From aa391305f50ee449fa7be9734dd3f4f3fda85b55 Mon Sep 17 00:00:00 2001
From: Jonas Arnold <jonas.arnold@live.de>
Date: Fri, 16 Dec 2022 15:05:14 +0100
Subject: [PATCH] added line sensor in RobotLib and UI

---
 .../RobotClientWpf/Views/ConfigView.xaml      | 12 ++++++++-
 .../RobotClientWpf/Views/ConfigView.xaml.cs   | 15 +++++++++++
 .../RobotClientWpf/Views/MainView.xaml.cs     |  4 +--
 .../RobotLib/Movement/DevLineSensor.cs        | 27 +++++++++++++++++++
 ADIS_Csharp/RobotLib/Robot.cs                 |  2 ++
 5 files changed, 57 insertions(+), 3 deletions(-)
 create mode 100644 ADIS_Csharp/RobotLib/Movement/DevLineSensor.cs

diff --git a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml
index 0f8f2f3..7bb255b 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml
+++ b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml
@@ -8,10 +8,10 @@
              d:DesignHeight="450" d:DesignWidth="800">
     <Grid>
         <Grid.ColumnDefinitions>
-            <ColumnDefinition Width="2*"/>
             <ColumnDefinition Width="*"/>
         </Grid.ColumnDefinitions>
         <Grid.RowDefinitions>
+            <RowDefinition Height="120"/>
             <RowDefinition Height="120"/>
             <RowDefinition Height="*"/>
         </Grid.RowDefinitions>
@@ -30,5 +30,15 @@
                 <Button x:Name="btnApplyConfiguration" Content="Apply" HorizontalAlignment="Right" Height="30" Width="100" Margin="10" Click="btnApplyConfiguration_Click"/>
             </DockPanel>
         </GroupBox>
+        <GroupBox Grid.Row="1" Grid.Column="0" Header="Line Sensor calibration">
+            <DockPanel>
+                <StackPanel DockPanel.Dock="Left" Orientation="Vertical">
+                    <Button x:Name="btnStartCalibration" Content="Start Calibration" Margin="5" Width="200" Height="30" Click="btnStartCalibration_Click" />
+                    <Button x:Name="btnEndCalibration" Content="End Calibration" Margin="5" Width="200" Height="30" Click="btnEndCalibration_Click" />
+                </StackPanel>
+                
+                <Button DockPanel.Dock="Top" x:Name="btnGetCalibrationData" Content="Get Calibration Data" Margin="5" Width="200" Height="30" Click="btnGetCalibrationData_Click"/>
+            </DockPanel>
+        </GroupBox>
     </Grid>
 </UserControl>
diff --git a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs
index 271f794..08b7a69 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs
+++ b/ADIS_Csharp/RobotClientWpf/Views/ConfigView.xaml.cs
@@ -61,5 +61,20 @@ namespace RobotClientWpf.Views
                 log.Error("challenge object is null");
             }
         }
+
+        private void btnStartCalibration_Click(object sender, RoutedEventArgs e)
+        {
+            this.challenge?.RobotMobile.LineSensor.StartCalibration(true);
+        }
+
+        private void btnEndCalibration_Click(object sender, RoutedEventArgs e)
+        {
+            this.challenge?.RobotMobile.LineSensor.StartCalibration(false);
+        }
+
+        private void btnGetCalibrationData_Click(object sender, RoutedEventArgs e)
+        {
+            this.challenge?.RobotMobile.LineSensor.GetCalibrationData();
+        }
     }
 }
diff --git a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs b/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs
index 44f7ffd..8c9a3f5 100644
--- a/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs
+++ b/ADIS_Csharp/RobotClientWpf/Views/MainView.xaml.cs
@@ -12,8 +12,8 @@ namespace RobotClientWpf.Views
     {
         private static readonly NLog.Logger log = NLog.LogManager.GetCurrentClassLogger();
         private ChallengeFactory? challenge;
-        private const int AMOUNT_SPEED_ADDED_PER_CLICK = 10;
-        private const int TURN_ANGLE_PER_CLICK = 25;
+        private const int AMOUNT_SPEED_ADDED_PER_CLICK = 500;
+        private const int TURN_ANGLE_PER_CLICK = 30;
 
         public MainView()
         {
diff --git a/ADIS_Csharp/RobotLib/Movement/DevLineSensor.cs b/ADIS_Csharp/RobotLib/Movement/DevLineSensor.cs
new file mode 100644
index 0000000..695478c
--- /dev/null
+++ b/ADIS_Csharp/RobotLib/Movement/DevLineSensor.cs
@@ -0,0 +1,27 @@
+using RobotLib.Communication;
+using System;
+using System.Collections.Generic;
+using System.Text.Json;
+
+namespace RobotLib.Movement
+{
+    public class DevLineSensor : DevBase
+    {
+        private const string TOPIC_ROBO_CALIB_CMD = "/mobile/cmd/line_sens/calib";
+        private const string TOPIC_ROBO_GET_CALIB = "/mobile/cmd/line_sens/get_calib";
+        private const string TOPIC_ROBO_CALIB_STATE = "/mobile/state/line_sens/calib_data";
+
+        public DevLineSensor(IPublisherSubscriber com) : base(com, new List<string>() { }) { }
+
+        public void GetCalibrationData()
+        {
+            base.SendMessage(TOPIC_ROBO_GET_CALIB, true.ToString());
+        }
+
+        public void StartCalibration(bool start)
+        {
+            string payload = JsonSerializer.Serialize(new Dictionary<string, bool>() { { "start", start } });
+            base.SendMessage(TOPIC_ROBO_CALIB_CMD, payload);
+        }
+    }
+}
diff --git a/ADIS_Csharp/RobotLib/Robot.cs b/ADIS_Csharp/RobotLib/Robot.cs
index 33c0431..7a8ccec 100644
--- a/ADIS_Csharp/RobotLib/Robot.cs
+++ b/ADIS_Csharp/RobotLib/Robot.cs
@@ -13,6 +13,7 @@ namespace RobotLib
             //Buzzer = new DevBuzzer(Com);
             //Battery = new DevBattery(Com);
             SplitFlap = new DevSplitFlap(com);
+            LineSensor = new DevLineSensor(com);
             Movement = new DevMovement(com);
 
             Timer timer = new Timer(TimerCallback);
@@ -25,6 +26,7 @@ namespace RobotLib
         //public DevBattery Battery { get; }
         public DevSplitFlap SplitFlap { get; }
         public DevMovement Movement { get; }
+        public DevLineSensor LineSensor { get; }
 
         public void Connect(string host, int port)
         {