Problems loading through a server

[pu2pe]

Hi there!

I'm new to leJOS community. Installed last version 0.9.1 in Windows 7, 32 bits, I've been able to run both samples and pcsamples, from USB and BT in my NXT (with last firmware 1.3) and last Phantom driver from Lego Mindstorms.

First of all, fantastic work you've done!! I'm trully impressed with what I've found.

Now, my question. I've done a Java Project where I connect to the NXT through NXTConnector and NXTCommandConnector.getSingletonOpen() and I can use all the sensors and the motors.

But when I wrap this project in a Glassfish server and run it, it turns that I can only get system values like getBatteryLevel() by adding jfantom.dll to c:\Windows\System32, and when I try to read sensor values, just by setting the SensorPort number I get an exception:

Code: Select all

UltrasonicSensor distanceSensor = new UltrasonicSensor(SensorPort.S3);

java.lang.UnsatisfiedLinkError: lejos.nxt.SensorPort.setPowerTypeById(II)V
   at lejos.nxt.SensorPort.setPowerTypeById(Native Method)
   at lejos.nxt.SensorPort.setPowerType(SensorPort.java:1063)
   at lejos.nxt.SensorPort.setType(SensorPort.java:973)
   at lejos.nxt.SensorPort.reset(SensorPort.java:822)
   at lejos.nxt.SensorPort.<init>(SensorPort.java:804)
   at lejos.nxt.SensorPort.<clinit>(SensorPort.java:39)


or if I try to access to the motors I get a similar one:

Code: Select all

DifferentialPilot pilot = new DifferentialPilot(wheelDiameter, wheelDistance, leftMotor, rightMotor);

java.lang.UnsatisfiedLinkError: lejos.nxt.Battery.getBatteryStatus()I
   at lejos.nxt.Battery.getBatteryStatus(Native Method)
   at lejos.nxt.Battery.getVoltageMilliVolt(Battery.java:34)
   at lejos.nxt.Battery.getVoltage(Battery.java:49)
   at lejos.nxt.NXTRegulatedMotor.getMaxSpeed(NXTRegulatedMotor.java:805)
   at lejos.robotics.navigation.DifferentialPilot.getMaxTravelSpeed(DifferentialPilot.java:273)
   at lejos.robotics.navigation.DifferentialPilot.<init>(DifferentialPilot.java:164)
   at lejos.robotics.navigation.DifferentialPilot.<init>(DifferentialPilot.java:109)
   at lejos.robotics.navigation.DifferentialPilot.<init>(DifferentialPilot.java:84)


So I think I've also to load the native library:

Code: Select all

System.loadLibrary("jfantom");

and put it in the glassfish lib folder, but nothing of this has worked out.

I've even checked the dll with Dependency Walker, and I'm only missing Nispylog.dll.

What am I doing wrong?? Can you help me??

Thank you in advance!

Jose

[gloomyandy]

That looks like you have loaded the leJOS classes.jar into your glassfish environment. classes.jar should only be used by programs that run on the nxt. You need to be loading pccomm.jar for pc based programs.

[pu2pe]

Indeed I added classes.jar into the environment. I'll try to remove it later and see what happens...

Thanks!
Jose

[pu2pe]

It works!! gloomyandy, you're the man!!

Now sensors and motors work through http requests...!

Thank you very much, again, you've saved my day
Jose

[gloomyandy]

Great news glad you got it all working... Don't forget to post a link so we can all see what you have been doing!

[pu2pe]

For now I've got it working as a proof of concept.

For that I've done a minimum interface with JavaFX. I ask for the battery level through RESTful services and refresh the indicator of a cool control taken from the JFXtras project (http://jfxtras.org).

In the server side, with a Glassfish as the application server, the request goes to the NXT by bluetooth, gets the value and returns it back to the client.

Here it's a pic of this preliminary version, already working:



I intend to post about it, I let you know when I've done it.

Best regards!
Jose

[pu2pe]

Hi, finally I could blog about the first part of my little project:

http://jperedadnr.blogspot.com.es/2012/11/nxtlegofx-javafx-based-application-to.html

Hope you like it.

Next, I'll try to make a few JavaFX based blocks to remotely read sensors and control servos from the NXT.

Jose