added DevRobot

ADIS_Csharp/RobotConsoleClient/Program.cs

@@ -10,12 +10,21 @@ namespace RobotConsoleClient
             var com = MqttPublisherSubscriber.Instance;
             com.Connect("192.168.20.22", "ADIS", "TEST");
             var robotStationary = new Robot(com);
+            var robotMobile = new Robot(com);
             robotStationary.SplitFlap.SplitFlapDisplayChanged += SplitFlap_SplitFlapDisplayChanged;
             //Console.ReadLine();
             Thread.Sleep(1000);
-            robotStationary.SplitFlap.ConfigureSplitflap(1, 21);
+            robotStationary.SplitFlap.ConfigureSplitflap(setupId: 1, hardwareId: 21);
             Thread.Sleep(1000);
             robotStationary.SplitFlap.InitializeAllSplitflaps();
+
+            Thread.Sleep(1000);
+            robotMobile.RobotControl.SetSpeed(1000);
+            robotMobile.RobotControl.Turn(-10);
+            robotMobile.RobotControl.SetSpeed(-500);
+            robotMobile.RobotControl.StopMovement();
+            robotMobile.RobotControl.SetMobilityMode(automatic: true);
+
         }
 
         private static void SplitFlap_SplitFlapDisplayChanged(object? sender, RobotLib.SplitFlap.SplitFlapDisplayEventArgs e)

ADIS_Csharp/RobotLib/Robot.cs

@@ -1,4 +1,5 @@
 using RobotLib.Communication;
+using RobotLib.RobotControl;
 using RobotLib.SplitFlap;
 using System.Threading;
 
@@ -12,6 +13,7 @@ namespace RobotLib
             //Buzzer = new DevBuzzer(Com);
             //Battery = new DevBattery(Com);
             SplitFlap = new DevSplitFlap(com);
+            RobotControl = new DevRobot(com);
 
             Timer timer = new Timer(TimerCallback);
             timer.Change(2000, 10000);
@@ -22,6 +24,7 @@ namespace RobotLib
         //public DevBuzzer Buzzer { get; }
         //public DevBattery Battery { get; }
         public DevSplitFlap SplitFlap { get; }
+        public DevRobot RobotControl { get; }
 
         public void Connect(string host, int port)
         {

ADIS_Csharp/RobotLib/RobotControl/DevRobot.cs

@@ -0,0 +1,37 @@
+using RobotLib.Communication;
+using System.Collections.Generic;
+using System.Text.Json;
+
+namespace RobotLib.RobotControl
+{
+    public class DevRobot : DevBase
+    {
+        private const string TOPIC_MOBILE_MODE = "/mobile/cmd/mode/";
+        private const string TOPIC_MOBILE_NAV_TURN = "/mobile/cmd/nav/turn/";
+        private const string TOPIC_MOBILE_NAV_MOVE = "/mobile/cmd/nav/move/";
+        private const string TOPIC_MOBILE_NAV_STOP = "/mobile/cmd/nav/stop/";
+
+        public DevRobot(IPublisherSubscriber com) : base(com, new List<string>() { }) { }
+
+        public void SetMobilityMode(bool automatic)
+        {
+            string payload = JsonSerializer.Serialize(new Dictionary<string, bool>() { { "automatic", automatic } });
+            base.SendMessage(TOPIC_MOBILE_MODE, payload);
+        }
+
+        public void Turn(int angle)
+        {
+            base.SendMessage(TOPIC_MOBILE_NAV_TURN, angle.ToString());
+        }
+
+        public void SetSpeed(int speed)
+        {
+            base.SendMessage(TOPIC_MOBILE_NAV_MOVE, speed.ToString());
+        }
+
+        public void StopMovement()
+        {
+            base.SendMessage(TOPIC_MOBILE_NAV_STOP, true.ToString());
+        }
+    }
+}