Friday Dec 04, 2009

Java SDK for FIRST Robotics Competition Released!

Over the last few months we've been working with WPI and 20 high school robotics teams getting the Java SDK for the FIRST Robotics Competition ready for the 2010 season. We've been getting great feedback from the teams including bugs and questions. We've also seen confirmation of the value that Java brings to some teams. One mentor said that they can usually only find a couple of student C++ programmers for the team, but for 2010 they have 10 Java programmers! Or was it 15?

This week FIRST announced a public release of the Java SDK. Here's the official word from Bill's Blog (the official FRC blog):

In addition, I’m very pleased to let you know that an early version of the FRC Java software is now available for download at http://first.wpi.edu/FRC/frcjava.html . I know we promised this for November, and I apologize for being a few days late, but I think you will be very happy with the results. Our hats off to the extraordinarily dedicated Java beta test teams and the developers for all their hard work! Veteran teams, I encourage you to open your doors to rookies in your area interested in getting an early look at Java and how it works with the robot. Remember they don’t have the advantage of having last year’s control system to experiment with.


This early-release SDK is only fully usable by FRC teams that have the cRIO hardware (veteran teams). Check the FIRST forums to read or request more information.

This Java SDK is based on the Squawk JVM and the Sun SPOT SDK. Rookie teams can get experience with the Netbeans IDE and Java ME APIs by using the Sun SPOT Emulator. See http://sunspotworld.com/frc for more information.

BTW, if you're an experienced Java programmer, don't sit around pouting about how you never get to program dangerous, high-speed, 120 pound robots. Consider being a programming mentor to a local FRC team! See our mentoring tips wiki as well as usfirst.org.


Wednesday Jun 10, 2009

FIRST @ JavaOne Wrap Up, videos, photos, and links...

I've finally caught my breath after JavaOne - we had a busy week. We were able to bring FIRST to a lot of technical people that had never heard of FIRST, and let people know that Java was coming.

JavaOne Pavilion... Technical Session and BOF...

James Gosling's Toy Show Keynote

Brad Miller and James Gosling talked about FIRST and Java in front of a live audience of thousands and webcast to many more. I helped with a demo along with Scott and Austin.

Duke's Choice Award... Thanks... More Information...  (Full Blog Entry)

[Read More]

Friday May 29, 2009

FIRST @ JavaOne

FIRST and the FIRST Robotics Competition will be part of several events at the JavaOne conference June1-5 at the Moscone Center in San Francisco. Many sessions are FREE to all, or FREE to students (registration required)

CommunityOne
Monday, June 1 - S311736: "Lightning Talks, Part 4/FRC-FIRST Robotic Competition" 2:40 PM - 3:30 PM Esplanade 303

CommunityOne Registration
CommunityOne events are free to all. Register at http://www.cplan.com/communityone2009/w ... gistration

JavaOne
Pavilion - Java Playground
Will have representatives from FIRST, WPI, and several FRC teams. Robots will be demoed in the robot arena. Learn about FIRST, the FIRST Robotics Competition, and Java for FRC. Find out how to get involved!
Monday (June 1) 3:00 pm - 7:00 pm,
Tuesday 11:30 am - 7:30 pm
Wednesday 10:00 am - 4:30 pm
Thursday 10:00 am - 2:00 pm

Thursday, June 4 - TS-4945: FRC-FIRST Robotic Competition 2:50 PM - 3:50 PM Esplanade 305

1.The Java™ platform is an interesting vehicle for teaching kids about programming.
2. FIRST is an organization whose mission is to inspire young people to be science and technology leaders by engaging them in exciting mentor-based programs that build science, engineering, and technology skills; inspire innovation; and foster well-rounded life abilities such as self-confidence, communication, and leadership.
3. Robots are cool; robotic competitions are even cooler.
What happens when you mix these three things? You come up with a winning combination that lets kids and "adults" have a lot of fun.

Thursday, June 4 - BOF-4953 (Birds-Of-a-Feather) FRC-FIRST Robotic Competition 6:30 PM - 7:20 PM North Hall 124
What do robots and FIRST have to do with Java™ technology? Come to this session and see firsthand what Java technology is enabling kids to do today with some cool hardware. Get to play with big competition robots and their teams.

Friday, June 5 - James Gosling's Toy Show (general session) 8:30 am - 10:30 am

JavaOne Registration
The JavaOne Pavilion Pass, which includes General Sessions (and James Gosling's Toy Show) is free to all. Register at http://java.sun.com/javaone/2009/regist ... ilion_pass.

All sessions at JavaOne are free to students (under 18 requires chaperon). Register at http://java.sun.com/javaone/2009/regist ... d_students

Tuesday May 26, 2009

FIRST Atlanta Championship - Now With More Java!

I attended the 2009 FIRST Championship April 16-18 at the Georgia Dome in Atlanta, GA as part of the Java for FRC announcement. We demoed Java running on several robots, over-the-air debugging, and multi-platform development (Windows, Linux, Mac (and we kept getting asked about Solaris)). We gave a couple of talks with James Gosling about Java for FRC.

IMG_4198 IMG_4108 IMG_4136 IMG_4176

This was my first time at a FIRST Championship and it was pretty overwhelming.

  • 20,000 people
  • Hundreds of FRC, FTC, and FLL teams (and robots)
  • Four simultaneous competitions in the Georgia Dome
  • The World Congress Center filled with pits, practice fields, presentations, and people

But what was really impressive were the teams. It was really clear that FIRST was succeeding at its mission of inspiring students in science and technology. Students didn't just learn that science was cool - they knew that they were cool. These are kids that are not worried about being called geeks, or anything else for that matter:

IMG_1705 IMG_4155

Slideshow

As always, check out FIRST Robotics @ Sun for information on getting involved with FIRST.

FIRST Show-and-Tell at Burlington, MA campus

Last Friday we had three teams, five robots, WPI and FIRST come to visit Sun's Burlington, MA campus. The teams talked about their robots and experiences with FIRST, and mentors explained what mentoring for FIRST was all about.

Two of the robots were Java-powered - team 1519's little "Speed Racer" (look for the Duke on top), and WPI's demo robot ("demo" may stand for demonstration or demolition). Steve Heller arranged a demonstration of torque:

IMG_4563

Check out FIRST Robotics @ Sun for future FIRST show-and-tells on campus, and more information about FIRST.

Next stop - JavaOne!

IMG_4566
IMG_4555 IMG_4554 IMG_4552

Wednesday May 20, 2009

Upcoming FIRST events - JavaOne & Burlington Campus visits

Here are some upcoming events where you can learn more about FIRST, the FIRST Robotics Competition, Java + FIRST, and FIRST @ Sun.

This Friday, for Sun employees, we will have one or two FRC teams visiting the Burlington, MA campus. They will show off their robots  - and you can learn about what FRC means to them, and about mentoring and volunteer opportunities that exist. I'll also be here to talk about Java on the FRC robots, and should have a robot to demo.

Sun has given FIRST a big platform at JavaOne to show off what FIRST is about. It's also a chance to announce that along with Java being available for the robotics competition next year comes a need for experienced Java developers to mentor teams all across the United States and internationally.

There will be live robot demos in the Pavillion, where you can also talk to teams, mentors, and volunteers about FIRST. There will be a Tech Session describing Java for FRC - both how it was ported and how it can be used (TS-4945), a Birds-Of-a-Feather session for existing FIRST participants as well as though interested in learning more (BOF-4953), and perhaps a comment from James Gosling at his closing keynote!

Date

Time

Event
Venue Location
May 22

Noon

FIRST Teams "show-and-tell"
Sun Cafeteria\*\*\* Burlington, MA
Jun 1-4
daily

FIRST booth and Robot Arena
Java Playground - Pavilion JavaOne
Jun 4
2:50pm

Tech Session 4945: FRC-FIRST Robotic Competition
Esplanade 305 JavaOne
Jun 4

6:30pm

BOF-4953: FRC-FIRST Robotic Competition
North Hall 124 JavaOne

Keep in mind that the JavaOne Pavilion access is FREE. Students can get access to all JavaOne events FREE

\*\*\* The event at the Sun campus in Burlington, MA is open to emplyees only.

Friday Feb 06, 2009

GC debugging + surfing + nutrition?

      A year ago I was tracking down a garbage collector bug in Squawk over many days. Like most debugging, you start with a theory of what might be going wrong, figure out what data would prove or disprove the theory, and try to reproduce the bug while getting this critical data.
recycle logo
But now life starts getting interesting. We can't use a debugger on device when the system is this broken. And the system is built on an abstraction of objects (almost everything in Squawk is written in Java), but when memory overwrites can blow away metadata like object lengths and class pointers, you realize that you can't trust everything you see.

This isn't the profound, but ultimately simple, betrayal of the ground during an earthquake. Garbage collection can effect every object in the heap, so garbage collection bugs are more like betrayal in a bad Kung Foo movie:

Sensei-you've-raised-me-from-childhood-but-are-really-the-re-incarnation-of-my-father's-evil-half-twin-(and
killer)---Is-nothing-you've-taught-me-true?!!!


I had spent a few days and several dives down into the system, only to rise to the surface with theories disproved or becoming deeply disoriented. So one morning, I started with a new theory and tools, took a deep breath, and dove into the system again. Suddenly I was struck with a flashback of body surfing as a kid at Hendry's Beach and getting slammed by waves, tumbling around until I didn't know which way was up. cc

After reminiscing for a few minutes, I realized how amazing it was that my metaphoric dives and confusion could invoke such as strong memory. I could feel the oily tar residue of the ocean in my mouth. I could taste the seaweed that always reminded me of ice cream and of the kelp harvesters on the horizon.




I started thinking about how high-level metaphors could trigger such low-level sensory memories, when a sudden small burp reminded me of the fish oil pills and smelly vitamins that I had washed down that morning with a cup of hot coffee. Lesson learned :-)


ps. There was still a GC bug to fix. It turned out that we were removing the stack object (yes, it's an object) for a dying thread from the set of GC roots while the thread was executing the last few steps of thread shutdown. Yikes!

Monday Dec 15, 2008

Class Literals in Java ME

Background

Last week I learned that there was more to Java class literals than I expected - and not in a good way. If you're working in Java SE you can skip reading now, but in Java ME this might be of interest...

Class literals were added to the Java language in 1.1 days - they allow you to get a reference to a Class object as if any class had a static field called "class". So you can get the Class object for the String class by using the expression String.class instead of calling Class.forName and dealing with exceptions.

This is a great convenience - not for avoiding some try-catches (you could use a helper method for that) -  because the class name is checked at compile-time instead of run-time. If you change the name of a class everywhere but in the string passed to Class.forName, javac won't be any help.

Issue

In Java 1.5 the JVM Spec was updated to include direct support for class literals (extending the ldc bytecode). But how did class literals worked in Java 1.1 through 1.4? And how do they work in Java ME CLDC now?

It turns out that javac just keeps generating code until it works :-) There are a couple of variations in what it does depending on the Java target version used, but I'll describe what I've seen for -target 1.2 or 1.3 (which includes most (all?) Java ME CLDC applications).

Consider this trivial class using a Class Literal:

public class ClassTest {
    static Class c2 = String.class;
}
Javac will generate code roughly like this:
public class ClassTest {
    static Class c2;

    static Class class$java$lang$String; // cache (would make sense with a different example)

    static {
        if (class$java$lang$String == null) {
            class$java$lang$String = class$("java.lang.String");
        }
        c2 = class$java$lang$String;
    }

    static Class class$(String name) {
        try {
            return Class.forName(name);
        } catch (ClassNotFoundException ex) {
            Exception newex = new NoClassDefFoundError(ex.getMessage());
        }
    }
}

Bigger Issue

OK, so this is getting a little messy - the simple expression String.class is generating about 33 bytes of bytecode plus overhead for an anonymous field and method. But what happens when the class literal is referenced from an interface instead of a class? Note that interfaces can't have static methods, so javac generates an anonymous class to hold the anonymous method!
public interface InterfaceTest {
    static Class c2 = String.class;
}
Javac will generate code roughly like this:
public interface InterfaceTest {
    static Class c2;

    static {
        if (InterfaceTest$1.class$java$lang$String == null) {
            (InterfaceTest$1.class$java$lang$String = class$("java.lang.String");
        }
        c2 = (InterfaceTest$1.class$java$lang$String;
    }
}

public class InterfaceTest$1 {
    static Class class$java$lang$String;

    static Class class$(String name) {
        try {
            return Class.forName(name);
        } catch (ClassNotFoundException ex) {
            Exception newex = new NoClassDefFoundError(ex.getMessage());
        }
    }
}
This results in the same amount of bytecode overhead, but now we have extra class overhead. The class file for the anonymous class InterfaceTest$1 is about 587 bytes. Now multiply this by every interface that references a class literal.

Java Native Access

So why would anyone have interfaces that references a class literals? Check out the Java Native Access (JNA) project. JNA is an interesting system that lets you declare native functions you'd like to call from Java, and JNA takes care of generating a callout, without generating any JNI code. I'll be blogging about JNA in the future.

The typical JNA usage pattern is to declare an interface that contains the functions you want to call (as interface methods), and JNA creates an implementation that will actually do the call. To match the interface and implementation to a dynamic library containing the native code, the interface should declare a static variable such as:

    public interface CLibrary extends Library {
        CLibrary INSTANCE = (CLibrary)
            Native.loadLibrary((Platform.isWindows() ? "msvcrt" : "c"),
                               CLibrary.class);
    
        void printf(String format, Object... args);
    }

So What? And Where's the Squawk Connection?

OK, to recap, in Java 1.5 and later, this doesn't happen because the JVM can handle class literals. But in a Java ME system with tight memory constraints, such as what Squawk is designed for, this could add up.

But the Squawk VM handles class literals just fine, it's just that javac doesn't know that. In the process of converting normal Java bytecodes into Squawk bytecodes, we can do a lot of cleanup. The simplest trick that comes to mind is to pattern match in the static initializer "clinit", looking for the initialization of the anonymous field with a call to the anonymous method.

If we simply replace the call to class$("java.lang.String") with a load of the class literal, then the anonymous method will not be called, and the dead method elimination (DME) phase will delete the method.

Getting rid of the anonymous class is trickier than I first thought, because the cache variable ("class$java$lang$String") gets declared in the anonymous class. In theory we can handle this by constant propagation - the cache field is final, and is really initialized by a constant value, so we can replace references to the cache with the load of the constant class litereal. If we implemented dead field elimination there would be no references to any fields or methods of the anonymous class and dead class elimination (DCE) could do it's job!

I've got to get dead class elimination checked in one of these days, but in the meantime I now know where all of these anonymous classes are coming from.

ps. I'd like to thank openjdk.java.net for having the sources for everything, in particular Lower.java.

Thursday Dec 04, 2008

About Me

I'm Derek White. I work for Oracle Labs in Burlington, Massachusetts. The views expressed on this blog are my own and do not necessarily reflect the views of Oracle.

Currently I'm working on the Squawk project - an open source virtual machine for Java written almost entirely in Java. Squawk is a Java ME (CLDC + IMP) system designed for small embedded devices. A cell phone is big for us. The funny thing is that in the past I've worked on getting Java to scale up to large CMT systems, but now I'm getting Java to scale down to machines as small (or smaller) than the ones I first started programming on.

I work with a lot of good people here at Sun, and will link to those that blog off to the right somewhere ->

Other things I've worked on in the past include:

  • Java simulation and performance analysis for Niagara processors (the short answer is "NOPs are bad").
  • Garbage collection and JVM performance issues at Sun Labs (the "Exact VM").
  • A JVM for an unnamed 64-bit OS at Novell.
  • The Dylan programming language and development environment at Apple.
  • The Object Pascal compiler at Apple.

There is more information on my Oracle Labs Bio Page.

This is my first blog post - often when I read a blog for the first time I ask myself "Who is this guy?". Well now you now in this case.

In the future look for posts on Java VM design, Squawk, porting, performance analysis and tuning, debugging, Sun SPOTs, programming, robots, too many parenthetical remarks (a side-effect of working with the Dylan (lisp) hackers),  and obscure cultural references.

Now I wonder where Ruth is?....


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Out of the fog... of bits, bytes, and really small Java Virtual Machines, by Derek White. The views expressed on this blog are my own and do not necessarily reflect the views of Oracle.

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