Hey Lawrie et. al.
You folks have been busy! I am excited to start "playing" with this!
I thank you for all your time and effort going into this and keep up the great
work!
Leg Godt!
-K
From: [EMAIL PROTECTED] [mailto:[EMAIL PROTECTED] On Behalf Of Lawrie Griffiths
Sent: Tuesday, May 06, 2008 13:37
To: [email protected]
Subject: [Lejos-discussion] 0.6.0 release of leJOS NXJ now out
Hi,
The 0.6.0beta release of leJOS NXJ is now out.
This release has many improvements to the size and performance of leJOS
binaries. The linker now does a much better job at removing redundant code,
constants etc. resulting is considerably smaller binary files. The speed of the
VM has been improved a great deal and the garbage collector is now incremental,
so that it does not cause delays of more than a millisecond or two.
The communications code has been improved a lot and USB and Bluetooth stacks
have been converged and most of the restrictions removed. There are now true
connections over USB and multiple NXTs are supported over USB.
Many of the restrictions and limits of the leJOS VM have been lifted - large
arrays are now supported, as are switch statements. There are improvements to
many of the leJOS device drivers including Sound, LCD, Buttons, flash writing,
etc. Buttons are now debounced so you should not see the wrong button being
reported any more, and there is an audible click when buttons are pressed.
Debugging is now better supported, System.out and System.err are now supported
and a RConsole class allows the output from these to be displayed on the PC
using a USB or Bluetooth connection. There is also a debug monitor thread that
can be enabled by the --debug parameter to nxj or nxjlink. This supports
interrupting the current program and displaying the status of all threads, and
it supports a stack trace when an uncaught exception occurs. Future release
will build on this and provide remote debugging.
Perstistent properties are now supported and used for the master volume, the
button click volume and other new features.
The menu has changed quite a bit. The top line now has a graphical battery
icon, displays the name of the NXT and indicates whether Bluetooth is on or
off. There is a new "Run Default" option: a program can be set as the default
from the Files menu and can then be quickly run by "Run Default", i.e just
pressing ENTER after leJOS starts. From the System menu it is then possible to
specify that the program auto runs when the NXT brick is switched on. You can
press the LEFT button during start-up to force the menu to start. This
capability is useful for turnkey robots.
There is a Sound option on the menu that allolws master volume and button click
volume to be set persistently. The Sstem menu now allows a sleep timer to be
set that shus the menu down to save power after a specified number of minutes
of inactivity.
There is a Version menu options that display the version number of the firmware
and menu. The revision is the Subversion revision number.
The File menu is now sensitive to the file extension. It only allows binary
files (.nxj or .bin) to be executed and set as the default. It allows .wav
filews to be played.
There is support in this release for Bluetooth devices including GPS devices
and a Bluetooth keyboard. Bluetooth support is now a bit closer to the JSR-82
Java standard.
Several new I2C devices are supported including the RCX sensor multiplexor and
the Lattebox NXTe interface. There is improved supprt for other I2C devices.
nxjflash now has a -f option that forces a format of the file system. This
saves having to restore the original Lego firmware if the file system becomes
corrupt and leJOs will not load.
The ant build file for Linux and MAC OS X has been improved and should work
without needing modification on more systems. However, it has not yet been
tested on MAC OSX.
Bluetooth is now supported on MAC OS X using Bluecove.
Experimental support for Bluecove on Linux is also provided, but the Bluecove
project have not released this yet - we are using a snapshot of the 203 version
of Bluecove.
Have fun and let the development team know how you get on with this release.
The forums on the web site are the best way to do this.
Lawrie Griffiths
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