added line sensor in RobotLib and UI

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>

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();
+        }
     }
 }

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 AMOUNT_SPEED_ADDED_PER_CLICK = 500;
-        private const int TURN_ANGLE_PER_CLICK = 25;
+        private const int TURN_ANGLE_PER_CLICK = 30;
 
         public MainView()
         {

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);
+        }
+    }
+}

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)
         {