Updated to 3.02

.dockerignore

@@ -1,9 +1,8 @@
 .vscode/
 docker_image/
-udev/
+config/udev/
 scripts/docker-scripts/
 scripts/wsl-usb-scripts/
 *Project_Template/
 .gitignore
-install.sh
 nxtOSEK.code-workspace

Dockerfile

@@ -1,69 +1,14 @@
-############################################################################################
-# STAGE 1: Compile NXT utilities (and dependencies) for this platform
-############################################################################################
-#FROM ubuntu:14.04 AS stage1
-#ARG DEBIAN_FRONTEND=noninteractive
-
-# Install host compiler and prereqs
-#RUN apt-get update \
-# && apt-get -y --no-install-recommends install \
-#        apt-transport-https build-essential texinfo unzip \
-#        libgmp-dev libmpfr-dev libppl-dev libcloog-ppl-dev \ 
-#       tk-dev ncurses-dev wget gzip tar software-properties-common \ 
-#        xvfb gcc-4.8 gdb gdb-multiarch vim scons python3 \
-#        libc-dev make autoconf libtool libusb-dev
-
-# Copy source code for NXT tools
-#ADD src /src
-#WORKDIR /src
-
-# Build LibUSB
-#RUN tar xf /src/libusb-0.1.12.tar \
-# && mkdir -p /build/libusb \
-# && cd /build/libusb \
-# && ls /src \
-# && /src/libusb-0.1.12/configure \
-# && make CFLAGS="-Wno-error" CXXFLAGS="-Wno-error" install
-# make install
-
-# Build LibNXT
-#RUN tar xf /src/libnxt-0.3.tar \
-# && cd /src/libnxt-0.3 \
-# && scons \
-# && chmod +x ./fwflash \
-# && chmod +x ./fwexec
-## cp ./fwflash $TOOLDIR/fwflash
-## cp ./fwexec $TOOLDIR/fwexec
-
-# Build NeXTTOOl
-#RUN unzip /src/bricxcc-3.3.8.10.zip \
-# && cd /src/bricxcc-3.3.8.10 \
-# && make -f nexttool.mak \
-# && chmod +x ./nexttool
-## cp ./nexttool $TOOLDIR/nexttool
-
-# Build modified LibNXT from the LeJOS-OSEK source code
-#ADD nxtosek /nxtosek
-#RUN cd /nxtosek/lejos_nxj/src/libnxt \
-## && scons
-
-############################################################################################
-# STAGE 2: Install NXTOSEK and dependencies 
-############################################################################################
-FROM ubuntu:20.04 AS stage2
+FROM ubuntu:20.04
 ARG DEBIAN_FRONTEND=noninteractive
-ARG USERNAME=nxtosek
+ARG USERNAME=nxtuser
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
-ENV NXTOSEK=/home/$USERNAME
-ENV NXT_TOOLS_DIR=/usr/local/bin
+ARG NXT_TOOLS_DIR=/usr/local/bin
+ENV NXTOSEK=/usr/local/src/nxtosek
 ENV DISPLAY=:0
 ENV WINEARCH=win32
 ENV WINEDLLOVERRIDES="mscoree,mshtml="
 
-# Load 3rd-party source code into image
-ADD src /src
-
 # Add new nxtosek user with sudo privileges and no password
 RUN groupadd -f --gid $USER_GID $USERNAME \
  && useradd --create-home --uid $USER_UID --gid $USER_GID -m $USERNAME  \
@@ -72,27 +17,30 @@ RUN groupadd -f --gid $USER_GID $USERNAME \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
  && chmod 0440 /etc/sudoers.d/$USERNAME \
 # Add user permissions for most USB devices \
- && usermod -aG plugdev nxtosek \
- && usermod -aG dialout nxtosek \
- && usermod -aG users nxtosek \
+ && usermod -aG plugdev ${USERNAME} \
+ && usermod -aG dialout ${USERNAME} \
+ && usermod -aG users ${USERNAME} \
 # Packages required to install more packages \
  && apt-get -y install --no-install-recommends \
     make vim wget gnupg software-properties-common \
-# Software required for building 3rd party tools \
+# Software required for running 3rd party tools \
  && apt-get -y install --no-install-recommends \
-    gcc g++ build-essential fpc libusb-0.1-4 libusb-dev scons python \
+    libusb-0.1-4 \
+# Software required for building 3rd party tools \
+#&& apt-get -y install --no-install-recommends \
+#   gcc g++ build-essential fpc libusb-dev scons python \
 # Build NeXTTool \
- && cd /src/bricxcc/code \
- && make -f nexttool.mak \
- && chmod +x nexttool \
- && cp nexttool ${NXT_TOOLS_DIR}/nexttool \
+#&& cd /src/bricxcc/code \
+#&& make -f nexttool.mak \
+#&& chmod +x nexttool \
+#&& cp nexttool ${NXT_TOOLS_DIR}/nexttool \
 # Build LibNXT \
- && cd /src/libnxt \
- && scons \
- && chmod +x ./fwflash \
- && chmod +x ./fwexec \
- && cp ./fwflash ${NXT_TOOLS_DIR}/fwflash \
- && cp ./fwexec ${NXT_TOOLS_DIR}/fwexec \
+#&& cd /src/libnxt \
+#&& scons \
+#&& chmod +x ./fwflash \
+#&& chmod +x ./fwexec \
+#&& cp ./fwflash ${NXT_TOOLS_DIR}/fwflash \
+#&& cp ./fwexec ${NXT_TOOLS_DIR}/fwexec \
 # Install ARM cross-compiler and debuggers \
  && apt-get -y install --install-recommends \
     usbutils gcc-arm-none-eabi binutils-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib gdb-multiarch openocd \
@@ -111,21 +59,31 @@ RUN groupadd -f --gid $USER_GID $USERNAME \
  && apt-get autoremove -y \
  && apt-get clean -y \
  && rm -rf /var/lib/apt/lists/* \
- && rm -rf /src
+# Create projects folder \
+ && mkdir -p /home/${USERNAME}/projects
 
-# Install scripts into NXT_TOOLS_DIR
-ADD scripts/include ${NXT_TOOLS_DIR}
-
-# Install NXTOSEK
+# Copy nxtOSEK core files
 ADD nxtosek ${NXTOSEK}
 COPY VERSION README.md ${NXTOSEK}/
 
+# Copy NXT tools
+ADD config/bricxcc /home/${USERNAME}/bricxcc
+COPY src/bricxcc/code/nexttool src/libnxt/out/fwexec src/libnxt/out/fwflash ${NXT_TOOLS_DIR}/
+# Make sure NXT tools always run as root
+RUN chown root:root ${NXT_TOOLS_DIR}/nexttool \
+ && chown root:root ${NXT_TOOLS_DIR}/fwexec \
+ && chown root:root ${NXT_TOOLS_DIR}/fwflash \
+ && chmod a+s ${NXT_TOOLS_DIR}/nexttool \
+ && chmod a+s ${NXT_TOOLS_DIR}/fwexec \
+ && chmod a+s ${NXT_TOOLS_DIR}/fwflash
+
+# Copy scripts
+COPY scripts/wine-headless.sh ${NXT_TOOLS_DIR}/wine-headless
+
 # Switch to NXTOSEK user
-WORKDIR ${NXTOSEK} 
+WORKDIR /home/${USERNAME}/projects
 USER ${USERNAME}
 
-# Initialize a 32-bit Wine install
+# Initialize a 32-bit Wine install \
 RUN wine-headless wineboot
 
-
-

INSTALL.md

@@ -6,52 +6,28 @@ This process has been tested on Ubuntu 20.04 running in VMWare and on Ubuntu 20.
 
 ---
 
-## Installation under Ubuntu Desktop 20.04 (Non-WSL)
-
-### Prerequisites:
-
-- [Visual Studio Code](https://linuxize.com/post/how-to-install-visual-studio-code-on-ubuntu-20-04/) for Ubuntu Desktop and the [Remote-Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension
+### Prerequisites for Ubuntu Desktop 20.04 (Non-WSL):
 
+- [Visual Studio Code](https://linuxize.com/post/how-to-install-visual-studio-code-on-ubuntu-20-04/) for Ubuntu Desktop
+- *Optional*: [Remote-Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension.
 - If running in a Virtual Machine (VMWare, Virtualbox, etc) you should set a USB device filter to autoconnect NXTs to your VM. Look up instructions for your particular software.
 You need to autoattach both NXT and SAM-BA devices (for downloading firmware); the relevant Vendor:Product IDs are 0694:0002 and 03eb:6124, respectively.
 
-### Installation:
-
-1. Clone this repository:
-
-    ```
-    git clone https://github.com/danielk-98/nxtOSEK
-    ```
-
-2. Run install script:
-    ```
-    cd ./nxtOSEK
-    ./install.sh
-    ```
-    This will download and install Docker using the official Docker install script.
-    You will also be prompted to download the latest release of the nxtOSEK Docker image (this may take awhile). If you opt out, you can download it later using ./scripts/download_release.sh or download it manually from this repo's Releases page.
-
-3. See the section "Starting A New nxtOSEK Project" for how to get started!
-
----
-
-## Installation under Windows 11 (WSL2-Ubuntu)
-
-### Prerequisites:
+### Prerequisites for Windows 11 (WSL2-Ubuntu):
 
 - Windows 11 (Likely not working in Windows 10 due to Win11-exclusive features)
 - [WSL2](https://ubuntu.com/tutorials/install-ubuntu-on-wsl2-on-windows-11-with-gui-support) with Ubuntu 20.04 LTS.
-- [Visual Studio Code](https://code.visualstudio.com/download) for Windows, the [Remote-Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension, and the [Remote-WSL](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-wsl) extension.
+- [Visual Studio Code](https://code.visualstudio.com/download) for Windows and the [Remote-WSL](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-wsl) extension.
+- *Optional*: [Remote-Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension.
 - [USB-IP](https://github.com/dorssel/usbipd-win/releases/) server  for Windows
 
-### Installation:
+---
 
-1. Open VS Code. In File->Preferences->Settings, search for `remote.containers.executeInWSL` . Check the box to enable the option.
-   If you have multiple WSL instances, you can also change the `remote.containers.executeInWSLDistro` option and select which distro will contain Docker.
+## Installation:
 
-In a new WSL terminal:
+1. Install prerequisite software for your system (see above)
 
-2. Clone this repository:
+2. Open a new terminal. Clone this repository:
 
     ```
     git clone https://github.com/danielk-98/nxtOSEK
@@ -62,51 +38,87 @@ In a new WSL terminal:
     cd ./nxtOSEK
     ./install.sh
     ```
-    This will download and install Docker using the official Docker install script.
-    You will also be prompted to download the latest release of the nxtOSEK Docker image (this may take awhile). If you opt out, you can download it later using ./scripts/download_release.sh or download it manually from this repo's Releases page.
+    After some preliminary configuration, the script will ask you to download the nxtOSEK Docker image.
 
-4. See the section "Starting A New nxtOSEK Project" for how to get started!
+    If Docker is not installed or if you opt-out of the Docker image, the nxtOSEK toolchain can be installed locally instead (recommended). However, this requires installing many new packages (Wine, ARM cross-compiler, etc.) on your system.
 
---- 
+    The Docker image may take a long time to download but is much less likely to break far in the future due to missing dependencies, since it is already pre-compiled and working.
 
-## Starting A New nxtOSEK Project
+    **The local installation option is recommended - but if packages are no longer available for your system, download the Docker image instead.**
+
+
+---
 
-    Note: nxtOSEK **can** be used independently of VS-Code. From an Ubuntu or WSL2 terminal, launch `./scripts/bash_release.sh` to spin up a temporary nxtOSEK container and connect to a Bash terminal.
+## Starting A New nxtOSEK Project
 
-There are currently project templates available for C and C++ development using the OSEK kernel.
 
-1. Choose OSEK_C_Project_Template or OSEK_C++_Project_Template, then copy the folder to wherever you want to store your new project. Feel free to rename it as desired.
+1. Choose `OSEK_C_Project_Template` or `OSEK_C++_Project_Template`, then copy the folder to wherever you want to store your new project. Feel free to rename it as desired.
 
-Then open the project in an nxtOSEK development container:
 
-2. Open Visual Studio Code.
+2. Open the project in Visual Studio Code.
    
-    2a.	*For Windows 11/WSL2 ONLY*: press F1 to open the command menu and find: `Remote-WSL: New WSL Window Using Distro...` . Select the same WSL distro under which you ran install.sh.
+    *For Windows 11/WSL2 ONLY*: Press F1 to open the command menu and find: `Remote-WSL: New WSL Window Using Distro...` . Select the same WSL distro under which you ran install.sh. Once WSL is running and connected, open the template.code-workspace file as normal.
+
+    *If developing within Docker image*: Press F1 to open the command menu and find: `Remote-Containers: Open Workspace In Container` .	Select the template.code-workspace file located in the project folder.
 
-    - The Project workspace will only open if VS Code is already connected to a running WSL2 instance.
+    *If developing using a local nxtOSEK install (no Docker image)*: Press F1 to open the command menu and find: `File: Open Workspace from File` .	Select the template.code-workspace file located in the project folder.
 
-3. Press F1 to open the command menu and find: `Remote-Containers: Open Workspace In Container` .	Select the template.code-workspace file located in this folder.
-	Ignore the warning message regarding relative paths.
 
-Edit the project, or leave as-is (helloworld code is already included).
+3. Write code in ./src, define tasks in template.oil, and edit the build options in Makefile. Or leave the project as-is; "helloworld" code is already included.
 
-4. Write code in ./src, define tasks in template.oil, and edit the build options in Makefile.
+    *If developing using a local nxtOSEK install (no Docker image)*: You can delete `.devcontainer/` and `run-in-container.sh`, as these will not be needed.
 
-5. In a VS Code terminal, run "make all" to compile the project into an NXT executable. If you have the [Tasks extension](https://marketplace.visualstudio.com/items?itemName=actboy168.tasks)  installed, you can simply click the "make all" button in the bottom ribbon.
+4. In a VS Code terminal, run "make all" to compile the project into an NXT executable. If you have the [Tasks extension](https://marketplace.visualstudio.com/items?itemName=actboy168.tasks)  installed, you can simply click the "make all" button in the bottom ribbon.
 
-Finally, download the program to the NXT.
+5. Connect an NXT to your computer via the USB cable.
 
-6. Connect an NXT to your computer via the USB cable.
-	The device should be automatically passed through to the running Docker container. Both `lsusb` and `nexttool -listbricks` should confirm the NXT connection was successful.
+    *For Windows 11/WSL2 ONLY*: 
+	The USB device should be automatically passed through to WSL within 10 seconds. Both `lsusb` and `nexttool -listbricks` should confirm the NXT connection was successful.
 
-7. If you haven't yet installed the Enhanced Firmware on the NXT, do so by running "./flash-rxe-firmware.sh"
+6. If you haven't yet installed the Enhanced Firmware on the NXT, do so by running "./flash-rxe-firmware.sh"
 
 	The NXT will enter SAM-BA (reset) mode and begin clicking with a blank screen.
 	Re-run the script if the firmware download fails.
 	Once the firmware download is complete the screen will return to the normal menu.
 
-8. In a VS Code terminal, run "./flash-rxe-app.sh" to download the .rxe binary to the NXT.
+7. In a VS Code terminal, run "./flash-rxe-app.sh" to download the .rxe binary to the NXT.
 
 
 There are many options for configuring your project. Please see the documentation directory and/or the original website (http://lejos-osek.sourceforge.net/) for more information.
 
+
+---
+
+## Developing in Docker in WSL
+
+It is possible to run VS Code inside a Docker container inside WSL. This is currently the most future-proof way to use nxtOSEK on Windows.
+
+1. Complete the installation as outlined above. While running `install.sh`, choose the options to install Docker and download the nxtOSEK Docker image.
+
+2. Open VS Code on Windows. In File->Preferences->Settings, search for `remote.containers.executeInWSL` . Check the box to enable the option.
+   If you have multiple WSL instances, you can also change the `remote.containers.executeInWSLDistro` option and select which distro contains the nxtOSEK Docker image.
+
+3. Proceed with project setup as normal. Make sure VS Code is open and connected to WSL before running `Remote-Containers: Open Workspace In Container`
+
+---
+
+## Tips for developing nxtOSEK using Docker
+
+If the nxtOSEK Docker image has been installed, you can use `my_project/run-in-container.sh` to run commands in a Docker container with your project files. For example (Run from the root of your project folder):
+
+Build your project (Does not need nxtOSEK toolchain installed locally!):
+
+`./run-in-container.sh make all`
+
+Clean your project:
+
+`./run-in-container.sh make clean`
+
+Open an interactive terminal containing your project workspace and an nxtOSEK development environment:
+
+`./run-in-container.sh bash`
+
+Download your program to the NXT over USB (Does not need the NXT tools installed locally!):
+
+`./run-in-container.sh ./flash-rxe-app.sh`
+

OSEK_C++_Project_Template/.devcontainer/devcontainer.json

@@ -19,8 +19,8 @@
  	//source=/dev/bus/usb,target=/dev/bus/usb,type=bind",
     //"source=/var/run/dbus,target=/var/run/dbus,type=bind"
 	],
-	"workspaceMount": "source=${localWorkspaceFolder},target=/home/nxtosek/projects/${localWorkspaceFolderBasename},type=bind",
-	"workspaceFolder": "/home/nxtosek/projects/${localWorkspaceFolderBasename}",
+	"workspaceMount": "source=${localWorkspaceFolder},target=/home/nxtuser/projects/${localWorkspaceFolderBasename},type=bind",
+	"workspaceFolder": "/home/nxtuser/projects/${localWorkspaceFolderBasename}",
 
 	// Add the IDs of extensions you want installed when the container is created.
 	"extensions": [
@@ -32,7 +32,7 @@
 
 	// Overrides the user for all operations run as inside the container.
 	// Defaults to either root or the last USER instruction in the related Dockerfile used to create the image.
-	"containerUser": "nxtosek",
+	"containerUser": "nxtuser",
 
 	// A command string or list of command arguments to run on the host machine before the container is created.
 	//"initializeCommand": "sudo sysctl -w vm.mmap_min_addr=0 && sudo killall -9 bluetoothd && sudo cp 70-nxt.rules /etc/udev/rules.d/ && sudo udevadm control --reload-rules",

OSEK_C++_Project_Template/.vscode/c_cpp_properties.json

@@ -1,14 +1,13 @@
 {
     "configurations": [
         {
-            "name": "OSEK_C++",
+            "name": "OSEK",
             "includePath": [
                 "${workspaceFolder}/**",
-                "${env:NXTOSEK}/c++/**",
-                "${env:NXTOSEK}/ecrobot/c/**",
-                "${env:NXTOSEK}/ecrobot/c++/**",
-                "${env:NXTOSEK}/toppers_osek/**",
-                "${env:NXTOSEK}/lejos_nxj/src/nxtvm/**"
+                "/usr/local/src/nxtosek/ecrobot/c",
+                "/usr/local/src/nxtosek/ecrobot/c++/**",
+                "/usr/local/src/nxtosek/toppers_osek/**",
+                "/usr/local/src/nxtosek/lejos_nxj/src/nxtvm/**"
             ],
             "defines": [],
             "compilerPath": "/usr/bin/arm-none-eabi-gcc",