ayankelevich-ugcs edited this page Jun 6, 2017 · 28 revisions

Overview

UgCS .Net SDK gives access to core services of our Universal Control Server. Using this SDK it is possible to develop third party client applications that can programmatically:

  • access various UgCS entities like missions, routes, vehicles, vehicle profiles, payloads, telemetry, etc;
  • subscribe to notifications like telemetry, vehicle connection, routes change, ads-b collision, etc;
  • issue commands to vehicles;
  • calculate routes;
  • access elevation data.

SDK gives developer a way to implement a simple widget to display telemetry parameter or full functional drone control client application.

Release history

SDK version Date Description
2.11 (current master) 2017/06/01 SDK version compatible with latest UgCS version https://www.ugcs.com/en/page/download
2.10 2016/10/14 SDK version with updated protobuf version compatible with https://www.ugcs.com/en/page/version-2-10

Example of C# code

https://github.com/ugcs/ugcs-dotnet-sdk/blob/master/UGCS.Example/UGCS.Console/Program.cs

Prerequisites

Visual Studio 2013 Community Edition

.Net Framework 3.5 or later

Nuget package manager (shall be a part of Visual Studio)

Installed UgCS application, 2.10 or later. Please note that SDK release version should be the same as UgCS version https://www.ugcs.com/en/page/download

Note : number of allowed UgCS client connections to UGCS Server depends on the license type. For Open and One versions only one connection allowed. For Pro 3 and Enterprise is unlimeted. This means that for Open and One it is not possible to have UgCS standard client and your application running at the same time.

Getting started

Creating project

Open Visual Studio and select on of possible C# projects. To use SDK you have to add references to appropriate assemblies. The most recent assemblies are available in our nugget repository. To get package open your package manager command line and type: nuget install ugcs-dotnet-sdk

After successful download the following references shall appear in your project:

  • Sdk.dll
  • Protobuf-net.dll

We use protobuf as a container for our messages so SDK uses it as a dependency.

Add the following namespaces to your "using" sections of C# code:

using UGCS.Sdk.Protocol;
using UGCS.Sdk.Protocol.Encoding;
using UGCS.Sdk.Tasks;
using ProtoBuf; 

Basic concepts

There are two ways of communication between client application and UGCS Server:

  • asynchronous request/ response;
  • subscription.

Though all communication is asynchronous there are certain ways to implement synchronous workflow on the client.

Typically you will use requests/responses to make standard CRUD operations and to list objects. For example get list of vehicles, create vehicle profile, remove payload, etc.

Subscriptions are useful to listen for some events. For example if you want to get telemetry stream for the vehicle you typically subscribe to telemetry events. It is more appropriate way comparing to setting timer on the client and pulling UCS every N seconds.

Connecting to UGCS Server

Establishing connection to UGCS Server is the first step to be performed. It consists of the following main operations:

  1. establishing TCP connection;
  2. authorizing client session

Create instance of TcpClient class and pass host and port as parameters. If UgCS Server is running on the same computer then specify "localhost" for a host and 3334 as a port number.

TcpClient tcpClient = new TcpClient("localhost", 3334);
MessageSender messageSender = new MessageSender(tcpClient.Session);
MessageReceiver messageReceiver = new MessageReceiver(tcpClient.Session);
MessageExecutor messageExecutor = new MessageExecutor(messageSender, messageReceiver, new InstantTaskScheduler());
messageExecutor.Configuration.DefaultTimeout = 10000;
var notificationListener = new NotificationListener();
messageReceiver.AddListener(-1, notificationListener);

To test your application you need UgCS Server running. Check that clicking UgCS icon in tray.

Compile and run that simple application. If client object instantiated successfully than you may find your session object in client.Session property.

The next step is to get clientID. ClientID is a thing that you must specify for every request towards UgCS Server. But before that we need to prepare some code for sending and receiving messages.

AuthorizeHciRequest request = new AuthorizeHciRequest();
request.ClientId = -1;
request.Locale = "en-US";
var future = messageExecutor.Submit<AuthorizeHciResponse>(request);
future.Wait();
AuthorizeHciResponse AuthorizeHciResponse = future.Value;
int clientId = AuthorizeHciResponse.ClientId

What we do here is just sending AuthorizeHciRequest to UgCS Server. Request has to parameters:

  • ClientID and we set it to default -1 value;
  • Locale – client locale (optional), en-US by default here. Local defines localization for strings that UgCS Server sends to client.

Another important thing to note is how we get response from the UgCS Server. We employ future (or promise) concept here for asynchronous communication. Typically this means that you submit some response , specify callback and do not wait for response doing something. But here we explicitly wait for response invoking Value property of authFuture object. That is a general approach for making pseudo-synchronous requests/responses.

We are almost ready to do something really useful. The only thing that has to be done is to login into the system. UgCS Server uses login based authentication model. Look at the source code:

LoginRequest loginRequest = new LoginRequest();
loginRequest.UserLogin = "admin";
loginRequest.UserPassword = "admin";
loginRequest.ClientId = clientId;
var loginResponcetask = messageExecutor.Submit<LoginResponse>(loginRequest);
loginResponcetask.Wait();

It is pretty straightforward. Note that we use clientID as an argument to LoginRequest. The only question is how to deal with login and password. Generally you must specify login and password from user list. But there is a trick. If you have only one user registered then you can put empty strings and SDK will try to make autologin.

That's it. Now we are logged in into UGCS server and can do something.

Accessing server objects

Vehicles

List

This example shows how to get vehicle list from the server. First of all we need find appropriate request/response pair. There is a universal operation for getting object lists called GetObjectList. It works similar for many objects. You need to specify clientId and ObjectType. In our case object type "Vehicle"

GetObjectListRequest getObjectListRequest = new GetObjectListRequest()
{
	ClientId = clientId,
	ObjectType = "Vehicle",
	RefreshDependencies = true
};
getObjectListRequest.RefreshExcludes.Add("Avatar");
getObjectListRequest.RefreshExcludes.Add("PayloadProfile");
getObjectListRequest.RefreshExcludes.Add("Route");
var task = messageExecutor.Submit<GetObjectListResponse>(getObjectListRequest);
task.Wait();

Nothing new in this sample. And we did a half of the job. Now we need to access vehicle data itself. Response object contains a lot of general properties and some specific ones. Actual data resides in Objects collection. So to list vehicles we can use the following code:

var list = task.Value;
foreach (var v in list.Objects)
{
	System.Console.WriteLine(string.Format("name: {0}; id: {1}; type: {2}",
		   v.Vehicle.Name, v.Vehicle.Id, v.Vehicle.Type.ToString()));
}
Vehicle vehicle = task.Value.Objects.FirstOrDefault().Vehicle;

Update

This example shows how to update vehicle on the server.

CreateOrUpdateObjectRequest createOrUpdateObjectRequest = new CreateOrUpdateObjectRequest()
{
	ClientId = clientId,
	Object = new DomainObjectWrapper().Put(vehicle, "Vehicle"),
	WithComposites = true,
	ObjectType = "Vehicle",
	AcquireLock = false
};
var createOrUpdateObjectResponseTask = messageExecutor.Submit<CreateOrUpdateObjectResponse>(createOrUpdateObjectRequest);
createOrUpdateObjectResponseTask.Wait();

Delete

This example shows how to delete vehicle on the server.

DeleteObjectRequest request = new DeleteObjectRequest()
{
    ClientId = clientId,
    ObjectId = vehicle.Id,
    ObjectType = "Vehicle"
};
var task = messageExecutor.Submit<DeleteObjectResponse>(request);

Vehicle profiles

List

MessageFuture<GetObjectListResponse> listFuture =
    messageExecutor.Submit<GetObjectListResponse>(
    new GetObjectListRequest
    {
        ClientId = clientId,
        ObjectType = "VehicleProfile"
    });
GetObjectListResponse listResp = listFuture.Value;

Response object contains data in Objects property. Each object is of DomainObjectWrapper type. Wrapper has a lot of properties for different object types. In this case we need VehicleProfile property. Each profile stores it's parameters in Parameters collection.

Payloads

List

MessageFuture<GetObjectListResponse> listFuture =    messageExecutor.Submit<GetObjectListResponse>(
    new GetObjectListRequest
    {
        ClientId = clientId,
        ObjectType = "PayloadProfile"
    });
GetObjectListResponse listResp = listFuture.Value;

Response object contains data in Objects property. Each object is of DomainObjectWrapper type. Wrapper has a lot of properties for different object types. In this case we need PayloadProfile property. Each profile stores it's parameters in Parameters collection.

Missions

Create mission

Mission mission = new Mission
{
    CreationTime = 1270011748,
    Name = "Mission name",
    Owner = user
};
CreateOrUpdateObjectRequest request = new CreateOrUpdateObjectRequest()
{
    ClientId = 1,
    Object = new DomainObjectWrapper().Put(mission, "Mission"),
    WithComposites = true,
    ObjectType = "Mission",
    AcquireLock = false
};
var task = messageExecutor.Submit<CreateOrUpdateObjectResponse>(request);

Import mission from xml

var byteArray = File.ReadAllBytes("Demo mission.xml");
ImportMissionFromXmlRequest importMissionRequest = new ImportMissionFromXmlRequest()
{
	ClientId = clientId,
	MissionXml = byteArray
};
var importMissionResponse = messageExecutor.Submit<ImportMissionFromXmlResponse>(importMissionRequest);
importMissionResponse.Wait();

//importedMission contains imported mission from Demo mission.xml
var importedMission = importMissionResponse.Value.Mission;

Get mission from server

GetObjectRequest getMissionObjectRequest = new GetObjectRequest()
{
	ClientId = clientId,
	ObjectType = "Mission",
	ObjectId = importedMission.Id,
	RefreshDependencies = true
};
var getMissionObjectResponse = messageExecutor.Submit<GetObjectResponse>(getMissionObjectRequest);
getMissionObjectResponse.Wait();
//missionFromUcs contains retrieved mission
var missionFromUcs = getMissionObjectResponse.Value.Object.Mission;

Routes

Import route to server from xml

Stept to import route:

  1. Import route to client from xml file
  2. Add vehicle profile to imported route
  3. Add mission to route
  4. Save route
var byteArrayRoute = File.ReadAllBytes("Demo route for Copter.xml");
ImportRouteRequest importRouteRequest = new ImportRouteRequest()
{
	ClientId = clientId,
	RouteData = byteArrayRoute,
	Filename = "Demo route for Copter.xml"
};
var importRouteResponse = messageExecutor.Submit<ImportRouteResponse>(importRouteRequest);
importRouteResponse.Wait();
//importedRoute contains imported route from Demo route for Copter.xml
var importedRoute = importRouteResponse.Value.Route;
System.Console.WriteLine("Demo route for Copter.xml imported to UCS with name '{0}'", importedRoute.Name);
//Add vehicle profile to route
GetObjectRequest requestVehicle = new GetObjectRequest()
{
	ClientId = clientId,
	ObjectType = "Vehicle",
	ObjectId = 1, //EMU-COPTER-17
	RefreshDependencies = true
};
var responseVehicle = messageExecutor.Submit<GetObjectResponse>(requestVehicle);
responseVehicle.Wait();
importedRoute.VehicleProfile = responseVehicle.Value.Object.Vehicle.Profile;
//Add route to mission
importedRoute.Mission = missionFromUcs;
//Save route on server
CreateOrUpdateObjectRequest routeSaveRequest = new CreateOrUpdateObjectRequest()
{
	ClientId = clientId,
	Object = new DomainObjectWrapper().Put(importedRoute, "Route"),
	WithComposites = true,
	ObjectType = "Route",
	AcquireLock = false
};
var updateRouteTask = messageExecutor.Submit<CreateOrUpdateObjectResponse>(routeSaveRequest);
updateRouteTask.Wait();

Get route from server

GetObjectRequest getRouteObjectRequest = new GetObjectRequest() { ClientId = clientId, ObjectType = "Route", ObjectId = updateRouteTask.Value.Object.Route.Id, RefreshDependencies = true }; var geRouteObjectResponse = messageExecutor.Submit(getRouteObjectRequest); geRouteObjectResponse.Wait(); //routeFromUcs contains retrieved route var routeFromUcs = geRouteObjectResponse.Value.Object.Route;

Accessing telemetry storage

Here is a sample of telemetry request to obtain telemetry for the last hour. Not that we specify vehicle object (see Vehicles sample) as a parameter. Another important parameters are ToTime and FromTime – time interval. Limit defines maximum number of telemetry records to be fetched. Zero means no limit.

MessageFuture<GetTelemetryResponse> telemetryFuture = messageExecutor.Submit<GetTelemetryResponse>(new GetTelemetryRequest
{
    ClientId = clientId,
    Vehicle = vehicle,
    ToTime = DateTimeUtilities.ToPosixMilliseconds(DateTime.Now),
    FromTime = DateTimeUtilities.ToPosixMilliseconds(
         DateTime.Now.Subtract(new TimeSpan(1, 0, 0))),
    Limit = 0,
    LimitSpecified = true,
    ToTimeSpecified = true
});
GetTelemetryResponse telemetryResp = telemetryFuture.Value;

Response object contains data in Telemetry property. Each object is of TelemetryDto type. Field "Type" contains field type, "Value" contains value and "Time" is a POSIX time.

The following types available:

Type Description
TT_BATTERY_VOLTAGE
TT_ROLL Roll
TT_PITCH Pitch
TT_YAW Yaw
TT_ROLL_SPEED
TT_PITCH_SPEED
TT_YAW_SPEED
TT_LATITUDE Latitude from autopilot (filtered)
TT_LONGITUDE Longitude from autopilot (filtered)
TT_MSL_ALTITUDE AMSL Altitude
TT_AGL_ALTITUDE AGL altitude
TT_GROUND_SPEED_X Ground speed X part (filtered)
TT_GROUND_SPEED_Y Ground speed Y part (filtered)
TT_GROUND_SPEED_Z Ground speed Z part (filtered)
TT_LATITUDE_GPS Latitude raw
TT_LONGITUDE_GPS Longitude raw
TT_ALTITUDE_GPS
TT_GROUND_SPEED_GPS
TT_ACCELERATION_X_RAW
TT_ACCELERATION_Y_RAW
TT_ACCELERATION_Z_RAW
TT_ANGULAR_SPEED_X_RAW
TT_ANGULAR_SPEED_Y_RAW
TT_ANGULAR_SPEED_Z_RAW
TT_MAGNETIC_X_RAW
TT_MAGNETIC_Y_RAW
TT_MAGNETIC_Z_RAW
TT_ABSOLUTE_PRESSURE
TT_DIFFERENTIAL_PRESSURE
TT_TEMPERATURE
TT_AIR_SPEED
TT_GROUND_SPEED Ground speed (vector sum of X and Y) ??
TT_HEADING Heading
TT_THROTTLE
TT_CLIMB_RATE Vertical speed
TT_GPS_SATELLITES_VISIBLE
TT_ROUTE_MILAGE
TT_TELEMETRY_DROP_RATE
TT_DOWNLINK_CONNECTED
TT_UPLINK_CONNECTED
TT_CONTROL_MODE
TT_STATE
TT_COURSE
TT_RELATIVE_ALTITUDE
TT_ELEVATION Ground elevation
TT_PAYLOAD_1_ROLL
TT_PAYLOAD_1_TILT
TT_PAYLOAD_1_YAW
TT_CAMERA_1_FOV_HORIZONTAL
TT_CAMERA_1_FOV_VERTICAL
TT_GPS_FIX_TYPE
TT_RC_LINK_QUALITY
TT_ADSB_TRANSPONDER_MODE
TT_ADSB_IDENT_STATE
TT_ADSB_SQUAWK_CODE
TT_ADSB_ALTITUDE_SOURCE
TT_ADSB_ALTITUDE
TT_ADSB_ERROR_FLAGS
TT_PAYLOAD_2_ROLL
TT_PAYLOAD_2_TILT
TT_PAYLOAD_2_YAW
TT_CAMERA_2_FOV_HORIZONTAL
TT_CAMERA_2_FOV_VERTICAL
TT_PAYLOAD_1_CONTROL_MODE
TT_PAYLOAD_2_CONTROL_MODE
TT_PAYLOAD_1_AVAILABLE
TT_PAYLOAD_2_AVAILABLE
TT_PAYLOAD_1_POWERED
TT_PAYLOAD_2_POWERED
TT_CAMERA_1_ZOOM
TT_CAMERA_2_ZOOM
TT_CAMERA_1_RECORDING
TT_CAMERA_2_RECORDING
TT_CAMERA_1_IMAGE_COUNT
TT_CAMERA_2_IMAGE_COUNT
TT_CAMERA_1_IMAGE_CAPACITY
TT_CAMERA_2_IMAGE_CAPACITY
TT_CAMERA_1_VIDEO_COUNT
TT_CAMERA_2_VIDEO_COUNT

One more important things to note is that in the sample above we use Posix time. In the future releases of SDK we will include these functions in our SDK. But you can use the following code instead for now:

public static readonly DateTime PosixEpoch = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);

public static long ToPosixMilliseconds(this DateTime localTime)
{
   DateTime utcTime = localTime.ToUniversalTime();
   TimeSpan span = utcTimePosixEpoch;
   return (long)span.TotalMilliseconds;
}

public static DateTime FromPosixMilliseconds(long milliseconds)
{
   TimeSpan span = TimeSpan.FromMilliseconds(milliseconds);
   return (PosixEpoch + span).ToLocalTime();
}

Note : telemetry recording is disabled in UgCS for Emulator by default. For development purposes is convenient to switch it on. To do that open <UgCS Installation Dir>\Server\ucs\ucs.properties and change field ucs.emulator.storeTelemetry= true.

Subscriptions

Vehicle subscription.

Code below initiates vehicle subscription.

var eventSubscriptionWrapper = new EventSubscriptionWrapper();
eventSubscriptionWrapper.ObjectModificationSubscription = new ObjectModificationSubscription();
eventSubscriptionWrapper.ObjectModificationSubscription.ObjectId = vehicle.Id;
eventSubscriptionWrapper.ObjectModificationSubscription.ObjectType = "Vehicle";
SubscribeEventRequest requestEvent = new SubscribeEventRequest();
requestEvent.ClientId = clientId;
requestEvent.Subscription = eventSubscriptionWrapper;
var responce = messageExecutor.Submit<SubscribeEventResponse>(requestEvent);
responce.Wait();
var subscribeEventResponse = responce.Value;
SubscriptionToken st = new SubscriptionToken(subscribeEventResponse.SubscriptionId, (
	(notification) =>
	{
		//Vehicle notification
	}
), eventSubscriptionWrapper);
notificationListener.AddSubscription(st);

Telemetry subscription.

Code describes how to subscribe telemetry

var telemetrySubscriptionWrapper = new EventSubscriptionWrapper();
telemetrySubscriptionWrapper.TelemetrySubscription = new TelemetrySubscription();
SubscribeEventRequest requestTelemetryEvent = new SubscribeEventRequest();
requestTelemetryEvent.ClientId = clientId;
requestTelemetryEvent.Subscription = telemetrySubscriptionWrapper;
var responceTelemetry = messageExecutor.Submit<SubscribeEventResponse>(requestTelemetryEvent);
responceTelemetry.Wait();
var subscribeEventResponseTelemetry = responceTelemetry.Value;
SubscriptionToken stTelemetry = new SubscriptionToken(subscribeEventResponseTelemetry.SubscriptionId, (
	(notification) =>
	{
		foreach (var t in notification.Event.TelemetryEvent.Telemetry)
		{
			System.Console.WriteLine("Vehicle id: {0} Type: {1} Value {2}", t.Vehicle.Id, t.Type.ToString(), t.Value);
		}
	}
), telemetrySubscriptionWrapper);
notificationListener.AddSubscription(stTelemetry);

Working with routes

Route consists of segments. Each segment has parameters. Refer here https://github.com/ugcs/ugcs-dotnet-sdk/wiki/Algorithms-And-Calculation-workflow for the list of parameters for different segments.

Create new route

Route route = new Route
{
    CreationTime = 123456789,
    Name = "Route name",
    Mission = mission
};
ChangeRouteVehicleProfileRequest request = new ChangeRouteVehicleProfileRequest
{
    ClientId = 1,
    Route = route,
    NewProfile = new VehicleProfile { Id = 1 }
};
MessageFuture<ChangeRouteVehicleProfileResponse> future = Executor.Submit<ChangeRouteVehicleProfileResponse>(request);

future.Wait();
route = future.Value.Route;
route.HomeLocationSource = HomeLocationSource.HLS_FIRST_WAYPOINT;
route.TrajectoryType = TrajectoryType.TT_STAIR;
route.AltitudeType = AltitudeType.AT_AGL;
route.MaxAltitude = 50.0;
route.SafeAltitude = 3.0;
route.CheckAerodromeNfz = false;
route.CheckAerodromeNfzSpecified = true;
route.InitialSpeed = 0.0;
route.MaxSpeed = 0.0;
route.CheckCustomNfz = false;
route.CheckCustomNfzSpecified = true;
route.Failsafes.Add(new Failsafe()
{
    Action = FailsafeAction.FA_GO_HOME,
    ActionSpecified = true,
    Reason = FailsafeReason.FR_RC_LOST,
    ReasonSpecified = true
});
route.Failsafes.Add(new Failsafe()
{
    Action = FailsafeAction.FA_LAND,
    ActionSpecified = true,
    Reason = FailsafeReason.FR_LOW_BATTERY,
    ReasonSpecified = true
});
route.Failsafes.Add(new Failsafe()
{
    Action = FailsafeAction.FA_WAIT,
    ActionSpecified = true,
    Reason = FailsafeReason.FR_GPS_LOST,
    ReasonSpecified = true
});
route.Failsafes.Add(new Failsafe()
{
    Action = FailsafeAction.FA_GO_HOME,
    ActionSpecified = true,
    Reason = FailsafeReason.FR_DATALINK_LOST,
    ReasonSpecified = true
});
CreateOrUpdateObjectRequest request = new CreateOrUpdateObjectRequest()
{
    ClientId = clientId,
    Object = new DomainObjectWrapper().Put(route, "Route"),
    WithComposites = true,
    ObjectType = "Route",
    AcquireLock = false
};
var task = messageExecutor.Submit<CreateOrUpdateObjectResponse>(request);

Add waypoint to route

SegmentDefinition newSegment = new SegmentDefinition
{
    Uuid = Guid.NewGuid().ToString(),
    AlgorithmClassName = "com.ugcs.ucs.service.routing.impl.WaypointAlgorithm"
};
newSegment.Figure = new Figure { Type = FigureType.FT_POINT };
newSegment.ParameterValues.Add(new ParameterValue()
{
    Name = "speed",
    Value = "5.0",
    ValueSpecified = true
});
newSegment.ParameterValues.Add(new ParameterValue()
{
    Name = "wpTurnType",
    Value = "SPLINE",
    ValueSpecified = true
});
newSegment.ParameterValues.Add(new ParameterValue()
{
    Name = "avoidObstacles",
    Value = "True",
    ValueSpecified = true
});
newSegment.ParameterValues.Add(new ParameterValue()
{
    Name = "avoidTerrain",
    Value = "True",
    ValueSpecified = true
});
newSegment.Figure.Points.Add(new FigurePoint()
{
    AglAltitude = 20,
    AglAltitudeSpecified = true,
    AltitudeType = AltitudeType.AT_AGL,
    AltitudeTypeSpecified = true,
    Latitude = 0.99443566874164979f,
    LatitudeSpecified = true,
    Longitude = 0.42015588448045021f,
    LongitudeSpecified = true,
    Order = 0,
    Wgs84Altitude = 0.0,
    Wgs84AltitudeSpecified = true
});
route.Segments.Insert(0, newSegment);

Calculating the route

Code below initiates roite calculation

var updatedRoute = GetUpdatedRouteById(routeId);
ProcessRouteRequest request = new ProcessRouteRequest
{
    ClientId = clientId,
    Route = route
};
MessageFuture<ProcessRouteResponse> task = messageExecutor.Submit<ProcessRouteResponse>(request);
task.Wait();
var processedRoute = task.Value.ProcessedRoute;

Uploading the route

Code below upload ProcessedRoute to selected vehicle

UploadRouteRequest request = new UploadRouteRequest
{
    ClientId = clientId,
    ProcessedRoute = route,
    Vehicle = vehicle,
};
MessageFuture<UploadRouteResponse> task = messageExecutor.Submit<UploadRouteResponse>(request);
task.Wait();

Getting/setting take-off point altitude

Set takeoff point is Vehicle field update request to the server. Code below updates fields list.

var fields = new string[] { "altitudeOrigin" });
UpdateObjectFieldsRequest request = new UpdateObjectFieldsRequest
{
    ClientId = clientId,
    ObjectType = "Vehicle",
    Object = new DomainObjectWrapper().Put(vehicle, "Vehicle"),
};
request.FieldNames.AddRange(fields);
var task = messageExecutor.Submit<UpdateObjectFieldsResponse>(request);
task.Wait();

Getting home position

Home location is availble from vehicle telemetry.

TT_HOME_LATITUDE
TT_HOME_LONGITUDE
TT_HOME_AMSL_ALTITUDE

Issuing command to a vehicle

Code below show how to send specific command to Vehicle

SendCommandRequest request = new SendCommandRequest
{
    ClientId = clientId,
    Command = new UGCS.Sdk.Protocol.Encoding.Command
    {
        Code = "CommandCode",
        Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
    }
};
request.Vehicles.Add(new Vehicle() { Id = vehicle.Id });
var responce = messageExecutor.Submit<SendCommandResponse>(request);
responce.Wait();

Send command examples. Arm example:

SendCommandRequest request = new SendCommandRequest
{
     ClientId = 1,
     Command = new UGCS.Sdk.Protocol.Encoding.Command
     {
         Code = "arm",
         Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
     }
};
request.Vehicles.Add(new Vehicle() { Id = 1 });

Takeoff command with argument:

SendCommandRequest request = new SendCommandRequest
{
    ClientId = _connect.AuthorizeHciResponse.ClientId,
    Command = new UGCS.Sdk.Protocol.Encoding.Command
    {
        Code = "takeoff_command",
        Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
        Silent = true,
        ResultIndifferent = true
    }
};

request.Vehicles.Add(new Vehicle() { Id = 1 });
List<CommandArgument> list = new List<CommandArgument>();
list.Add(new CommandArgument { Code = "relativeAltitude", Value = new Value() { StringValue = Settings.Default.MinimumOperatingAltitude.ToString("0.00", System.Globalization.CultureInfo.InvariantCulture) }  });
request.Command.Arguments.AddRange(list);

Click&Go command with argument:

var sendCommandRequest = new SendCommandRequest
{
	ClientId = _connect.AuthorizeHciResponse.ClientId,
	Command = new UGCS.Sdk.Protocol.Encoding.Command
	{
		Code = "waypoint",
		Subsystem = Subsystem.S_FLIGHT_CONTROLLER
	}
};

sendCommandRequest.Command.Arguments.AddRange(new CommandArgument[] {
						new CommandArgument { Code = "latitude", Value = new Value { DoubleValue = 0.994445232147517 }},
						new CommandArgument { Code = "longitude", Value = new Value { DoubleValue = 0.4201742565140717 }},
						new CommandArgument { Code = "altitude_agl", Value = new Value { DoubleValue = 5.0 }},
						new CommandArgument { Code = "ground_speed", Value = new Value { DoubleValue = 5.0 }},
						new CommandArgument { Code = "heading", Value = new Value { DoubleValue = 0.017453292519943295 }}
					});
sendCommandRequest.Vehicles.Add(new Vehicle { Id = 2 });
var sendCommandResponse = messageExecutor.Submit<SendCommandResponse>(sendCommandRequest);

References

Operation Messages Comments
Authorize client session AuthorizeHciRequest/Response
Login LoginRequest/Response
List objects GetObjectsListRequest/Response Works for different object types:
- Vehicle
- VehicleProfile
- ...

Protobuf messages

https://github.com/ugcs/ugcs-dotnet-sdk/blob/master/Messages.proto

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