# XR-RM PICO UDP Sender

Minimal Unity project for the direct PICO 4 Ultra UDP route in
`docs/pico4_ultra_udp_teleop_setup.md`.

Configured target:

```text
Host = 192.168.9.99
Port = 15000
Send Hz = 60
Convert Unity To Project Coordinates = true
Package Name = com.local.xr_rm_udp_sender
```

Open this folder with the Ubuntu editor installed at:

```text
/home/robot/Unity/Hub/Editor/2022.3.62f3c1/Editor/Unity
```

Install Android Build Support, Android SDK/NDK, and OpenJDK from Unity Hub.

The PICO SDK is referenced from the sibling folder:

```text
../PICO-Unity-Integration-SDK-release_3.4.0
```

After opening the project:

1. Wait for Unity Package Manager to import `PICO Integration 3.4.0`.
2. Run `XR-RM -> Apply UDP Sender Android Settings`.
3. Build with `XR-RM -> Build Android APK`, or use Unity's Android Build window.

The automated setup enables Android, PICO XR Loader, API 29, Internet access,
IL2CPP + ARM64, and the `PicoControllerUdpSender` scene object.

Runtime scene components:

- `PicoControllerUdpSender`: sends left/right controller JSON to the ROS2 host.
- `PicoUdpConfigPanel`: in-headset config panel plus run HUD.
- `PicoKeepAwake`: while UDP sending is on, requests PICO Enterprise wake lock,
  disables PICO auto sleep, applies Android `KEEP_SCREEN_ON`, and restores
  captured screen/sleep timeouts when sending stops.

The setup menu chooses the UDP target host from `XR_RM_UDP_TARGET_HOST` when
set. Otherwise it auto-detects a local IPv4 address; on this Ubuntu machine the
current Wi-Fi address is `192.168.9.99`.

Batchmode build example:

```bash
cd /home/robot/WS_xr/src
XR_RM_UDP_TARGET_HOST=192.168.9.99 \
/home/robot/Unity/Hub/Editor/2022.3.62f3c1/Editor/Unity \
  -batchmode \
  -quit \
  -projectPath "$(pwd)/unity/XR_RM_PICO_UDP_Sender" \
  -executeMethod XrRmUdpSenderProjectSetup.BuildAndroidApk \
  -logFile "$(pwd)/unity_build.log"
```