Development Environment

This is a description of the development environment used to interact with Minibot. You'll need a computer with wifi and...

• Windows 7 or greater
• Oracle JDK 8 (jdk-8u102-windows)
• ​Bonjour for Windows from Apple
• ​Eclipse Mars 2 or Eclipse Neon (J2EE edition is recommented)
• ​Pi4J
  • Read the first paragraph (re: Pi .vs. dev host installation)
  • Add PI4J dependencies to the project
    • OPTION 1: Add jar files from extracted lib folder to your Eclipse project
    • OPTION 2: Add Maven dependencies by editing the pom.xml
      • Add pi4j-core
      • Add pi4j-gpio-extensions
• ​Launchpi Plugin for Eclipse
  • Select the "LaunchPI" item from the "Uncategorized" entry
  • Default hostname for pi 'raspberrypi.local'. Replace raspberry pi if you change the hostname.
• ​PuTTY (SSH client)
  • Use either PuTTY or the Bitvise SSH Client. Default connection information is:

            Connection type: SSH
            hostname: pibot.local   (or hostname.local if it was changed)
            username: pi
            password: raspberry
    

• ​WinSCP
  • A SFTP client used to transfer files between Windows and the Pi Zero. It uses the same connection information used for PuTTY.
  • Bitvise SSH Client also has a built-in SFTP client.

• Programming with Oracle jdk.dio
  • Sample program DioLed?.java:

       import java.io.IOException;
       import java.lang.InterruptedException;
       import jdk.dio.DeviceManager;
       import jdk.dio.gpio.GPIOPin;
    
       public class DioLed {
    
          public static void main(String[] args) throws IOException, InterruptedException {
             try (GPIOPin led = DeviceManager.open(23);) { // LED on BCM pin 23
                for (int i = 0; i < 10; i++) {
                     led.setValue(i % 2 == 0);
                     Thread.sleep(2000);
                }
             }
          }
       }
    

  • Sample java.policy file:

       // grant all permissions for the DIO framework
       grant {
          permission jdk.dio.DeviceMgmtPermission "*:*", "open";
          permission jdk.dio.gpio.GPIOPinPermission "*:*", "open,setdirection";
          permission jdk.dio.gpio.GPIOPortPermission "*:*";
          permission jdk.dio.i2cbus.I2CPermission "*:*";
          permission jdk.dio.spibus.SPIPermission "*:*";
          permission jdk.dio.uart.UARTPermission "*:*";
       };
    

  • Sample dio.properties file (note: pin number is BCM pin number: physical pin 16):

       23 = deviceType: gpio.GPIOPin, pinNumber:23, name:GPIO_USER_1, mode:-1, direction:3
    

  • Compile: javac -cp . DioLed.java
  • Run (assumes dio.jar is in same directory):

       sudo java -Djava.security.policy=./java.policy -classpath .:./dio.jar \
            -Djdk.dio.registry=./dio.properties DioLed