add unity doc.

2026-05-30 16:04:37 +08:00
parent ce52895ec2
commit f4ee53d9c3
1538 changed files with 221228 additions and 2192 deletions
--- a/unity/XR_RM_PICO_UDP_Sender/.gitignore
+++ b/unity/XR_RM_PICO_UDP_Sender/.gitignore
@ -0,0 +1,17 @@
+/Library/
+/Temp/
+/Obj/
+/Build/
+/Builds/
+/Logs/
+/UserSettings/
+
+*.csproj
+*.sln
+*.user
+*.pidb
+*.booproj
+*.svd
+*.pdb
+*.mdb
+sysinfo.txt
--- a/unity/XR_RM_PICO_UDP_Sender/Assets.meta
+++ b/unity/XR_RM_PICO_UDP_Sender/Assets.meta
@ -0,0 +1,8 @@
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--- a/unity/XR_RM_PICO_UDP_Sender/Assets/Editor.meta
+++ b/unity/XR_RM_PICO_UDP_Sender/Assets/Editor.meta
@ -0,0 +1,8 @@
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--- a/unity/XR_RM_PICO_UDP_Sender/Assets/Editor/XrRmUdpSenderProjectSetup.cs
+++ b/unity/XR_RM_PICO_UDP_Sender/Assets/Editor/XrRmUdpSenderProjectSetup.cs
@ -0,0 +1,292 @@
+#if UNITY_EDITOR
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Net;
+using System.Net.NetworkInformation;
+using System.Net.Sockets;
+using UnityEditor.Build;
+using UnityEditor.Build.Reporting;
+using UnityEditor;
+using UnityEditor.XR.Management;
+using UnityEditor.XR.Management.Metadata;
+using UnityEditor.SceneManagement;
+using UnityEngine;
+using UnityEngine.Rendering;
+using UnityEngine.SceneManagement;
+using UnityEngine.XR.Management;
+using Unity.XR.PXR;
+
+public static class XrRmUdpSenderProjectSetup
+{
+    private const string ScenePath = "Assets/Scenes/Main.unity";
+    private const string PackageName = "com.local.xr_rm_udp_sender";
+    private const string ProductName = "XR-RM-PICO-UDP-Sender";
+    private const string DefaultTargetHost = "192.168.9.99";
+    private const string TargetHostEnvVar = "XR_RM_UDP_TARGET_HOST";
+
+    [MenuItem("XR-RM/Apply UDP Sender Android Settings")]
+    public static void ApplyAndroidSettings()
+    {
+        PlayerSettings.productName = ProductName;
+        PlayerSettings.SetApplicationIdentifier(BuildTargetGroup.Android, PackageName);
+        PlayerSettings.Android.minSdkVersion = AndroidSdkVersions.AndroidApiLevel29;
+        PlayerSettings.Android.targetSdkVersion = AndroidSdkVersions.AndroidApiLevelAuto;
+        PlayerSettings.Android.forceInternetPermission = true;
+        PlayerSettings.SetScriptingBackend(NamedBuildTarget.Android, ScriptingImplementation.IL2CPP);
+        PlayerSettings.Android.targetArchitectures = AndroidArchitecture.ARM64;
+        PlayerSettings.SetGraphicsAPIs(BuildTarget.Android, new[] { GraphicsDeviceType.OpenGLES3 });
+
+        if (EditorUserBuildSettings.activeBuildTarget != BuildTarget.Android)
+        {
+            bool switched = EditorUserBuildSettings.SwitchActiveBuildTarget(BuildTargetGroup.Android, BuildTarget.Android);
+            if (!switched)
+            {
+                Debug.LogWarning("Could not switch to Android. Install Unity Android Build Support, then run this menu item again.");
+            }
+        }
+
+        EditorUserBuildSettings.selectedBuildTargetGroup = BuildTargetGroup.Android;
+        EnsurePicoSettings();
+        EnablePicoLoader();
+        CreateOrRefreshScene();
+        EditorBuildSettings.scenes = new[] { new EditorBuildSettingsScene(ScenePath, true) };
+        AssetDatabase.SaveAssets();
+        Debug.Log("XR-RM UDP Sender Android settings applied.");
+    }
+
+    [MenuItem("XR-RM/Create Or Refresh UDP Sender Scene")]
+    public static void CreateOrRefreshScene()
+    {
+        Directory.CreateDirectory("Assets/Scenes");
+
+        Scene scene = File.Exists(ScenePath)
+            ? EditorSceneManager.OpenScene(ScenePath)
+            : EditorSceneManager.NewScene(NewSceneSetup.EmptyScene, NewSceneMode.Single);
+
+        GameObject sender = GameObject.Find("PicoControllerUdpSender");
+        if (sender == null)
+        {
+            sender = new GameObject("PicoControllerUdpSender");
+        }
+
+        PicoControllerUdpSender component = sender.GetComponent<PicoControllerUdpSender>();
+        if (component == null)
+        {
+            component = sender.AddComponent<PicoControllerUdpSender>();
+        }
+
+        string targetHost = ResolveTargetHost();
+        component.host = targetHost;
+        component.port = 15000;
+        component.sendHz = 60.0f;
+        component.convertUnityToProjectCoordinates = true;
+        component.sendOnStart = true;
+
+        PicoUdpConfigPanel panel = sender.GetComponent<PicoUdpConfigPanel>();
+        if (panel == null)
+        {
+            panel = sender.AddComponent<PicoUdpConfigPanel>();
+        }
+
+        panel.targetFrameRate = 90;
+        panel.showOnStart = true;
+        panel.togglePanelWithMenuButton = true;
+
+        PicoKeepAwake keepAwake = sender.GetComponent<PicoKeepAwake>();
+        if (keepAwake == null)
+        {
+            keepAwake = sender.AddComponent<PicoKeepAwake>();
+        }
+
+        keepAwake.keepAwake = true;
+        keepAwake.applyWhenSendingOnly = true;
+        keepAwake.usePicoEnterpriseApi = true;
+        keepAwake.useAndroidWindowFlag = true;
+        keepAwake.picoRefreshSeconds = 30.0f;
+
+        EditorSceneManager.SaveScene(scene, ScenePath);
+        Debug.Log($"XR-RM UDP Sender scene refreshed. Target host: {targetHost}");
+    }
+
+    private static void EnsurePicoSettings()
+    {
+        Directory.CreateDirectory("Assets/XR/Settings");
+
+        const string settingsPath = "Assets/XR/Settings/PXR_Settings.asset";
+        PXR_Settings settings = AssetDatabase.LoadAssetAtPath<PXR_Settings>(settingsPath);
+        if (settings == null)
+        {
+            settings = ScriptableObject.CreateInstance<PXR_Settings>();
+            settings.stereoRenderingModeAndroid = PXR_Settings.StereoRenderingModeAndroid.MultiPass;
+            AssetDatabase.CreateAsset(settings, settingsPath);
+        }
+
+        EditorBuildSettings.AddConfigObject("Unity.XR.PXR.Settings", settings, true);
+        EditorUtility.SetDirty(settings);
+    }
+
+    [MenuItem("XR-RM/Build Android APK")]
+    public static void BuildAndroidApk()
+    {
+        ApplyAndroidSettings();
+
+        Directory.CreateDirectory("Builds");
+        BuildPlayerOptions options = new BuildPlayerOptions
+        {
+            scenes = new[] { ScenePath },
+            locationPathName = "Builds/XR-RM-PICO-UDP-Sender.apk",
+            target = BuildTarget.Android,
+            targetGroup = BuildTargetGroup.Android,
+            options = BuildOptions.None
+        };
+
+        BuildReport report = BuildPipeline.BuildPlayer(options);
+        BuildSummary summary = report.summary;
+        if (summary.result != BuildResult.Succeeded)
+        {
+            throw new Exception($"Android APK build failed: {summary.result}");
+        }
+
+        Debug.Log($"Android APK built: {options.locationPathName}");
+    }
+
+    private static void EnablePicoLoader()
+    {
+        XRGeneralSettingsPerBuildTarget buildTargetSettings = AssetDatabase.FindAssets("t:XRGeneralSettingsPerBuildTarget")
+            .Select(guid => AssetDatabase.LoadAssetAtPath<XRGeneralSettingsPerBuildTarget>(AssetDatabase.GUIDToAssetPath(guid)))
+            .FirstOrDefault();
+
+        if (buildTargetSettings == null)
+        {
+            buildTargetSettings = ScriptableObject.CreateInstance<XRGeneralSettingsPerBuildTarget>();
+            AssetDatabase.CreateAsset(buildTargetSettings, "Assets/XRGeneralSettingsPerBuildTarget.asset");
+        }
+
+        XRGeneralSettings generalSettings = buildTargetSettings.SettingsForBuildTarget(BuildTargetGroup.Android);
+        if (generalSettings == null)
+        {
+            generalSettings = ScriptableObject.CreateInstance<XRGeneralSettings>();
+            AssetDatabase.AddObjectToAsset(generalSettings, buildTargetSettings);
+            buildTargetSettings.SetSettingsForBuildTarget(BuildTargetGroup.Android, generalSettings);
+        }
+
+        if (generalSettings.Manager == null)
+        {
+            XRManagerSettings managerSettings = ScriptableObject.CreateInstance<XRManagerSettings>();
+            AssetDatabase.AddObjectToAsset(managerSettings, buildTargetSettings);
+            generalSettings.Manager = managerSettings;
+        }
+
+        while (generalSettings.Manager.activeLoaders.Count > 0)
+        {
+            string loaderName = generalSettings.Manager.activeLoaders[0].GetType().FullName;
+            XRPackageMetadataStore.RemoveLoader(generalSettings.Manager, loaderName, BuildTargetGroup.Android);
+        }
+
+        bool success = XRPackageMetadataStore.AssignLoader(generalSettings.Manager, "PXR_Loader", BuildTargetGroup.Android);
+        if (!success)
+        {
+            Debug.LogWarning("Could not assign PICO XR Loader. Check that the PICO Integration package is imported.");
+        }
+
+        EditorUtility.SetDirty(generalSettings.Manager);
+        EditorUtility.SetDirty(generalSettings);
+        EditorUtility.SetDirty(buildTargetSettings);
+    }
+
+    private static string ResolveTargetHost()
+    {
+        string envHost = Environment.GetEnvironmentVariable(TargetHostEnvVar);
+        if (IsUsableTargetHost(envHost))
+        {
+            return envHost.Trim();
+        }
+
+        string discoveredHost = GetPreferredLocalIPv4Address();
+        return string.IsNullOrEmpty(discoveredHost) ? DefaultTargetHost : discoveredHost;
+    }
+
+    private static string GetPreferredLocalIPv4Address()
+    {
+        List<string> candidates = new List<string>();
+        foreach (NetworkInterface networkInterface in NetworkInterface.GetAllNetworkInterfaces())
+        {
+            if (networkInterface.OperationalStatus != OperationalStatus.Up)
+            {
+                continue;
+            }
+
+            if (networkInterface.NetworkInterfaceType == NetworkInterfaceType.Loopback ||
+                networkInterface.NetworkInterfaceType == NetworkInterfaceType.Tunnel)
+            {
+                continue;
+            }
+
+            foreach (UnicastIPAddressInformation addressInfo in networkInterface.GetIPProperties().UnicastAddresses)
+            {
+                string address = addressInfo.Address.ToString();
+                if (IsUsableTargetHost(address))
+                {
+                    candidates.Add(address);
+                }
+            }
+        }
+
+        return candidates
+            .OrderByDescending(GetAddressScore)
+            .ThenBy(address => address, StringComparer.Ordinal)
+            .FirstOrDefault();
+    }
+
+    private static bool IsUsableTargetHost(string value)
+    {
+        string trimmed = value == null ? string.Empty : value.Trim();
+        if (!IPAddress.TryParse(trimmed, out IPAddress address) ||
+            address.AddressFamily != AddressFamily.InterNetwork)
+        {
+            return false;
+        }
+
+        byte[] bytes = address.GetAddressBytes();
+        bool loopback = bytes[0] == 127;
+        bool linkLocal = bytes[0] == 169 && bytes[1] == 254;
+        bool unspecified = address.Equals(IPAddress.Any);
+        return !loopback && !linkLocal && !unspecified;
+    }
+
+    private static int GetAddressScore(string address)
+    {
+        string[] parts = address.Split('.');
+        if (parts.Length != 4 ||
+            !int.TryParse(parts[0], out int first) ||
+            !int.TryParse(parts[1], out int second))
+        {
+            return 0;
+        }
+
+        if (first == 192 && second == 168)
+        {
+            return 50;
+        }
+
+        if (first == 10)
+        {
+            return 40;
+        }
+
+        if (first == 172 && second >= 16 && second <= 31)
+        {
+            return 35;
+        }
+
+        if (first == 198 && (second == 18 || second == 19))
+        {
+            return 5;
+        }
+
+        return 10;
+    }
+}
+#endif
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--- a/unity/XR_RM_PICO_UDP_Sender/Assets/Scenes/Main.unity.meta
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--- a/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoControllerUdpSender.cs
+++ b/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoControllerUdpSender.cs
@ -0,0 +1,374 @@
+using System;
+using System.Collections.Generic;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using UnityEngine;
+using UnityEngine.XR;
+
+public class PicoControllerUdpSender : MonoBehaviour
+{
+    private const string HostPrefsKey = "xr_rm_udp_sender.host";
+    private const string PortPrefsKey = "xr_rm_udp_sender.port";
+    private const string SendHzPrefsKey = "xr_rm_udp_sender.send_hz";
+    private const string ConvertPrefsKey = "xr_rm_udp_sender.convert_coordinates";
+
+    [Header("ROS UDP Target")]
+    public string host = "192.168.9.99";
+    public int port = 15000;
+
+    [Header("Send")]
+    public float sendHz = 60.0f;
+    public bool convertUnityToProjectCoordinates = true;
+    public bool sendOnStart = true;
+
+    private UdpClient client;
+    private IPEndPoint endPoint;
+    private float nextSendTime;
+    private bool sendEnabled;
+    private readonly Packet packet = new Packet();
+    private readonly List<InputDevice> deviceBuffer = new List<InputDevice>();
+
+    public bool SendEnabled => sendEnabled;
+    public bool HasEndpoint => endPoint != null;
+    public bool LeftDeviceValid { get; private set; }
+    public bool RightDeviceValid { get; private set; }
+    public bool LeftGripPressed { get; private set; }
+    public bool RightGripPressed { get; private set; }
+    public string LastError { get; private set; } = string.Empty;
+    public double LastSendTime { get; private set; }
+    public uint SentPackets { get; private set; }
+
+    [Serializable]
+    private class Packet
+    {
+        public double t;
+        public string frame_id = "xr_world";
+        public Controllers controllers = new Controllers();
+    }
+
+    [Serializable]
+    private class Controllers
+    {
+        public ControllerPayload left = new ControllerPayload();
+        public ControllerPayload right = new ControllerPayload();
+    }
+
+    [Serializable]
+    private class ControllerPayload
+    {
+        public bool grip;
+        public float trigger;
+        public float[] pos = new float[] { 0.0f, 1.0f, 0.0f };
+        public float[] quat = new float[] { 0.0f, 0.0f, 0.0f, 1.0f };
+    }
+
+    private void OnEnable()
+    {
+        LoadConfig();
+        ReopenClient();
+        sendEnabled = sendOnStart;
+        nextSendTime = 0.0f;
+    }
+
+    private void OnDisable()
+    {
+        SendSafeStopPacket();
+        CloseClient();
+    }
+
+    private void OnApplicationPause(bool pauseStatus)
+    {
+        if (pauseStatus)
+        {
+            SendSafeStopPacket();
+            return;
+        }
+
+        nextSendTime = 0.0f;
+    }
+
+    private void OnApplicationFocus(bool hasFocus)
+    {
+        if (!hasFocus)
+        {
+            SendSafeStopPacket();
+            return;
+        }
+
+        nextSendTime = 0.0f;
+    }
+
+    private void Update()
+    {
+        if (!sendEnabled)
+        {
+            return;
+        }
+
+        if (Time.unscaledTime < nextSendTime)
+        {
+            return;
+        }
+
+        nextSendTime = Time.unscaledTime + 1.0f / Mathf.Max(sendHz, 1.0f);
+        packet.t = Time.realtimeSinceStartupAsDouble;
+
+        FillController(XRNode.LeftHand, packet.controllers.left);
+        FillController(XRNode.RightHand, packet.controllers.right);
+        SendPacket();
+    }
+
+    public bool ApplyConfig(string newHost, int newPort, float newSendHz, bool newConvertUnityToProjectCoordinates, bool save)
+    {
+        string trimmedHost = newHost == null ? string.Empty : newHost.Trim();
+        if (!TryParseTargetAddress(trimmedHost, out IPAddress address))
+        {
+            LastError = $"Invalid IPv4 address: {newHost}";
+            return false;
+        }
+
+        if (newPort < 1 || newPort > 65535)
+        {
+            LastError = $"Invalid UDP port: {newPort}";
+            return false;
+        }
+
+        host = trimmedHost;
+        port = newPort;
+        sendHz = Mathf.Clamp(newSendHz, 1.0f, 120.0f);
+        convertUnityToProjectCoordinates = newConvertUnityToProjectCoordinates;
+        ReopenClient(address);
+        if (endPoint == null)
+        {
+            return false;
+        }
+
+        if (save)
+        {
+            SaveConfig();
+        }
+
+        LastError = string.Empty;
+        return true;
+    }
+
+    public void SetSending(bool enabled)
+    {
+        if (!enabled && sendEnabled)
+        {
+            SendSafeStopPacket();
+        }
+
+        sendEnabled = enabled;
+        nextSendTime = 0.0f;
+    }
+
+    private void LoadConfig()
+    {
+        string savedHost = PlayerPrefs.GetString(HostPrefsKey, host);
+        if (TryParseTargetAddress(savedHost, out _))
+        {
+            host = savedHost.Trim();
+        }
+
+        port = Mathf.Clamp(PlayerPrefs.GetInt(PortPrefsKey, port), 1, 65535);
+        sendHz = Mathf.Clamp(PlayerPrefs.GetFloat(SendHzPrefsKey, sendHz), 1.0f, 120.0f);
+        convertUnityToProjectCoordinates = PlayerPrefs.GetInt(ConvertPrefsKey, convertUnityToProjectCoordinates ? 1 : 0) != 0;
+    }
+
+    private void SaveConfig()
+    {
+        PlayerPrefs.SetString(HostPrefsKey, host);
+        PlayerPrefs.SetInt(PortPrefsKey, port);
+        PlayerPrefs.SetFloat(SendHzPrefsKey, sendHz);
+        PlayerPrefs.SetInt(ConvertPrefsKey, convertUnityToProjectCoordinates ? 1 : 0);
+        PlayerPrefs.Save();
+    }
+
+    private void ReopenClient()
+    {
+        if (TryParseTargetAddress(host, out IPAddress address))
+        {
+            ReopenClient(address);
+            return;
+        }
+
+        LastError = $"Invalid IPv4 address: {host}";
+        CloseClient();
+        endPoint = null;
+    }
+
+    private void ReopenClient(IPAddress address)
+    {
+        try
+        {
+            CloseClient();
+            client = new UdpClient();
+            endPoint = new IPEndPoint(address, port);
+            LastError = string.Empty;
+        }
+        catch (Exception exception)
+        {
+            LastError = exception.Message;
+            CloseClient();
+            endPoint = null;
+        }
+    }
+
+    private void FillController(XRNode node, ControllerPayload payload)
+    {
+        InputDevice device = GetControllerDevice(node);
+        bool isLeft = node == XRNode.LeftHand;
+        if (isLeft)
+        {
+            LeftDeviceValid = device.isValid;
+        }
+        else
+        {
+            RightDeviceValid = device.isValid;
+        }
+
+        if (!device.isValid)
+        {
+            payload.grip = false;
+            payload.trigger = 0.0f;
+            SetGripState(isLeft, false);
+            return;
+        }
+
+        Vector3 position = Vector3.zero;
+        Quaternion rotation = Quaternion.identity;
+        float trigger = 0.0f;
+        float gripValue = 0.0f;
+        bool gripButton = false;
+
+        device.TryGetFeatureValue(CommonUsages.devicePosition, out position);
+        device.TryGetFeatureValue(CommonUsages.deviceRotation, out rotation);
+        device.TryGetFeatureValue(CommonUsages.trigger, out trigger);
+        device.TryGetFeatureValue(CommonUsages.grip, out gripValue);
+        device.TryGetFeatureValue(CommonUsages.gripButton, out gripButton);
+
+        payload.grip = gripButton || gripValue > 0.5f;
+        SetGripState(isLeft, payload.grip);
+        payload.trigger = Mathf.Clamp01(trigger);
+
+        if (convertUnityToProjectCoordinates)
+        {
+            payload.pos[0] = position.x;
+            payload.pos[1] = position.y;
+            payload.pos[2] = -position.z;
+
+            payload.quat[0] = -rotation.x;
+            payload.quat[1] = -rotation.y;
+            payload.quat[2] = rotation.z;
+            payload.quat[3] = rotation.w;
+        }
+        else
+        {
+            payload.pos[0] = position.x;
+            payload.pos[1] = position.y;
+            payload.pos[2] = position.z;
+
+            payload.quat[0] = rotation.x;
+            payload.quat[1] = rotation.y;
+            payload.quat[2] = rotation.z;
+            payload.quat[3] = rotation.w;
+        }
+    }
+
+    private InputDevice GetControllerDevice(XRNode node)
+    {
+        InputDevice device = InputDevices.GetDeviceAtXRNode(node);
+        if (device.isValid)
+        {
+            return device;
+        }
+
+        InputDeviceCharacteristics handedness = node == XRNode.LeftHand
+            ? InputDeviceCharacteristics.Left
+            : InputDeviceCharacteristics.Right;
+
+        device = FindControllerByCharacteristics(
+            InputDeviceCharacteristics.Controller | InputDeviceCharacteristics.HeldInHand | handedness);
+        if (device.isValid)
+        {
+            return device;
+        }
+
+        return FindControllerByCharacteristics(InputDeviceCharacteristics.Controller | handedness);
+    }
+
+    private InputDevice FindControllerByCharacteristics(InputDeviceCharacteristics characteristics)
+    {
+        deviceBuffer.Clear();
+        InputDevices.GetDevicesWithCharacteristics(characteristics, deviceBuffer);
+        for (int i = 0; i < deviceBuffer.Count; i++)
+        {
+            if (deviceBuffer[i].isValid)
+            {
+                return deviceBuffer[i];
+            }
+        }
+
+        return default;
+    }
+
+    private static bool TryParseTargetAddress(string value, out IPAddress address)
+    {
+        string trimmed = value == null ? string.Empty : value.Trim();
+        return IPAddress.TryParse(trimmed, out address) && address.AddressFamily == AddressFamily.InterNetwork;
+    }
+
+    private void SetGripState(bool isLeft, bool pressed)
+    {
+        if (isLeft)
+        {
+            LeftGripPressed = pressed;
+        }
+        else
+        {
+            RightGripPressed = pressed;
+        }
+    }
+
+    private void SendSafeStopPacket()
+    {
+        packet.t = Time.realtimeSinceStartupAsDouble;
+        packet.controllers.left.grip = false;
+        packet.controllers.left.trigger = 0.0f;
+        packet.controllers.right.grip = false;
+        packet.controllers.right.trigger = 0.0f;
+        LeftGripPressed = false;
+        RightGripPressed = false;
+        SendPacket();
+    }
+
+    private void SendPacket()
+    {
+        if (client == null || endPoint == null)
+        {
+            return;
+        }
+
+        string json = JsonUtility.ToJson(packet);
+        byte[] bytes = Encoding.UTF8.GetBytes(json);
+        try
+        {
+            client.Send(bytes, bytes.Length, endPoint);
+            LastSendTime = Time.realtimeSinceStartupAsDouble;
+            SentPackets++;
+            LastError = string.Empty;
+        }
+        catch (Exception exception)
+        {
+            LastError = exception.Message;
+        }
+    }
+
+    private void CloseClient()
+    {
+        client?.Close();
+        client = null;
+    }
+}
--- a/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoControllerUdpSender.cs.meta
+++ b/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoControllerUdpSender.cs.meta
@ -0,0 +1,11 @@
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--- a/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoKeepAwake.cs
+++ b/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoKeepAwake.cs
@ -0,0 +1,372 @@
+using System;
+using Unity.XR.PICO.TOBSupport;
+using UnityEngine;
+
+[DisallowMultipleComponent]
+public class PicoKeepAwake : MonoBehaviour
+{
+    [Header("Policy")]
+    public bool keepAwake = true;
+    public bool applyWhenSendingOnly = true;
+
+    [Header("Backends")]
+    public bool usePicoEnterpriseApi = true;
+    public bool useAndroidWindowFlag = true;
+    public float picoRefreshSeconds = 30.0f;
+
+    private const int AndroidFlagKeepScreenOn = 128;
+
+    private PicoControllerUdpSender sender;
+    private bool enterpriseInitialized;
+    private bool enterpriseBound;
+    private bool enterpriseBindingRequested;
+    private bool picoSettingsApplied;
+#if UNITY_ANDROID && !UNITY_EDITOR
+    private bool picoSystemDelaysCaptured;
+    private SleepDelayTimeEnum previousSleepDelay;
+    private ScreenOffDelayTimeEnum previousScreenOffDelay;
+#endif
+    private float nextPicoRefreshTime;
+    private int lastScreenOffDelayResult = int.MinValue;
+    private string lastPicoError = string.Empty;
+
+    public bool KeepAwakeActive { get; private set; }
+    public bool EnterpriseBound => enterpriseBound;
+    public string StatusText { get; private set; } = "KeepAwake idle";
+
+    private void Awake()
+    {
+        sender = GetComponent<PicoControllerUdpSender>();
+        ApplyUnityKeepAwakeDefaults();
+    }
+
+    private void OnEnable()
+    {
+        if (usePicoEnterpriseApi)
+        {
+            EnsureEnterpriseBinding();
+        }
+
+        RefreshDesiredState(true);
+    }
+
+    private void Update()
+    {
+        RefreshDesiredState(false);
+    }
+
+    private void OnDisable()
+    {
+        DisableKeepAwake();
+    }
+
+    private void OnDestroy()
+    {
+        DisableKeepAwake();
+    }
+
+    private void OnApplicationPause(bool pauseStatus)
+    {
+        if (!pauseStatus)
+        {
+            nextPicoRefreshTime = 0.0f;
+            RefreshDesiredState(true);
+        }
+    }
+
+    private void OnApplicationFocus(bool hasFocus)
+    {
+        if (hasFocus)
+        {
+            nextPicoRefreshTime = 0.0f;
+            RefreshDesiredState(true);
+        }
+    }
+
+    private void RefreshDesiredState(bool force)
+    {
+        bool shouldKeepAwake = keepAwake && (!applyWhenSendingOnly || sender == null || sender.SendEnabled);
+        if (!shouldKeepAwake)
+        {
+            if (KeepAwakeActive)
+            {
+                DisableKeepAwake();
+            }
+            else
+            {
+                RefreshStatus();
+            }
+
+            return;
+        }
+
+        if (!KeepAwakeActive)
+        {
+            EnableKeepAwake();
+            return;
+        }
+
+        if ((force || Time.unscaledTime >= nextPicoRefreshTime) && usePicoEnterpriseApi)
+        {
+            ApplyPicoEnterpriseKeepAwake();
+        }
+
+        RefreshStatus();
+    }
+
+    private void EnableKeepAwake()
+    {
+        ApplyUnityKeepAwakeDefaults();
+        SetAndroidKeepScreenOn(true);
+
+        KeepAwakeActive = true;
+        nextPicoRefreshTime = 0.0f;
+
+        if (usePicoEnterpriseApi)
+        {
+            EnsureEnterpriseBinding();
+            ApplyPicoEnterpriseKeepAwake();
+        }
+
+        RefreshStatus();
+    }
+
+    private void DisableKeepAwake()
+    {
+        if (!KeepAwakeActive)
+        {
+            RefreshStatus();
+            return;
+        }
+
+        if (usePicoEnterpriseApi)
+        {
+            ReleasePicoEnterpriseWakeLock();
+        }
+
+        SetAndroidKeepScreenOn(false);
+        Screen.sleepTimeout = SleepTimeout.SystemSetting;
+        KeepAwakeActive = false;
+        RefreshStatus();
+    }
+
+    private static void ApplyUnityKeepAwakeDefaults()
+    {
+        Application.runInBackground = true;
+        Screen.sleepTimeout = SleepTimeout.NeverSleep;
+    }
+
+    private void EnsureEnterpriseBinding()
+    {
+        if (!usePicoEnterpriseApi || enterpriseBindingRequested)
+        {
+            return;
+        }
+
+        enterpriseBindingRequested = true;
+
+#if UNITY_ANDROID && !UNITY_EDITOR
+        try
+        {
+            enterpriseInitialized = PXR_Enterprise.InitEnterpriseService(false);
+            PXR_Enterprise.BindEnterpriseService(OnEnterpriseBound);
+            lastPicoError = enterpriseInitialized ? string.Empty : "PICO enterprise init failed";
+        }
+        catch (Exception exception)
+        {
+            enterpriseInitialized = false;
+            lastPicoError = exception.Message;
+        }
+#else
+        enterpriseInitialized = true;
+        enterpriseBound = true;
+#endif
+        RefreshStatus();
+    }
+
+    private void OnEnterpriseBound(bool success)
+    {
+        enterpriseBound = success;
+        if (!success)
+        {
+            lastPicoError = "PICO enterprise bind failed";
+            RefreshStatus();
+            return;
+        }
+
+        lastPicoError = string.Empty;
+        nextPicoRefreshTime = 0.0f;
+        if (KeepAwakeActive)
+        {
+            ApplyPicoEnterpriseKeepAwake();
+        }
+
+        RefreshStatus();
+    }
+
+    private void ApplyPicoEnterpriseKeepAwake()
+    {
+        nextPicoRefreshTime = Time.unscaledTime + Mathf.Max(5.0f, picoRefreshSeconds);
+
+#if UNITY_ANDROID && !UNITY_EDITOR
+        if (!enterpriseInitialized)
+        {
+            EnsureEnterpriseBinding();
+            return;
+        }
+
+        try
+        {
+            CapturePicoSystemDelays();
+            PXR_Enterprise.AcquireWakeLock();
+            PXR_Enterprise.PropertySetSleepDelay(SleepDelayTimeEnum.NEVER);
+            PXR_Enterprise.PropertySetScreenOffDelay(ScreenOffDelayTimeEnum.NEVER, OnScreenOffDelaySet);
+            PXR_Enterprise.SwitchSystemFunction(SystemFunctionSwitchEnum.SFS_AUTOSLEEP, SwitchEnum.S_OFF);
+
+            picoSettingsApplied = true;
+            lastPicoError = string.Empty;
+        }
+        catch (Exception exception)
+        {
+            lastPicoError = exception.Message;
+        }
+#else
+        picoSettingsApplied = true;
+#endif
+        RefreshStatus();
+    }
+
+    private void CapturePicoSystemDelays()
+    {
+#if UNITY_ANDROID && !UNITY_EDITOR
+        if (picoSystemDelaysCaptured || !enterpriseBound)
+        {
+            return;
+        }
+
+        previousSleepDelay = PXR_Enterprise.GetSleepDelay();
+        previousScreenOffDelay = PXR_Enterprise.GetScreenOffDelay();
+        picoSystemDelaysCaptured = true;
+#endif
+    }
+
+    private void OnScreenOffDelaySet(int result)
+    {
+        lastScreenOffDelayResult = result;
+        RefreshStatus();
+    }
+
+    private void ReleasePicoEnterpriseWakeLock()
+    {
+#if UNITY_ANDROID && !UNITY_EDITOR
+        if (!enterpriseInitialized)
+        {
+            return;
+        }
+
+        try
+        {
+            PXR_Enterprise.ReleaseWakeLock();
+            RestorePicoSystemDelays();
+        }
+        catch (Exception exception)
+        {
+            lastPicoError = exception.Message;
+        }
+#endif
+        picoSettingsApplied = false;
+        lastScreenOffDelayResult = int.MinValue;
+    }
+
+    private void RestorePicoSystemDelays()
+    {
+#if UNITY_ANDROID && !UNITY_EDITOR
+        if (!picoSystemDelaysCaptured)
+        {
+            PXR_Enterprise.SwitchSystemFunction(SystemFunctionSwitchEnum.SFS_AUTOSLEEP, SwitchEnum.S_ON);
+            return;
+        }
+
+        PXR_Enterprise.PropertySetSleepDelay(previousSleepDelay);
+        PXR_Enterprise.PropertySetScreenOffDelay(previousScreenOffDelay, null);
+        PXR_Enterprise.SwitchSystemFunction(SystemFunctionSwitchEnum.SFS_AUTOSLEEP, SwitchEnum.S_ON);
+#endif
+    }
+
+    private void RefreshStatus()
+    {
+        if (!keepAwake)
+        {
+            StatusText = "KeepAwake disabled";
+            return;
+        }
+
+        if (applyWhenSendingOnly && sender != null && !sender.SendEnabled)
+        {
+            StatusText = "KeepAwake waiting";
+            return;
+        }
+
+        string activeState = KeepAwakeActive ? "ON" : "OFF";
+        string picoState = "PICO --";
+        if (usePicoEnterpriseApi)
+        {
+            if (!string.IsNullOrEmpty(lastPicoError))
+            {
+                picoState = "PICO error";
+            }
+            else if (enterpriseBindingRequested && !enterpriseInitialized)
+            {
+                picoState = "PICO init";
+            }
+            else if (enterpriseBound)
+            {
+                picoState = picoSettingsApplied ? "PICO applied" : "PICO bound";
+            }
+            else if (enterpriseBindingRequested)
+            {
+                picoState = "PICO binding";
+            }
+        }
+
+        string screenState = lastScreenOffDelayResult == int.MinValue
+            ? string.Empty
+            : " screen " + lastScreenOffDelayResult.ToString();
+
+        StatusText = "KeepAwake " + activeState + " | " + picoState + screenState;
+    }
+
+    private void SetAndroidKeepScreenOn(bool enabled)
+    {
+        if (!useAndroidWindowFlag)
+        {
+            return;
+        }
+
+#if UNITY_ANDROID && !UNITY_EDITOR
+        try
+        {
+            using (AndroidJavaClass unityPlayer = new AndroidJavaClass("com.unity3d.player.UnityPlayer"))
+            {
+                AndroidJavaObject activity = unityPlayer.GetStatic<AndroidJavaObject>("currentActivity");
+                activity.Call("runOnUiThread", new AndroidJavaRunnable(() =>
+                {
+                    AndroidJavaObject window = activity.Call<AndroidJavaObject>("getWindow");
+                    if (enabled)
+                    {
+                        window.Call("addFlags", AndroidFlagKeepScreenOn);
+                    }
+                    else
+                    {
+                        window.Call("clearFlags", AndroidFlagKeepScreenOn);
+                    }
+                }));
+            }
+        }
+        catch (Exception exception)
+        {
+            lastPicoError = exception.Message;
+        }
+#endif
+    }
+}
--- a/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoKeepAwake.cs.meta
+++ b/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoKeepAwake.cs.meta
@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 09740726046b89c1b89aad001e0caa83
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoUdpConfigPanel.cs
+++ b/unity/XR_RM_PICO_UDP_Sender/Assets/Scripts/PicoUdpConfigPanel.cs
@ -0,0 +1,638 @@
+using System;
+using System.Globalization;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR;
+
+public class PicoUdpConfigPanel : MonoBehaviour
+{
+    private const int RowCount = 6;
+    private const float AxisRepeatDelay = 0.22f;
+
+    public int targetFrameRate = 90;
+    public bool showOnStart = true;
+    public bool togglePanelWithMenuButton = true;
+
+    private readonly Text[] rowTexts = new Text[RowCount];
+    private readonly Color normalColor = new Color(0.86f, 0.91f, 0.96f, 1.0f);
+    private readonly Color selectedColor = new Color(0.35f, 0.82f, 1.0f, 1.0f);
+    private readonly Color mutedColor = new Color(0.58f, 0.66f, 0.74f, 1.0f);
+
+    private PicoControllerUdpSender sender;
+    private Canvas canvas;
+    private GameObject configPanelObject;
+    private GameObject runHudObject;
+    private Text titleText;
+    private Text statusText;
+    private Text footerText;
+    private Text hudTitleText;
+    private Text hudStatusText;
+    private Text hudDetailText;
+    private Text hudHintText;
+    private TouchScreenKeyboard keyboard;
+    private KeyboardTarget keyboardTarget;
+    private string hostDraft;
+    private int portDraft;
+    private float sendHzDraft;
+    private bool convertDraft;
+    private PicoKeepAwake keepAwake;
+    private int selectedRow;
+    private float nextAxisTime;
+    private bool wasActivatePressed;
+    private bool wasApplyPressed;
+    private bool wasMenuPressed;
+    private string panelMessage = "Ready";
+
+    private enum KeyboardTarget
+    {
+        None,
+        Host,
+        Port,
+        SendHz
+    }
+
+    private void Awake()
+    {
+        sender = GetComponent<PicoControllerUdpSender>();
+        if (sender == null)
+        {
+            sender = gameObject.AddComponent<PicoControllerUdpSender>();
+        }
+
+        keepAwake = GetComponent<PicoKeepAwake>();
+        if (keepAwake == null)
+        {
+            keepAwake = gameObject.AddComponent<PicoKeepAwake>();
+        }
+    }
+
+    private void Start()
+    {
+        ApplyRuntimeDefaults();
+        EnsurePanel();
+        LoadDraftsFromSender();
+        canvas.gameObject.SetActive(true);
+        SetConfigPanelVisible(showOnStart, false);
+        RefreshPanel();
+    }
+
+    private void Update()
+    {
+        HandleKeyboard();
+        HandleControllerInput();
+        RefreshPanel();
+    }
+
+    private void ApplyRuntimeDefaults()
+    {
+        Application.targetFrameRate = targetFrameRate;
+        Application.runInBackground = true;
+        QualitySettings.vSyncCount = 0;
+        Screen.sleepTimeout = SleepTimeout.NeverSleep;
+        XRSettings.eyeTextureResolutionScale = 1.0f;
+    }
+
+    private void EnsurePanel()
+    {
+        Camera panelCamera = Camera.main;
+        if (panelCamera == null)
+        {
+            GameObject cameraObject = new GameObject("XR-RM Main Camera");
+            cameraObject.tag = "MainCamera";
+            panelCamera = cameraObject.AddComponent<Camera>();
+            panelCamera.nearClipPlane = 0.05f;
+            panelCamera.farClipPlane = 100.0f;
+            panelCamera.clearFlags = CameraClearFlags.SolidColor;
+            panelCamera.backgroundColor = new Color(0.02f, 0.025f, 0.03f, 1.0f);
+
+            if (FindObjectOfType<AudioListener>() == null)
+            {
+                cameraObject.AddComponent<AudioListener>();
+            }
+
+            AddTrackedPoseDriverIfAvailable(cameraObject);
+        }
+
+        GameObject canvasObject = new GameObject("XR-RM UDP Config Canvas", typeof(RectTransform), typeof(Canvas), typeof(CanvasScaler));
+        canvasObject.transform.SetParent(panelCamera.transform, false);
+        canvasObject.transform.localPosition = new Vector3(0.0f, 0.0f, 2.0f);
+        canvasObject.transform.localRotation = Quaternion.identity;
+        canvasObject.transform.localScale = Vector3.one * 0.0014f;
+
+        canvas = canvasObject.GetComponent<Canvas>();
+        canvas.renderMode = RenderMode.WorldSpace;
+        canvas.worldCamera = panelCamera;
+        canvas.sortingOrder = 10;
+
+        RectTransform canvasRect = canvasObject.GetComponent<RectTransform>();
+        canvasRect.sizeDelta = new Vector2(980.0f, 640.0f);
+
+        CanvasScaler scaler = canvasObject.GetComponent<CanvasScaler>();
+        scaler.dynamicPixelsPerUnit = 12.0f;
+        scaler.referencePixelsPerUnit = 100.0f;
+
+        configPanelObject = new GameObject("Config Panel", typeof(RectTransform), typeof(CanvasRenderer), typeof(Image));
+        configPanelObject.transform.SetParent(canvasObject.transform, false);
+        RectTransform backgroundRect = configPanelObject.GetComponent<RectTransform>();
+        backgroundRect.anchorMin = Vector2.zero;
+        backgroundRect.anchorMax = Vector2.one;
+        backgroundRect.offsetMin = Vector2.zero;
+        backgroundRect.offsetMax = Vector2.zero;
+        Image background = configPanelObject.GetComponent<Image>();
+        background.color = new Color(0.045f, 0.06f, 0.075f, 0.94f);
+
+        titleText = CreateText("Title", configPanelObject.transform, 38, FontStyle.Bold, TextAnchor.MiddleLeft);
+        SetRect(titleText.rectTransform, new Vector2(0.06f, 0.82f), new Vector2(0.94f, 0.96f), Vector2.zero, Vector2.zero);
+
+        statusText = CreateText("Status", configPanelObject.transform, 22, FontStyle.Normal, TextAnchor.MiddleLeft);
+        statusText.color = mutedColor;
+        SetRect(statusText.rectTransform, new Vector2(0.06f, 0.72f), new Vector2(0.94f, 0.82f), Vector2.zero, Vector2.zero);
+
+        for (int i = 0; i < RowCount; i++)
+        {
+            Text rowText = CreateText("Row " + i, configPanelObject.transform, 27, FontStyle.Normal, TextAnchor.MiddleLeft);
+            float top = 0.68f - i * 0.09f;
+            SetRect(rowText.rectTransform, new Vector2(0.08f, top - 0.075f), new Vector2(0.92f, top), Vector2.zero, Vector2.zero);
+            rowTexts[i] = rowText;
+        }
+
+        footerText = CreateText("Footer", configPanelObject.transform, 23, FontStyle.Normal, TextAnchor.MiddleCenter);
+        footerText.color = normalColor;
+        SetRect(footerText.rectTransform, new Vector2(0.05f, 0.025f), new Vector2(0.95f, 0.15f), Vector2.zero, Vector2.zero);
+
+        CreateRunHud(canvasObject.transform);
+    }
+
+    private void CreateRunHud(Transform canvasParent)
+    {
+        runHudObject = new GameObject("Run HUD", typeof(RectTransform), typeof(CanvasRenderer), typeof(Image));
+        runHudObject.transform.SetParent(canvasParent, false);
+        RectTransform hudRect = runHudObject.GetComponent<RectTransform>();
+        hudRect.anchorMin = Vector2.zero;
+        hudRect.anchorMax = Vector2.one;
+        hudRect.offsetMin = Vector2.zero;
+        hudRect.offsetMax = Vector2.zero;
+        Image hudBackground = runHudObject.GetComponent<Image>();
+        hudBackground.color = new Color(0.018f, 0.026f, 0.032f, 0.88f);
+
+        GameObject headerObject = CreateImage("HUD Header", runHudObject.transform, new Color(0.035f, 0.05f, 0.06f, 0.88f));
+        SetRect(headerObject.GetComponent<RectTransform>(), new Vector2(0.05f, 0.70f), new Vector2(0.95f, 0.92f), Vector2.zero, Vector2.zero);
+
+        hudTitleText = CreateText("HUD Title", headerObject.transform, 34, FontStyle.Bold, TextAnchor.MiddleLeft);
+        SetRect(hudTitleText.rectTransform, new Vector2(0.04f, 0.54f), new Vector2(0.96f, 0.95f), Vector2.zero, Vector2.zero);
+
+        hudStatusText = CreateText("HUD Status", headerObject.transform, 28, FontStyle.Bold, TextAnchor.MiddleLeft);
+        hudStatusText.color = selectedColor;
+        SetRect(hudStatusText.rectTransform, new Vector2(0.04f, 0.15f), new Vector2(0.96f, 0.56f), Vector2.zero, Vector2.zero);
+
+        hudDetailText = CreateText("HUD Detail", runHudObject.transform, 25, FontStyle.Normal, TextAnchor.MiddleCenter);
+        SetRect(hudDetailText.rectTransform, new Vector2(0.07f, 0.36f), new Vector2(0.93f, 0.64f), Vector2.zero, Vector2.zero);
+
+        hudHintText = CreateText("HUD Hint", runHudObject.transform, 23, FontStyle.Normal, TextAnchor.MiddleCenter);
+        hudHintText.color = mutedColor;
+        SetRect(hudHintText.rectTransform, new Vector2(0.07f, 0.08f), new Vector2(0.93f, 0.20f), Vector2.zero, Vector2.zero);
+
+        GameObject verticalLine = CreateImage("HUD Vertical Reticle", runHudObject.transform, new Color(0.35f, 0.82f, 1.0f, 0.38f));
+        SetRect(verticalLine.GetComponent<RectTransform>(), new Vector2(0.498f, 0.27f), new Vector2(0.502f, 0.36f), Vector2.zero, Vector2.zero);
+
+        GameObject horizontalLine = CreateImage("HUD Horizontal Reticle", runHudObject.transform, new Color(0.35f, 0.82f, 1.0f, 0.38f));
+        SetRect(horizontalLine.GetComponent<RectTransform>(), new Vector2(0.47f, 0.313f), new Vector2(0.53f, 0.319f), Vector2.zero, Vector2.zero);
+    }
+
+    private static void AddTrackedPoseDriverIfAvailable(GameObject cameraObject)
+    {
+        string[] typeNames =
+        {
+            "UnityEngine.SpatialTracking.TrackedPoseDriver, UnityEngine.SpatialTracking",
+            "UnityEngine.InputSystem.XR.TrackedPoseDriver, Unity.InputSystem"
+        };
+
+        for (int i = 0; i < typeNames.Length; i++)
+        {
+            Type driverType = Type.GetType(typeNames[i]);
+            if (driverType != null && cameraObject.GetComponent(driverType) == null)
+            {
+                cameraObject.AddComponent(driverType);
+                return;
+            }
+        }
+    }
+
+    private Text CreateText(string name, Transform parent, int fontSize, FontStyle fontStyle, TextAnchor alignment)
+    {
+        GameObject textObject = new GameObject(name, typeof(RectTransform), typeof(CanvasRenderer), typeof(Text));
+        textObject.transform.SetParent(parent, false);
+
+        Text text = textObject.GetComponent<Text>();
+        text.font = Resources.GetBuiltinResource<Font>("Arial.ttf");
+        text.fontSize = fontSize;
+        text.fontStyle = fontStyle;
+        text.alignment = alignment;
+        text.horizontalOverflow = HorizontalWrapMode.Wrap;
+        text.verticalOverflow = VerticalWrapMode.Truncate;
+        text.resizeTextForBestFit = true;
+        text.resizeTextMinSize = Mathf.Max(12, fontSize - 8);
+        text.resizeTextMaxSize = fontSize;
+        text.color = normalColor;
+        return text;
+    }
+
+    private static void SetRect(RectTransform rectTransform, Vector2 anchorMin, Vector2 anchorMax, Vector2 offsetMin, Vector2 offsetMax)
+    {
+        rectTransform.anchorMin = anchorMin;
+        rectTransform.anchorMax = anchorMax;
+        rectTransform.offsetMin = offsetMin;
+        rectTransform.offsetMax = offsetMax;
+    }
+
+    private static GameObject CreateImage(string name, Transform parent, Color color)
+    {
+        GameObject imageObject = new GameObject(name, typeof(RectTransform), typeof(CanvasRenderer), typeof(Image));
+        imageObject.transform.SetParent(parent, false);
+        Image image = imageObject.GetComponent<Image>();
+        image.color = color;
+        return imageObject;
+    }
+
+    private void LoadDraftsFromSender()
+    {
+        hostDraft = sender.host;
+        portDraft = sender.port;
+        sendHzDraft = sender.sendHz;
+        convertDraft = sender.convertUnityToProjectCoordinates;
+    }
+
+    private void HandleKeyboard()
+    {
+        if (keyboard == null)
+        {
+            return;
+        }
+
+        if (keyboard.status == TouchScreenKeyboard.Status.Done || keyboard.status == TouchScreenKeyboard.Status.LostFocus)
+        {
+            CommitKeyboardText(keyboard.text);
+            keyboard = null;
+            keyboardTarget = KeyboardTarget.None;
+        }
+        else if (keyboard.status == TouchScreenKeyboard.Status.Canceled)
+        {
+            panelMessage = "Edit canceled";
+            keyboard = null;
+            keyboardTarget = KeyboardTarget.None;
+        }
+    }
+
+    private void CommitKeyboardText(string value)
+    {
+        string trimmed = value == null ? string.Empty : value.Trim();
+        if (keyboardTarget == KeyboardTarget.Host)
+        {
+            hostDraft = trimmed;
+            panelMessage = "Target IP edited";
+        }
+        else if (keyboardTarget == KeyboardTarget.Port)
+        {
+            if (int.TryParse(trimmed, out int parsedPort))
+            {
+                portDraft = Mathf.Clamp(parsedPort, 1, 65535);
+                panelMessage = "Target port edited";
+            }
+            else
+            {
+                panelMessage = "Invalid port text";
+            }
+        }
+        else if (keyboardTarget == KeyboardTarget.SendHz)
+        {
+            if (TryParseFloat(trimmed, out float parsedHz))
+            {
+                sendHzDraft = Mathf.Clamp(parsedHz, 1.0f, 120.0f);
+                panelMessage = "Send rate edited";
+            }
+            else
+            {
+                panelMessage = "Invalid send rate text";
+            }
+        }
+    }
+
+    private void HandleControllerInput()
+    {
+        bool menuPressed = IsButtonPressed(CommonUsages.menuButton);
+        if (togglePanelWithMenuButton && menuPressed && !wasMenuPressed)
+        {
+            SetConfigPanelVisible(!IsConfigPanelVisible(), true);
+        }
+
+        wasMenuPressed = menuPressed;
+        if (!IsConfigPanelVisible())
+        {
+            return;
+        }
+
+        Vector2 axis = ReadPrimaryAxis();
+        if (Time.unscaledTime >= nextAxisTime)
+        {
+            if (axis.y > 0.55f)
+            {
+                selectedRow = (selectedRow + RowCount - 1) % RowCount;
+                nextAxisTime = Time.unscaledTime + AxisRepeatDelay;
+            }
+            else if (axis.y < -0.55f)
+            {
+                selectedRow = (selectedRow + 1) % RowCount;
+                nextAxisTime = Time.unscaledTime + AxisRepeatDelay;
+            }
+            else if (axis.x > 0.65f)
+            {
+                AdjustSelectedValue(1);
+                nextAxisTime = Time.unscaledTime + AxisRepeatDelay;
+            }
+            else if (axis.x < -0.65f)
+            {
+                AdjustSelectedValue(-1);
+                nextAxisTime = Time.unscaledTime + AxisRepeatDelay;
+            }
+        }
+
+        bool activatePressed = IsActivatePressed();
+        if (activatePressed && !wasActivatePressed)
+        {
+            ActivateSelectedRow();
+        }
+
+        wasActivatePressed = activatePressed;
+
+        bool applyPressed = IsButtonPressed(CommonUsages.secondaryButton);
+        if (applyPressed && !wasApplyPressed)
+        {
+            ApplyDrafts();
+        }
+
+        wasApplyPressed = applyPressed;
+    }
+
+    private void AdjustSelectedValue(int direction)
+    {
+        if (selectedRow == 1)
+        {
+            portDraft = Mathf.Clamp(portDraft + direction, 1, 65535);
+            panelMessage = "Target port adjusted";
+        }
+        else if (selectedRow == 2)
+        {
+            sendHzDraft = Mathf.Clamp(sendHzDraft + direction * 5.0f, 1.0f, 120.0f);
+            panelMessage = "Send rate adjusted";
+        }
+        else if (selectedRow == 3)
+        {
+            convertDraft = !convertDraft;
+            panelMessage = "Coordinate mode toggled";
+        }
+        else if (selectedRow == 4)
+        {
+            ToggleSending();
+        }
+    }
+
+    private void ActivateSelectedRow()
+    {
+        if (selectedRow == 0)
+        {
+            OpenKeyboard(KeyboardTarget.Host, hostDraft, TouchScreenKeyboardType.URL);
+        }
+        else if (selectedRow == 1)
+        {
+            OpenKeyboard(KeyboardTarget.Port, portDraft.ToString(), TouchScreenKeyboardType.NumberPad);
+        }
+        else if (selectedRow == 2)
+        {
+            OpenKeyboard(KeyboardTarget.SendHz, Mathf.RoundToInt(sendHzDraft).ToString(), TouchScreenKeyboardType.NumberPad);
+        }
+        else if (selectedRow == 3)
+        {
+            convertDraft = !convertDraft;
+            panelMessage = "Coordinate mode toggled";
+        }
+        else if (selectedRow == 4)
+        {
+            ToggleSending();
+        }
+        else if (selectedRow == 5)
+        {
+            ApplyDrafts();
+        }
+    }
+
+    private void OpenKeyboard(KeyboardTarget target, string text, TouchScreenKeyboardType keyboardType)
+    {
+        keyboardTarget = target;
+        keyboard = TouchScreenKeyboard.Open(text, keyboardType, false, false, false, false, "XR-RM UDP");
+        panelMessage = "Editing " + target;
+    }
+
+    private void ToggleSending()
+    {
+        sender.SetSending(!sender.SendEnabled);
+        panelMessage = sender.SendEnabled ? "UDP sending enabled" : "UDP sending paused";
+    }
+
+    private void ApplyDrafts()
+    {
+        bool applied = sender.ApplyConfig(hostDraft, portDraft, sendHzDraft, convertDraft, true);
+        panelMessage = applied ? "Saved and applied" : sender.LastError;
+    }
+
+    private bool IsActivatePressed()
+    {
+        return IsButtonPressed(CommonUsages.primaryButton) || IsButtonPressed(CommonUsages.triggerButton) || ReadTriggerValue() > 0.75f;
+    }
+
+    private static Vector2 ReadPrimaryAxis()
+    {
+        if (TryReadPrimaryAxis(XRNode.RightHand, out Vector2 rightAxis))
+        {
+            return rightAxis;
+        }
+
+        if (TryReadPrimaryAxis(XRNode.LeftHand, out Vector2 leftAxis))
+        {
+            return leftAxis;
+        }
+
+        return Vector2.zero;
+    }
+
+    private static bool TryReadPrimaryAxis(XRNode node, out Vector2 axis)
+    {
+        InputDevice device = InputDevices.GetDeviceAtXRNode(node);
+        if (device.isValid && device.TryGetFeatureValue(CommonUsages.primary2DAxis, out axis))
+        {
+            return true;
+        }
+
+        axis = Vector2.zero;
+        return false;
+    }
+
+    private static bool IsButtonPressed(InputFeatureUsage<bool> usage)
+    {
+        return TryReadButton(XRNode.RightHand, usage) || TryReadButton(XRNode.LeftHand, usage);
+    }
+
+    private static bool TryReadButton(XRNode node, InputFeatureUsage<bool> usage)
+    {
+        InputDevice device = InputDevices.GetDeviceAtXRNode(node);
+        return device.isValid && device.TryGetFeatureValue(usage, out bool pressed) && pressed;
+    }
+
+    private static float ReadTriggerValue()
+    {
+        float rightValue = TryReadTriggerValue(XRNode.RightHand);
+        if (rightValue > 0.0f)
+        {
+            return rightValue;
+        }
+
+        return TryReadTriggerValue(XRNode.LeftHand);
+    }
+
+    private static float TryReadTriggerValue(XRNode node)
+    {
+        InputDevice device = InputDevices.GetDeviceAtXRNode(node);
+        if (device.isValid && device.TryGetFeatureValue(CommonUsages.trigger, out float value))
+        {
+            return value;
+        }
+
+        return 0.0f;
+    }
+
+    private void RefreshPanel()
+    {
+        if (canvas == null)
+        {
+            return;
+        }
+
+        RefreshConfigPanel();
+        RefreshRunHud();
+    }
+
+    private void RefreshConfigPanel()
+    {
+        titleText.text = "XR-RM PICO UDP Sender";
+        statusText.text = BuildConfigStatusText();
+
+        SetRow(0, "Target IP", hostDraft);
+        SetRow(1, "Target Port", portDraft.ToString());
+        SetRow(2, "Send Rate", Mathf.RoundToInt(sendHzDraft) + " Hz");
+        SetRow(3, "Coordinates", convertDraft ? "Project (+Z forward)" : "Unity raw");
+        SetRow(4, "UDP Sending", sender.SendEnabled ? "ON" : "OFF");
+        SetRow(5, "Save & Apply", "press trigger");
+
+        footerText.text = "Stick: select / adjust    Trigger, A or X: edit\nB or Y: save    Menu: run view";
+    }
+
+    private void RefreshRunHud()
+    {
+        if (runHudObject == null)
+        {
+            return;
+        }
+
+        hudTitleText.text = "XR-RM UDP Sender";
+        hudStatusText.text = (sender.SendEnabled ? "SENDING" : "PAUSED") + "  " + BuildEndpointText();
+        hudDetailText.text = BuildTrackingStateText() + "   " + BuildGripStateText() + "\n"
+            + BuildPacketStateText(false) + "   " + BuildKeepAwakeStateText();
+        hudHintText.text = "Menu: config panel";
+    }
+
+    private string BuildConfigStatusText()
+    {
+        string endpointState = BuildEndpointText();
+        string sendState = sender.SendEnabled ? "ON" : "OFF";
+        string trackingState = BuildTrackingStateText();
+        string packetState = BuildPacketStateText(true);
+        string keepAwakeState = BuildKeepAwakeStateText();
+        string error = string.IsNullOrEmpty(sender.LastError) ? panelMessage : sender.LastError;
+        return endpointState + " | " + sendState + " | " + trackingState + " | " + packetState + " | " + keepAwakeState + " | " + error;
+    }
+
+    private string BuildEndpointText()
+    {
+        return sender.HasEndpoint ? sender.host + ":" + sender.port : "not configured";
+    }
+
+    private string BuildTrackingStateText()
+    {
+        return "L " + (sender.LeftDeviceValid ? "ok" : "--") + " / R " + (sender.RightDeviceValid ? "ok" : "--");
+    }
+
+    private string BuildGripStateText()
+    {
+        return "Grip L " + (sender.LeftGripPressed ? "ON" : "--") + " / R " + (sender.RightGripPressed ? "ON" : "--");
+    }
+
+    private string BuildPacketStateText(bool compact)
+    {
+        if (sender.SentPackets == 0)
+        {
+            return compact ? "0 pkts" : "Packets 0";
+        }
+
+        double age = Math.Max(0.0, Time.realtimeSinceStartupAsDouble - sender.LastSendTime);
+        string packetCount = sender.SentPackets.ToString(CultureInfo.InvariantCulture);
+        string lastAge = age.ToString("0.0", CultureInfo.InvariantCulture) + "s";
+        return compact ? packetCount + " pkts " + lastAge : "Packets " + packetCount + "   Last " + lastAge;
+    }
+
+    private string BuildKeepAwakeStateText()
+    {
+        if (keepAwake == null)
+        {
+            return "KeepAwake --";
+        }
+
+        return keepAwake.StatusText;
+    }
+
+    private void SetRow(int index, string label, string value)
+    {
+        Text rowText = rowTexts[index];
+        bool selected = index == selectedRow;
+        rowText.color = selected ? selectedColor : normalColor;
+        rowText.fontStyle = selected ? FontStyle.Bold : FontStyle.Normal;
+        rowText.text = (selected ? "> " : "  ") + label.PadRight(14) + value;
+    }
+
+    private static bool TryParseFloat(string value, out float parsedValue)
+    {
+        return float.TryParse(value, NumberStyles.Float, CultureInfo.InvariantCulture, out parsedValue)
+            || float.TryParse(value, out parsedValue);
+    }
+
+    private bool IsConfigPanelVisible()
+    {
+        return configPanelObject != null && configPanelObject.activeSelf;
+    }
+
+    private void SetConfigPanelVisible(bool visible, bool updateMessage)
+    {
+        if (configPanelObject != null)
+        {
+            configPanelObject.SetActive(visible);
+        }
+
+        if (runHudObject != null)
+        {
+            runHudObject.SetActive(!visible);
+        }
+
+        if (updateMessage)
+        {
+            panelMessage = visible ? "Config panel" : "Run view";
+        }
+    }
+}
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+# 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"
+```