name:Java CI

on:[push]

jobs:

build:

runs-on:ubuntu-latest

steps:

-name:Checkout source code

uses:actions/checkout@v1

with:

ref:master

-name:Set up JDK 11

uses:actions/setup-java@v1

with:

java-version:11

-name:Build with Gradle

run:./gradlew test checkstyleMain

*EV3Dev-lang-Java* is project to learn Java and create software for Mindstorms Robots using hardware supported by[EV3Dev](http://www.ev3dev.org/)

*EV3Dev-lang-Java* is project to learn Java and create software for Mindstorms Robots using hardware supported by[EV3Dev](http://www.ev3dev.org/)

& the[LeJOS](http://www.lejos.org/) way.

[](/LICENSE)

[](https://travis-ci.org/ev3dev-lang-java/ev3dev-lang-java)


For non Linux computers use:

For Linux computers use:

In Lego Mindstorms ecosystem, the default solution to develop Java software for Lego Mindstorms

was[LeJOS](http://www.lejos.org/) but now exists one alternative,`EV3Dev-lang-java` a Java project

running on the top of[EV3Dev](http://www.ev3dev.org/).

In Lego Mindstorms ecosystem, the default solution to develop Java software for Lego Mindstorms

was[LeJOS](http://www.lejos.org/) but now exists one alternative,`EV3Dev-lang-java` a Java project

running on the top of[EV3Dev](http://www.ev3dev.org/).

Lego Mindstorms ecosystem is`a nice educational way to learn Java programming in general and Robotics in particular`.

Now, it is possible to install a complete Linux distro in the third generation of the product and others companies like

Lego Mindstorms ecosystem is`a nice educational way to learn Java programming in general and Robotics in particular`.

Now, it is possible to install a complete Linux distro in the third generation of the product and others companies like

[Mindsensors](http://www.mindsensors.com/) &[Dexter Industries](https://www.dexterindustries.com/) has released products

which interact with Sensors & Actuators from Lego ecosystem and that boards can use the Power of the popular board

which interact with Sensors & Actuators from Lego ecosystem and that boards can use the Power of the popular board

[Raspberry Pi 3](https://www.raspberrypi.org/)

But, with the help of`EV3Dev`, it is possible to have the same Linux experience for multiple boards.

So... why not develop a Java library for that Linux Distro? The answer is`EV3Dev-lang-java`.

The project, takes the good things of both worlds: EV3Dev with the complete linux experience

But, with the help of`EV3Dev`, it is possible to have the same Linux experience for multiple boards.

So... why not develop a Java library for that Linux Distro? The answer is`EV3Dev-lang-java`.

The project, takes the good things of both worlds: EV3Dev with the complete linux experience

and LeJOS with the rich local navigation stack and the remote support in the future.

**What Debian versions are supported with this library?**

The library has support for`Debian Jessie` &`Debian Stretch`.

The library has support for`Debian Jessie` &`Debian Stretch`.

In this release, we have finished the support for`Debian Stretch` for EV3 and you could

use OpenJDK 11, or OpenJDK14 and it is amazing!

use OpenJDK 11, or OpenJDK15 and it is amazing!

If you need to use any Raspberry Pi Boards, I recommend to use the stable`EV3Dev`

If you need to use any Raspberry Pi Boards, I recommend to use the stable`EV3Dev`

[Debian Jessie](http://www.ev3dev.org/downloads/) release.

**What is the hardware platforms supported in this project?**

|---|------------------|--------------------------------------------|-------------------------|

| 1| Platforms| BrickPi BrickPi3 PiStorms| EV3|

| 2| OS| Debian Jessie| Debian Jessie/Stretch|

| 3| JVM| OpenJDK14| OpenJDK JRI 11 / 12 / 13 / 14|

| 3| JVM| OpenJDK15| OpenJDK JRI 11 / 12 / 13 / 14/ 15|

| 4| EV3Dev Kernel| 4.4.47-19-ev3dev-rpi2| 4.14.71-ev3dev-2.3.0-ev3|

| 5| ev3dev-lang-java| 0.7.0| 2.4.12|

**Note:** At the moment, we will maintain the whole solution until the next`LEGO Mindstorms` product estimated

for next January of 2021.

**Note:** At the moment, we will maintain the whole solution until the next`LEGO Mindstorms` product estimated

for next January of 2021.

**Java features**

* OpenJDK Java 11/12/13/14 support for EV3 Brick, Brickpi+/PiStorms + Raspberry Pi 3

* OpenJDK Java 11/12/13/14/15 support for EV3 Brick, Brickpi+/PiStorms + Raspberry Pi 3

* Java profiling tools Support ([Oracle mission control](http://www.oracle.com/technetwork/java/javaseproducts/mission-control/java-mission-control-1998576.html) &[JConsole](http://docs.oracle.com/javase/7/docs/technotes/guides/management/jconsole.html))

* Logging support based on[SLF4J](https://www.slf4j.org/)

* Centralized logs with[Kibana](https://www.elastic.co/products/kibana)

*[RPLidar A1/A2](https://github.com/ev3dev-lang-java/usb-devices) (2D Lidar) Support

Stable projects:

-[OpenJDK for EV3](https://github.com/ev3dev-lang-java/openjdk-ev3): A custom OpenJDK JRI/JDK (9,10,11,12) build for EV3

-[OpenJDK for EV3](https://github.com/ev3dev-lang-java/openjdk-ev3): A custom OpenJDK JRI/JDK (9,10,11,12) build for EV3

-[EV3Dev-lang-java](https://github.com/ev3dev-lang-java/ev3dev-lang-java): Low level integration with EV3Dev

-[lejos-commons](https://github.com/ev3dev-lang-java/lejos-commons): LeJOS interfaces & utilities

-[Installer](https://github.com/ev3dev-lang-java/installer): A set of Bash scripts to automate some operations with your brick

* LeJOS:http://www.lejos.org/

* LeJOS Git:http://sourceforge.net/p/lejos/ev3/code/ci/master/tree/

* LeJOS Git:http://sourceforge.net/p/lejos/ev3/code/ci/master/tree/

* LeJOS Forum:https://lejos.sourceforge.io/forum/search.php?keywords=ev3dev&sid=8642d9d1b361bcfdcdeabb26db89e632

* EV3Dev:http://www.ev3dev.org/

* EV3Dev // Getting Started:http://www.ev3dev.org/docs/getting-started/

api("net.java.dev.jna:jna:4.5.2")

testImplementation("ch.qos.logback:logback-classic:1.2.3")

testImplementation("commons-io:commons-io:2.5")

testImplementation("junit:junit:4.12")

testImplementation("org.hamcrest:hamcrest-all:1.3")

testImplementation("org.assertj:assertj-core:3.18.1")

}

compileJava.options.encoding='UTF-8'

ignoreFailuresfalse

maxWarnings=0

source'src/main/java'

reports {

xml.enabledfalse

html.enabledtrue

rule {

limit {

minimum=0.3

minimum=0.2

}

}

}

remotes {

ev3dev {

host='192.168.1.151'

host='192.168.1.157'

user='robot'

password='maker'

}

}

}

packageev3dev.utils;

importjava.io.Closeable;

importjava.io.IOException;

importjava.nio.ByteBuffer;

importjava.nio.channels.FileChannel;

importjava.nio.charset.StandardCharsets;

importjava.nio.file.Path;

importjava.nio.file.Paths;

publicclassDataChannelRereaderimplementsCloseable {

privatefinalPathpath;

privatefinalByteBufferbyteBuffer;

privatefinalFileChannelchannel;

publicDataChannelRereader(Pathpath,intbufferLength)throwsIOException {

this.path =path;

this.byteBuffer =ByteBuffer.allocate(bufferLength);

this.channel =FileChannel.open(path);

}

publicDataChannelRereader(StringpathString)throwsIOException {

this(Paths.get(pathString),32);

}

publicStringreadString() {

try {

intn;

do {

byteBuffer.clear();

channel.position(0);

n =channel.read(byteBuffer);

if (n == -1) {

thrownewIOException("Premature end of file ");

}

}while (n <=0);

byte[]bytes =byteBuffer.array();

if (bytes[n-1] =='\n') {

returnnewString(bytes,0,n -1,StandardCharsets.UTF_8);

}else {

returnnewString(bytes,0,n,StandardCharsets.UTF_8);

}

}catch (IOExceptione) {

thrownewRuntimeException("Problem reading path: " +path,e);

}

}

publicvoidclose()throwsIOException {

channel.close();

}

}

packageev3dev.utils;

importorg.slf4j.Logger;

importjava.io.File;

importjava.io.IOException;

importjava.io.PrintWriter;

importjava.nio.charset.Charset;

importjava.nio.file.Files;

importjava.nio.file.Path;

importjava.nio.file.Paths;

importjava.nio.file.StandardOpenOption;

importjava.util.ArrayList;

importjava.util.Arrays;

importjava.util.List;

importlombok.extern.slf4j.Slf4j;

publicclassSysfs {

privatestaticfinalLoggerlog =org.slf4j.LoggerFactory.getLogger(Sysfs.class);

publicstaticbooleanwriteString(finalStringfilePath,finalStringvalue) {

if (log.isTraceEnabled()) {

log.trace("echo " +value +" > " +filePath);

if (LOGGER.isTraceEnabled()) {

LOGGER.trace("echo " +value +" > " +filePath);

}

try {

finalFilefile =newFile(filePath);

out.close();

}else {

log.error("File: '{}' without write permissions.",filePath);

LOGGER.error("File: '{}' without write permissions.",filePath);

returnfalse;

}

}catch (IOExceptione) {

log.error(e.getLocalizedMessage(),e);

LOGGER.error(e.getLocalizedMessage(),e);

returnfalse;

}

returntrue;

publicstaticStringreadString(finalStringfilePath) {

if (log.isTraceEnabled()) {

log.trace("cat " +filePath);

if (LOGGER.isTraceEnabled()) {

LOGGER.trace("cat " +filePath);

}

try {

finalPathpath =Paths.get(filePath);

if (existFile(path) &&Files.isReadable(path)) {

finalStringresult =Files.readAllLines(path,Charset.forName("UTF-8")).get(0);

if (log.isTraceEnabled()) {

log.trace("value: {}",result);

try (DataChannelRereaderrereader =newDataChannelRereader(filePath)) {

Stringresult =rereader.readString();

if (LOGGER.isTraceEnabled()) {

LOGGER.trace("value: {}",result);

}

returnresult;

}

thrownewIOException("Problem reading path: " +filePath);

}catch (IOExceptione) {

log.error(e.getLocalizedMessage(),e);

LOGGER.error(e.getLocalizedMessage(),e);

thrownewRuntimeException("Problem reading path: " +filePath,e);

}

}

returnInteger.parseInt(readString(filePath));

}

publicstaticfloatreadFloat(finalStringfilePath) {

returnFloat.parseFloat(readString(filePath));

}

publicstaticbooleanexistPath(finalStringfilePath) {

if (log.isTraceEnabled()) {

log.trace("ls " +filePath);

if (LOGGER.isTraceEnabled()) {

LOGGER.trace("ls " +filePath);

}

finalFilef =newFile(filePath);

returnf.exists() &&f.isDirectory();

}

returntrue;

}

}