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<!DOCTYPE html>
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<div id="header">
<h1>What is EV3Dev-lang-java?</h1>
<div class="details">
<span id="revnumber">version 2.4.16</span>
</div>
<div id="toc" class="toc2">
<div id="toctitle">Table of Contents</div>
<ul class="sectlevel1">
<li><a href="#introduction">1. Introduction</a></li>
<li><a href="#project-architecture">2. Project architecture</a></li>
<li><a href="#features-included">3. Features included</a></li>
<li><a href="#subprojects">4. Subprojects</a></li>
<li><a href="#competitive-advantages">5. Competitive advantages</a></li>
<li><a href="#timeline-of-the-project">6. Timeline of the project</a></li>
<li><a href="#evolution-of-java-on-lego-mindstorms-ecosystem">7. Evolution of Java on Lego Mindstorms ecosystem</a></li>
</ul>
</div>
</div>
<div id="content">
<div id="preamble">
<div class="sectionbody">
<div class="paragraph">
<p>A project to learn Java and create software for Mindstorms Robots using hardware supported by EV3Dev &amp; the LeJOS way.</p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="introduction">1. Introduction</h2>
<div class="sectionbody">
<div class="paragraph">
<p>Lego Mindstorms ecosystem is
<code>a fantastic educational way to learn Java, Linux and Robotics</code> to develop your creativity using your favourite Bricks.
In the the third generation of the product <a href="https://www.lego.com/en-us/mindstorms">Lego Mindstorms EV3</a>,
others companies like <a href="https://www.dexterindustries.com/">Dexter Industries</a>
&amp; <a href="http://www.mindsensors.com/">Mindsensors</a> has released boards combining the power of
<a href="https://www.raspberrypi.org/">Raspberry Pi 3</a> with the usage of Sensors &amp; Actuators from Lego Mindstorms ecosystem.
The result is very healthy for the Community but&#8230;&#8203; some questions appear in the air:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>How to manage the hardware in an easy way?</p>
</li>
<li>
<p>How to continue using Java with all boards?</p>
</li>
<li>
<p>What happen with amazing LeJOS libraries about <code>local-navigation</code> in this context?</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>The answer is this project, <strong>EV3Dev-lang-java</strong>.</p>
</div>
<div class="paragraph">
<p><span class="image"><img src="./theThreeAmigos.jpg" alt="ScreenShot"></span></p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="project-architecture">2. Project architecture</h2>
<div class="sectionbody">
<div class="paragraph">
<p>The project has been designed with the following solution in mind:</p>
</div>
<table class="tableblock frame-all grid-all spread">
<colgroup>
<col style="width: 33.3333%;">
<col style="width: 33.3333%;">
<col style="width: 33.3334%;">
</colgroup>
<thead>
<tr>
<th class="tableblock halign-left valign-top">Layer</th>
<th class="tableblock halign-left valign-top">Option 1</th>
<th class="tableblock halign-left valign-top">Option 2</th>
</tr>
</thead>
<tfoot>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">ev3dev-lang-java</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.7.0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">2.4.16</p></td>
</tr>
</tfoot>
<tbody>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">Platforms</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">BrickPi BrickPi3 PiStorms</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">EV3</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">OS</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Debian Jessie</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Debian Jessie/Stretch</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">JVM</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">OpenJDK 11</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">OpenJDK JRI 11/12 ea</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">EV3Dev Kernel</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">4.4.47-19-ev3dev-ev3 4.4.47-19-ev3dev-rpi2</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">4.14.71-ev3dev-2.3.0-ev3</p></td>
</tr>
</tbody>
</table>
<div class="paragraph">
<p><strong>Note:</strong> At the moment, the whole solution is scalable until the next <code>LEGO Mindstorms</code> product estimated
for next January of 2020.</p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="features-included">3. Features included</h2>
<div class="sectionbody">
<div class="paragraph">
<p><strong>Java features</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>OpenJDK Java 11/12 ea support for EV3 Brick, Brickpi+/PiStorms + Raspberry Pi 3</p>
</li>
<li>
<p>Java profiling tools Support (<a href="http://www.oracle.com/technetwork/java/javaseproducts/mission-control/java-mission-control-1998576.html">Oracle mission control</a> &amp; <a href="http://docs.oracle.com/javase/7/docs/technotes/guides/management/jconsole.html">JConsole</a>)</p>
</li>
<li>
<p>Logging support based on <a href="https://www.slf4j.org/">SLF4J</a></p>
</li>
<li>
<p>Centralized logs with <a href="https://www.elastic.co/products/kibana">Kibana</a></p>
</li>
</ul>
</div>
<div class="paragraph">
<p><strong>Platform features</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Support for EV3 Brick, PiStorms v1/v2, BrickPi+ &amp; BrickPi 3</p>
</li>
</ul>
</div>
<div class="paragraph">
<p><strong>Lego Mindstorms features</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Regulated Motor Support</p>
</li>
<li>
<p>Unregulated Motor Support</p>
</li>
<li>
<p>Sensor Support (EV3 sensors)</p>
</li>
<li>
<p>Sounds Support</p>
</li>
<li>
<p>EV3 LCD Support</p>
</li>
</ul>
</div>
<div class="paragraph">
<p><strong>Robotics</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Automatic installation of <a href="http://opencv.org/">OpenCV</a></p>
</li>
<li>
<p><a href="http://espeak.sourceforge.net/">eSpeak</a> TTS (Text to speech) Support</p>
</li>
<li>
<p><a href="http://sourceforge.net/p/lejos/wiki/Sensor%20Framework/">LeJOS Sensor filter</a> Support</p>
</li>
<li>
<p><a href="https://github.com/ev3dev-lang-java/lejos-navigation">LeJOS local navigation stack</a> Support</p>
</li>
<li>
<p><a href="https://github.com/ev3dev-lang-java/usb-devices">RPLidar A1/A2</a> (2D Lidar) Support</p>
</li>
</ul>
</div>
</div>
</div>
<div class="sect1">
<h2 id="subprojects">4. Subprojects</h2>
<div class="sectionbody">
<div class="paragraph">
<p>Stable projects:</p>
</div>
<div class="ulist">
<ul>
<li>
<p><a href="https://github.com/ev3dev-lang-java/openjdk-ev3">OpenJDK for EV3</a>: A custom OpenJDK JRE build for EV3</p>
</li>
<li>
<p><a href="https://github.com/ev3dev-lang-java/ev3dev-lang-java">EV3Dev-lang-java</a>: Low level interation with EV3Dev</p>
</li>
<li>
<p><a href="https://github.com/ev3dev-lang-java/lejos-commons">lejos-commons</a>: LeJOS interfaces &amp; utilities</p>
</li>
<li>
<p><a href="https://github.com/ev3dev-lang-java/installer">Installer</a>: A set of Bash scripts to automate some operations with your brick</p>
</li>
<li>
<p><a href="https://github.com/ev3dev-lang-java/template_project_gradle">Template project</a>: A Gradle project ready to test the project</p>
</li>
<li>
<p><a href="https://github.com/ev3dev-lang-java/examples">Examples</a>: A repository with several examples about the usage of this project</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>Incubator projects:</p>
</div>
<div class="ulist">
<ul>
<li>
<p><a href="https://github.com/ev3dev-lang-java/lejos-navigation">lejos-navigation</a>: LeJOS navigation stack</p>
</li>
<li>
<p><a href="https://github.com/ev3dev-lang-java/usb-devices">Usb Devices</a>: A library to use Arduino, Grove Sensors, GPS, IMU, LIDAR, and more devices&#8230;&#8203;</p>
</li>
<li>
<p><a href="https://github.com/ev3dev-lang-java/ros">ROS</a>: A library to publish Sensor data to ROS for SLAM purposes</p>
</li>
</ul>
</div>
</div>
</div>
<div class="sect1">
<h2 id="competitive-advantages">5. Competitive advantages</h2>
<div class="sectionbody">
<div class="paragraph">
<p>The competitive advantages of this project are:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>Development Java robots with modern Java versions</p>
</li>
<li>
<p>Support for Multiple Bricks like EV3 Brick, BrickPi &amp; PiStorms</p>
</li>
<li>
<p>Support for <code>USB</code> Connections for Sensors like 2D LIDARs, IMU &amp; GPS &amp; <code>Arduino</code> Boards</p>
</li>
<li>
<p>Usage of <code>LeJOS</code> interfaces</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>If you analyze the hardware, any EV3 Brick uses a
<code>SoC: Sitara Processor AM1808</code> (from year 2010) to manage Sensors &amp;
Actuators but now with the usage of a BrickPi/PiStorms unit, it is
possible to use the power of a Raspberry Pi 3 increasing the
possibilities to develop complex projects which require por
Computational consumption.</p>
</div>
<table class="tableblock frame-all grid-all spread">
<colgroup>
<col style="width: 33.3333%;">
<col style="width: 33.3333%;">
<col style="width: 33.3334%;">
</colgroup>
<thead>
<tr>
<th class="tableblock halign-left valign-top">Element</th>
<th class="tableblock halign-left valign-top">LEGO</th>
<th class="tableblock halign-left valign-top">Raspberry Pi 3 Model B+</th>
</tr>
</thead>
<tfoot>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">Year</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">2010</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">2018</p></td>
</tr>
</tfoot>
<tbody>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">Hardware</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">EV3 Brick</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">BrickPi+  BrickPi3 PiStorms</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">SoC</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Sitara Processor AM1808</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Broadcom BCM2837 RISC de 64 bits</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">CPU</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">ARM9 300MHz / 456 Mhz</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">4× ARM Cortex-A53, 1.4GHz</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">RAM</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">16KB of Instruction Cache,  16KB of Data Cache,  8KB of RAM (Vector Table),  64KB of ROM</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">1GB LPDDR2 (900 MHz)</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">USB</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">1x</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">4x</p></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="sect1">
<h2 id="timeline-of-the-project">6. Timeline of the project</h2>
<div class="sectionbody">
<div class="paragraph">
<p>In 2015, EV3Dev was born to offer a solution to install a complete
<a href="https://www.debian.org">Linux Debian Operating System</a> on
<a href="https://www.lego.com/en-us/mindstorms">EV3 Brick</a>,
<a href="https://www.dexterindustries.com/brickpi/">BrickPi Series</a> &amp;
<a href="http://www.mindsensors.com/content/78-pistorms-lego-interface">PiStorms Series</a>.
The project provides an agnostic Linux interface to unify the way to interact with Mindstorms Hardware too.</p>
</div>
<div class="paragraph">
<p>At the end of the same year, <code>EV3Dev-lang-java</code> was born with the idea to continue developing Java robots
on Lego Mindstorms and providing a port of <code>LeJOS</code> libraries like the <code>local-navigation</code> stack.</p>
</div>
<div class="paragraph">
<p>In the future, we will add the <code>remote</code> support and <code>ROS</code> support.</p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="evolution-of-java-on-lego-mindstorms-ecosystem">7. Evolution of Java on Lego Mindstorms ecosystem</h2>
<div class="sectionbody">
<div class="paragraph">
<p>LeJOS project is the unique Open Source project available for every Lego Mindstorms generations of the product.
In any generation, the project had to find a solution for the following layers:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>Runtime</p>
</li>
<li>
<p>JVM</p>
</li>
<li>
<p>Robotics libraries</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>This premise was solved in every Mindstorms generation:</p>
</div>
<table class="tableblock frame-all grid-all spread">
<colgroup>
<col style="width: 20%;">
<col style="width: 20%;">
<col style="width: 20%;">
<col style="width: 20%;">
<col style="width: 20%;">
</colgroup>
<thead>
<tr>
<th class="tableblock halign-left valign-top">Product</th>
<th class="tableblock halign-left valign-top">RCX</th>
<th class="tableblock halign-left valign-top">NXT</th>
<th class="tableblock halign-left valign-top">EV3 + LeJOS</th>
<th class="tableblock halign-left valign-top">EV3/BrickPi/PiStorms + EV3Dev-lang-java</th>
</tr>
</thead>
<tfoot>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">Last release</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">17/12/2006</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">03/02/2015</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">16/11/2015</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">13/11/2018</p></td>
</tr>
</tfoot>
<tbody>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">Runtime</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Custom firmware</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Custom firmware</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Busybox + Native libraries</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Debian Jessie/Stretch</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">JVM</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Custom JVM</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Custom JVM</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Oracle JRE 8</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">OpenJDK 11/12 ea</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">Robotics libraries</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Initial libraries</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">local-navigation, remote, ros</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">local-navigation, remote</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">local-navigation</p></td>
</tr>
</tbody>
</table>
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