added logging to file for UI app,

introduced robot types in RobotLib,
publishing with qos = 0 and retain = false

ADIS_Csharp/RobotClientWpf/ChallengeFactory.cs

@@ -12,8 +12,8 @@ namespace RobotClientWpf
         public ChallengeFactory()
         {
             this.PublisherSubscriber = MqttPublisherSubscriber.Instance;
-            this.RobotStationary = new Robot(this.PublisherSubscriber);
+            this.RobotStationary = new Robot(this.PublisherSubscriber, RobotTypes.Stationary);
-            this.RobotMobile = new Robot(this.PublisherSubscriber);
+            this.RobotMobile = new Robot(this.PublisherSubscriber, RobotTypes.Mobile);
         }
     }
 }

ADIS_Csharp/RobotClientWpf/NLog.config

@@ -10,9 +10,15 @@
 		<target
 		  xsi:type="CacheTarget"
 		  name="cache"/>
+		<target name="file" xsi:type="File"
+		   layout="${longdate} ${logger} ${message}${exception:format=ToString}"
+		   fileName="${basedir}/logs/logfile.txt"
+		   keepFileOpen="true"
+		   encoding="utf-8" />
 	</targets>
 
 	<rules>
 		<logger name="*" writeTo="cache" minlevel="Debug"/>
+		<logger name="*" minlevel="Trace" writeTo="file" />
 	</rules>
 </nlog>

ADIS_Csharp/RobotLib/Battery/DevBattery.cs

@@ -31,11 +31,6 @@ namespace RobotLib.Battery
 
         public DevBattery(IPublisherSubscriber com) : base(com, new List<string>() { TOPIC_ROBO_RESP_BATTERY }) { }
 
-        public override void Refresh()
-        {
-            this.RequestBatteryVoltage();
-        }
-
         public void RequestBatteryVoltage()
         {
             base.SendMessage(TOPIC_ROBO_REQ_BATTERY, true.ToString());

ADIS_Csharp/RobotLib/Communication/MqttPublisherSubscriber.cs

@@ -159,7 +159,7 @@ namespace RobotLib.Communication
             }
             lock (clientLock)
             {
-                var msgId = client.Publish(topic, Encoding.ASCII.GetBytes(message));
+                var msgId = client.Publish(topic, Encoding.ASCII.GetBytes(message), 0, false);
                 log.Trace($"Published to topic '{topic}'. MessageId = {msgId}");
             }
         }

ADIS_Csharp/RobotLib/Robot.cs

@@ -2,26 +2,43 @@
 using RobotLib.SplitFlap;
 using RobotLib.Movement;
 using RobotLib.Battery;
-using System.Threading;
+using System.Timers;
 
 namespace RobotLib
 {
     public class Robot
     {
-        public Robot(IPublisherSubscriber com)
+        public Robot(IPublisherSubscriber com, RobotTypes type)
         {
             Com = com;
-            //Buzzer = new DevBuzzer(Com);
+            Type = type;
-            Battery = new DevBattery(Com);
+            if(type == RobotTypes.Undefined)
-            SplitFlap = new DevSplitFlap(com);
+            {
-            LineSensor = new DevLineSensor(com);
+                throw new System.ArgumentException("Undefined robot type, must define type!");
-            Movement = new DevMovement(com);
+            }
-
+
-            Timer timer = new Timer(TimerCallback);
+            if(type == RobotTypes.Mobile)
-            timer.Change(2000, 10000);
+            {
+                //Buzzer = new DevBuzzer(Com);
+                Battery = new DevBattery(Com);
+                LineSensor = new DevLineSensor(com);
+                Movement = new DevMovement(com);
+            }
+            else if(type == RobotTypes.Stationary)
+            {
+                SplitFlap = new DevSplitFlap(com);
+            }
+
+            Timer timer = new Timer
+            {
+                Interval = 10000
+            };
+            timer.Enabled= true;
+            timer.Elapsed += Timer_Elapsed;
         }
 
         public IPublisherSubscriber Com { get; }
+        public RobotTypes Type { get; }
 
         //public DevBuzzer Buzzer { get; }
         public DevBattery Battery { get; }
@@ -39,13 +56,12 @@ namespace RobotLib
             //Com.Disconnect();
         }
 
-        private void TimerCallback(object state)
+        private void Timer_Elapsed(object sender, ElapsedEventArgs e)
         {
             if (Com.IsConnected)
             {
-                Battery.Refresh();
+                Battery?.RequestBatteryVoltage();
             }
         }
-
     }
 }

ADIS_Csharp/RobotLib/RobotTypes.cs

@@ -0,0 +1,9 @@
+namespace RobotLib
+{
+    public enum RobotTypes
+    {
+        Undefined = 0,
+        Mobile = 1,
+        Stationary
+    }
+}