/*/ev3/ejre-7u75-fcs-b13-linux-arm-sflt-headless-18_dec_2014

Setup ssh configuration

Place the following in ~/.ssh/config

Host ev2_usb
    User root
    HostName 10.0.1.1
    KexAlgorithms +diffie-hellman-group1-sha1
    HostKeyAlgorithms +ssh-rsa
    Ciphers aes128-cbc 

Connecting through usb on linux

• On the EV3, pan mode must be access point with an address like 10.0.1.1. Plug out the usb cable and plug it back in again if needed.
• After this, a ping to 10.0.1.1 should be possible

Setup Wifi

-> wpa_supplicant.conf -> Nice to have task to setup?