** Proficio Client (C#)

A client program using CoAP/UDP to talk to the BURT robot.

The program is a console application which reads in keypress mapped commands to send basic requests to the robot, e.g. `home`, `enable`, `disable` and prints out any debug information sent from the firmware.

** Requirements

To install the dependencies on Ubuntu 14.04 or 16.04:

{{{
$ ./scripts/install-dependencies.sh
}}}

To see the specific dependencies/packages please look at `scripts/install-dependencies.sh`

** Library Dependencies

- [msgpack-cli](https://github.com/msgpack/msgpack-cli) version [0.8.0](https://github.com/msgpack/msgpack-cli/releases/tag/0.8.0). We use the `unit` binary.
- mysql.data version 6.3.9.0 from Oracle
- CoAPSharp version 0.3.1.0 from EXILANT
- Newtonsoft.Json version 9.0.0.0 from Newtonsoft


** Building

Project MonoDevelop Configurations
- Launch MonoDevelop application or open project directly by double-clicking the `.csproj` project file: `File > Open > <project-directory>.csproj`
- Attempt building the project: `Build > Build All (F8)`
  - if the build succeeds without errors, continue with `Usage (Console Application)` below.
  - if a build error exists:
      - Open Project Options
        - `Project > <project-name> Options`
          - `Build -> General -> target Framework -> Mono / .Net 3.5` or
          - `Build -> General -> target Framework -> Mono / .Net 4.0`
      - Add Missing References
        - Click References -> Edit References
          - Find the following system references using the Search Bar and click "Add" to add the selected references to the project.
            - `System.Data`
            - `System.Xml.*`, e.g. `System.Xml`, `System.Xml.Linq`
          - Open .Net Assemblies Tab
            - Browse to `the-project-directory/dll`
              - Add all `.dll` files
          - Click OK to close the dialog

** Building Unit Tests from MonoDevelop

`View -> Pads -> Unit Tests`

And then double click on proficio-client-lib-cs which will run all unit tests
contained in the solution.


** Building from MonoDevelop

Build -> Build ALL `F8`

** Project Execution from MonoDevelop

Run -> Start Debugging `F5`

** Building From The Command Line

To build the project (including examples and tests):

{{{
$ ./scripts/build.sh
}}}

To run the unit tests:

{{{
$ ./scripts/run-tests.sh
}}}

** Installation

** Installing as a Unity Plugin

To install to a new game you can use the copy script, which copies all required
dlls into the game's Assets/Scripts folder:

{{{
$ ./scripts/copy.sh PATH/TO/UNITY_GAME
}}}

** Usage (Console Application)

** Connecting to the robot

- Open Ubuntu Network Manager

- Add a new `Wired` Connection.

<img src="./doc/assets/img/network-manager-1.png" width="400"/>


- Edit `IPv4 Settings Tab`

<img src="./doc/assets/img/network-manager-2.png" width="400"/>

- Save and close dialog.

- Change connection:
  - click the Ubuntu Network Manager icon to show the dropdown menu of available connections.
  - select (connect to) the new Wired connection e.g. `Fake 192.168.100.100`
  - disconnect from any other Ethernet connections which are not connected to the robot, e.g. `Wired Connection 1`.

** Keyboard Control:

|| **Key** || **Action** ||
|| h || sets robot home position (motor encoder offset) at preset values ||
|| e || 'enables' the robot (sets pucks to torque mode) ||
|| d || 'disables' the robot (sets pucks to resistive braking mode) ||


** Adding Packages (optional)

- open mono project, double click on *.csproj file
- Right-click references folder
- Search for System.Data
- Add, close Dialog


** Resources

- Unity DLL specifics: https://docs.unity3d.com/Manual/UsingDLL.html
- Unity unit test: https://docs.unity3d.com/Manual/testing-editortestsrunner.html