added Csharp project RobotLib

ADIS_Csharp/ADIS_Csharp.sln

@@ -15,7 +15,9 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Sync-Ueb04-NestedMonitor",
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Sync-Ueb05-LostSignals", "Sync-Ueb05-LostSignals\Sync-Ueb05-LostSignals.csproj", "{8605252D-7232-4E7A-B1E0-BF273947F3CB}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MqttTest", "MqttTest\MqttTest.csproj", "{EB76DC93-79D0-4837-8A49-D825CDE4C6A3}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "MqttTest", "MqttTest\MqttTest.csproj", "{EB76DC93-79D0-4837-8A49-D825CDE4C6A3}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "RobotLib", "RobotLib\RobotLib.csproj", "{915E2889-F10D-4D02-8313-308F642EC64F}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -51,6 +53,10 @@ Global
 		{EB76DC93-79D0-4837-8A49-D825CDE4C6A3}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{EB76DC93-79D0-4837-8A49-D825CDE4C6A3}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{EB76DC93-79D0-4837-8A49-D825CDE4C6A3}.Release|Any CPU.Build.0 = Release|Any CPU
+		{915E2889-F10D-4D02-8313-308F642EC64F}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{915E2889-F10D-4D02-8313-308F642EC64F}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{915E2889-F10D-4D02-8313-308F642EC64F}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{915E2889-F10D-4D02-8313-308F642EC64F}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

ADIS_Csharp/RobotLib/BatteryEventArgs.cs

@@ -0,0 +1,14 @@
+using System;
+
+namespace RobotLib
+{
+    public class BatteryEventArgs : EventArgs
+    {
+        public float Voltage { get; }
+
+        public BatteryEventArgs(float voltage)
+        {
+            Voltage = voltage;
+        }
+    }
+}

ADIS_Csharp/RobotLib/ClassDiagram1.cd

@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ClassDiagram MajorVersion="1" MinorVersion="1">
+  <Class Name="RobotLib.Robot">
+    <Position X="0.5" Y="0.5" Width="2" />
+    <TypeIdentifier>
+      <HashCode>AAQAAAAAAAAAAAAAAAAAAIAAAAEAAAAAQAAAAAAAAAg=</HashCode>
+      <FileName>Robot.cs</FileName>
+    </TypeIdentifier>
+  </Class>
+  <Class Name="RobotLib.Com">
+    <Position X="3" Y="0.5" Width="2" />
+    <Compartments>
+      <Compartment Name="Fields" Collapsed="true" />
+    </Compartments>
+    <TypeIdentifier>
+      <HashCode>IAQAAAAAAAAAAAFAAAAACIgAAAAAAAAAAAAAAAAEAAI=</HashCode>
+      <FileName>Com.cs</FileName>
+    </TypeIdentifier>
+  </Class>
+  <Class Name="RobotLib.MessageEventArgs">
+    <Position X="8" Y="0.5" Width="2" />
+    <TypeIdentifier>
+      <HashCode>AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAIAAAAAA=</HashCode>
+      <FileName>MessageEventArgs.cs</FileName>
+    </TypeIdentifier>
+  </Class>
+  <Class Name="RobotLib.DevBase">
+    <Position X="5.5" Y="0.5" Width="2" />
+    <TypeIdentifier>
+      <HashCode>AAAAAAAAAABAAAAAACAgCAgAAAEAAQAAAAAAAAAAAAA=</HashCode>
+      <FileName>DevBase.cs</FileName>
+    </TypeIdentifier>
+  </Class>
+  <Font Name="Segoe UI" Size="9" />
+</ClassDiagram>

ADIS_Csharp/RobotLib/Com.cs

@@ -0,0 +1,87 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace RobotLib
+{
+    public class Com
+    {
+        private static readonly NLog.Logger log = NLog.LogManager.GetCurrentClassLogger();
+        private UdpClient udpClient;
+        private Thread thread;
+
+        public event EventHandler<MessageEventArgs> MessageReveived;
+
+        public Com()
+        {
+        }
+
+        public Com(string host, int port)
+        {
+            Connect(host, port);
+        }
+
+        public bool IsConnected { get; private set; }
+
+
+        public void Connect(string host, int port)
+        {
+            if (!IsConnected)
+            {
+                udpClient = new UdpClient();
+                udpClient.Connect(host, port);
+                IsConnected = true;
+
+                thread = new Thread(Run);
+                thread.IsBackground = true;
+                thread.Start();
+            }
+        }
+
+        public void Disconnect()
+        {
+            IsConnected = false;
+            if (thread != null)
+            {
+                thread.Interrupt();
+                thread.Join();
+            }
+        }
+
+        public void Run()
+        {
+            while(IsConnected)
+            {
+                try
+                {
+                    IPEndPoint remote = new IPEndPoint(IPAddress.Any, 0);
+                    byte[] dataReceived = udpClient.Receive(ref remote);
+                    string msg = Encoding.ASCII.GetString(dataReceived);
+                    log.Trace($"Msg received from {remote}: {msg}");
+                    MessageReveived?.Invoke(this, new MessageEventArgs(msg));
+                }
+                catch (ThreadInterruptedException)
+                {
+                    return;
+                }
+                catch (Exception ex) 
+                { 
+                    log.Fatal(ex, "Exception in Receiver-Thread\r\n" + ex); 
+                }
+            }
+        }
+
+        public void SendMsg(string msg)
+        {
+            byte[] data = Encoding.ASCII.GetBytes(msg);
+            udpClient.Send(data, data.Length);
+            log.Trace($"Msg sent to {udpClient.Client.RemoteEndPoint}: {msg}");
+        }
+
+    }
+}

ADIS_Csharp/RobotLib/DevBase.cs

@@ -0,0 +1,51 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RobotLib
+{
+    public abstract class DevBase
+    {
+        protected NLog.Logger log { get; private set; }
+
+        public DevBase(Com com) : this(com, string.Empty) { }
+        public DevBase(Com com, string keyword)
+        {
+            log = NLog.LogManager.GetLogger(GetType().ToString());
+
+            Keyword = keyword;
+            Com = com;
+            com.MessageReveived += MessageReveived;
+        }
+
+        protected string Keyword { get; }
+        protected Com Com { get; }
+
+        protected virtual void MessageReveived(object sender, MessageEventArgs e)
+        {
+            if (e.Message.StartsWith(Keyword))
+            {
+                ParseMessage(e.Message);
+            }
+        }
+
+        protected void SendMessage(string message)
+        {
+            if (Com.IsConnected)
+            {
+                log.Trace("Esp32> " + message);
+                Com.SendMsg(message);
+            }
+            else
+            {
+                log.Warn("Not connected! Could not send message: " + message);
+            }
+        }
+        protected virtual void ParseMessage(string message) { }
+
+        public virtual void Refresh() { }
+
+    }
+}

ADIS_Csharp/RobotLib/DevBattery.cs

@@ -0,0 +1,59 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RobotLib
+{
+    public class DevBattery : DevBase
+    {
+        private float voltage;
+
+        public event EventHandler<BatteryEventArgs> BatteryChanged;
+
+        public float Voltage 
+        { 
+            get { return voltage; }
+            private set
+            {
+                // value changed?
+                if(voltage != value)
+                {
+                    // set new voltage and raise event
+                    voltage = value;
+                    BatteryChanged?.Invoke(this, new BatteryEventArgs(voltage));
+                }
+            }
+        }
+
+        public DevBattery(Com com) : base(com, "battery") { }
+
+        public override void Refresh()
+        {
+            SendMessage("get battery status!");
+        }
+
+        protected override void ParseMessage(string message)
+        {
+            // example message = "Battery: 1.25 V"
+            var keyValue = message.Trim().Split(':');
+            string key = keyValue[0].Trim();
+            string value = keyValue[1].Trim();
+
+            switch (key)
+            {
+                case "battery":
+                    value = value.Trim(' ', 'V');
+                    this.Voltage = float.Parse(value);
+                    break;
+
+                default:
+                    log.Warn($"Unkown element {key}: {value} in message {message}");
+                    break;
+            }
+            
+
+        }
+    }
+}

ADIS_Csharp/RobotLib/DevBuzzer.cs

@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RobotLib
+{
+    public class DevBuzzer : DevBase
+    {
+        public DevBuzzer(Com com) : base(com) { }
+
+        public void Beep(int freq, int timeMs)
+        {
+            SendMessage($"robo sendcmd buzzer buzz {freq} {timeMs}!");
+        }
+    }
+}

ADIS_Csharp/RobotLib/MessageEventArgs.cs

@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace RobotLib
+{
+    public class MessageEventArgs : EventArgs
+    {
+        public MessageEventArgs(string msg)
+        {
+            Message = msg;
+        }
+
+
+        public string Message { get; }
+    }
+}

ADIS_Csharp/RobotLib/Robot.cs

@@ -0,0 +1,46 @@
+using System.Threading;
+
+namespace RobotLib
+{
+    public class Robot
+    {
+
+        public static Robot Instance { get; } = new Robot();
+
+
+        private Robot()
+        {
+            Com = new Com();
+            Buzzer = new DevBuzzer(Com);
+            Battery = new DevBattery(Com);
+
+            Timer timer = new Timer(TimerCallback);
+            timer.Change(2000, 10000);
+        }
+
+        public Com Com { get; }
+
+        public DevBuzzer Buzzer { get; }
+        public DevBattery Battery { get; }
+
+
+        public void Connect(string host, int port)
+        {
+            Com.Connect(host, port);
+        }
+
+        public void Disconnect()
+        {
+            Com.Disconnect();
+        }
+
+        private void TimerCallback(object state)
+        {
+            if (Com.IsConnected)
+            {
+                Battery.Refresh();
+            }
+        }
+
+    }
+}

ADIS_Csharp/RobotLib/RobotLib.csproj

@@ -0,0 +1,11 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="NLog" Version="5.1.0" />
+  </ItemGroup>
+
+</Project>