protected override void OnFormClosed(FormClosedEventArgs e)
{
_notifListener?.Dispose();
_refreshManager?.Dispose();
TileViewerConfig config = ConfigManager.Config.Debug.TileViewer;
config.WindowSize = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Size : this.Size;
config.WindowLocation = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Location : this.Location;
config.AutoRefresh = mnuAutoRefresh.Checked;
config.AutoRefreshSpeed = _refreshManager.AutoRefreshSpeed;
config.ShowTileGrid = chkShowTileGrid.Checked;
config.RefreshScanline = ctrlScanlineCycleSelect.Scanline;
config.RefreshCycle = ctrlScanlineCycleSelect.Cycle;
config.ImageScale = ctrlImagePanel.ImageScale;
config.Source = cboMemoryType.GetEnumValue <SnesMemoryType>();
config.Format = cboFormat.GetEnumValue <TileFormat>();
config.Layout = cboLayout.GetEnumValue <TileLayout>();
config.ColumnCount = (int)nudColumns.Value;
config.Address = (int)nudAddress.Value;
config.PageSize = (int)nudSize.Value;
config.SelectedPalette = ctrlPaletteViewer.SelectedPalette;
ConfigManager.ApplyChanges();
base.OnFormClosed(e);
}
protected override void OnFormClosed(FormClosedEventArgs e)
{
base.OnFormClosed(e);
if (_notifListener != null)
{
_notifListener.Dispose();
_notifListener = null;
}
}
protected override void OnFormClosed(FormClosedEventArgs e)
{
base.OnFormClosed(e);
_notifListener?.Dispose();
EventViewerConfig config = ConfigManager.Config.Debug.EventViewer;
config.WindowSize = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Size : this.Size;
config.WindowLocation = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Location : this.Location;
config.ImageScale = ctrlPpuView.ImageScale;
}
protected override void OnFormClosed(FormClosedEventArgs e)
{
_notifListener?.Dispose();
_refreshManager?.Dispose();
RegisterViewerConfig config = ConfigManager.Config.Debug.RegisterViewer;
config.WindowSize = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Size : this.Size;
config.WindowLocation = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Location : this.Location;
config.AutoRefresh = mnuAutoRefresh.Checked;
config.RefreshScanline = ctrlScanlineCycleSelect.Scanline;
config.RefreshCycle = ctrlScanlineCycleSelect.Cycle;
ConfigManager.ApplyChanges();
base.OnFormClosed(e);
}
protected override void OnFormClosed(FormClosedEventArgs e)
{
_notifListener?.Dispose();
TilemapViewerConfig config = ConfigManager.Config.Debug.TilemapViewer;
config.WindowSize = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Size : this.Size;
config.WindowLocation = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Location : this.Location;
config.AutoRefresh = mnuAutoRefresh.Checked;
config.ShowTileGrid = chkShowTileGrid.Checked;
config.ShowScrollOverlay = chkShowScrollOverlay.Checked;
config.RefreshScanline = ctrlScanlineCycleSelect.Scanline;
config.RefreshCycle = ctrlScanlineCycleSelect.Cycle;
config.ImageScale = ctrlImagePanel.ImageScale;
ConfigManager.ApplyChanges();
base.OnFormClosed(e);
}
protected override void OnFormClosed(FormClosedEventArgs e)
{
base.OnFormClosed(e);
_notifListener?.Dispose();
SpriteViewerConfig config = ConfigManager.Config.Debug.SpriteViewer;
config.WindowSize = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Size : this.Size;
config.WindowLocation = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Location : this.Location;
config.AutoRefresh = mnuAutoRefresh.Checked;
config.HideOffscreenSprites = ctrlSpriteList.HideOffscreenSprites;
config.RefreshScanline = ctrlScanlineCycleSelect.Scanline;
config.RefreshCycle = ctrlScanlineCycleSelect.Cycle;
config.ImageScale = ctrlImagePanel.ImageScale;
config.SplitterDistance = ctrlSplitContainer.SplitterDistance;
ConfigManager.ApplyChanges();
}
protected override void OnClosing(CancelEventArgs e)
{
base.OnClosing(e);
_notifListener?.Dispose();
ConfigManager.Config.Cheats.WindowLocation = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Location : this.Location;
ConfigManager.Config.Cheats.WindowSize = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Size : this.Size;
if (this.DialogResult == DialogResult.OK)
{
ConfigManager.Config.Cheats.DisableAllCheats = chkDisableCheats.Checked;
(new CheatCodes()
{
Cheats = _cheats
}).Save();
}
ConfigManager.ApplyChanges();
CheatCodes.ApplyCheats();
}
protected override void OnFormClosing(FormClosingEventArgs e)
{
base.OnFormClosing(e);
DebugApi.ResumeExecution();
DebugWindowManager.CloseAll();
EmuApi.Stop();
if (_notifListener != null)
{
_notifListener.Dispose();
_notifListener = null;
}
ConfigManager.Config.WindowLocation = this.WindowState == FormWindowState.Normal ? this.Location : this.RestoreBounds.Location;
ConfigManager.Config.WindowSize = this.WindowState == FormWindowState.Normal ? this.Size : this.RestoreBounds.Size;
ConfigManager.ApplyChanges();
EmuApi.Release();
}
protected override void OnFormClosing(FormClosingEventArgs e)
{
base.OnFormClosing(e);
InBackgroundHelper.StopBackgroundTimer();
if (_notifListener != null)
{
_notifListener.Dispose();
_notifListener = null;
}
if (!_shuttingDown && Program.IsMono)
{
//This appears to prevent Mono from locking up when closing the form
DebugApi.ResumeExecution();
DebugWindowManager.CloseAll();
Task.Run(() => {
EmuApi.Stop();
_shuttingDown = true;
this.BeginInvoke((Action)(() => this.Close()));
});
e.Cancel = true;
return;
}
DebugApi.ResumeExecution();
DebugWindowManager.CloseAll();
ConfigManager.Config.WindowLocation = this.WindowState == FormWindowState.Normal ? this.Location : this.RestoreBounds.Location;
ConfigManager.Config.WindowSize = this.WindowState == FormWindowState.Normal ? this.Size : this.RestoreBounds.Size;
ConfigManager.ApplyChanges();
ConfigManager.SaveConfig();
EmuApi.Stop();
EmuApi.Release();
}
protected override void OnFormClosing(FormClosingEventArgs e)
{
_notifListener?.Dispose();
tmrUpdateLog.Stop();
while (_refreshRunning)
{
System.Threading.Thread.Sleep(50);
}
base.OnFormClosing(e);
TraceLoggerInfo config = ConfigManager.Config.Debug.TraceLogger;
config.AutoRefresh = mnuAutoRefresh.Checked;
config.LineCount = _lineCount;
config.WindowSize = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Size : this.Size;
config.WindowLocation = this.WindowState != FormWindowState.Normal ? this.RestoreBounds.Location : this.Location;
config.FontFamily = txtTraceLog.BaseFont.FontFamily.Name;
config.FontSize = txtTraceLog.BaseFont.Size;
config.FontStyle = txtTraceLog.BaseFont.Style;
config.TextZoom = txtTraceLog.TextZoom;
_entityBinder.UpdateObject();
//Disable logging when we close the trace logger
_interopOptions = GetInteropOptions(true);
SetCoreOptions();
ConfigManager.ApplyChanges();
if (_loggingEnabled)
{
DebugApi.StopTraceLogger();
}
}
private void closeConnection()
{
if (_messageReceiver != null)
{
_messageReceiver.Cancel();
_messageReceiver.RemoveListener(-1);
}
if (_messageSender != null)
{
_messageSender.Cancel();
}
if (_tcpClient != null && _tcpClient.Session != null)
{
_tcpClient.Session.Disconnected -= UCSDisconnect;
}
if (_notificationListener != null)
{
_notificationListener.Dispose();
}
if (_tcpClient != null)
{
_tcpClient.Dispose();
}
}
public void Dispose()
{
_notifListener.Dispose();
}
static void Main(string[] args)
{
//Connect
TcpClient tcpClient = new TcpClient();
tcpClient.Connect("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);
//auth
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;
System.Console.WriteLine("AuthorizeHciResponse precessed");
//login
LoginRequest loginRequest = new LoginRequest();
loginRequest.UserLogin = "******";
loginRequest.UserPassword = "******";
loginRequest.ClientId = clientId;
var loginResponcetask = messageExecutor.Submit <LoginResponse>(loginRequest);
loginResponcetask.Wait();
//Lock vehicle example
AcquireLockRequest lockRequest = new AcquireLockRequest
{
ClientId = clientId,
ObjectType = "Vehicle",
ObjectId = 2
};
var resultLock = messageExecutor.Submit <AcquireLockResponse>(lockRequest);
resultLock.Wait();
// Click&Go example
var sendCommandRequestGuided = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "guided",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER
}
};
sendCommandRequestGuided.Vehicles.Add(new Vehicle {
Id = 2
});
var sendCommandResponseGuided = messageExecutor.Submit <SendCommandResponse>(sendCommandRequestGuided);
sendCommandResponseGuided.Wait();
var sendCommandRequest = new SendCommandRequest
{
ClientId = 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);
sendCommandResponse.Wait();
System.Console.WriteLine("Click&Go command sent");
//Import mission
var byteArray = File.ReadAllBytes("Demo mission.xml");
ImportMissionFromXmlRequest importMissionRequest = new ImportMissionFromXmlRequest()
{
ClientId = clientId,
MissionXml = byteArray
};
var importMissionResponse = messageExecutor.Submit <ImportMissionFromXmlResponse>(importMissionRequest);
importMissionResponse.Wait();
//mission contains imported mission from Demo mission.xml
var mission = importMissionResponse.Value.Mission;
System.Console.WriteLine("Demo mission.xml imported to UCS with name '{0}'", mission.Name);
//Get all vehicles
GetObjectListRequest getObjectListRequest = new GetObjectListRequest()
{
ClientId = clientId,
ObjectType = "Vehicle",
RefreshDependencies = true
};
getObjectListRequest.RefreshExcludes.Add("PayloadProfile");
getObjectListRequest.RefreshExcludes.Add("Route");
var task = messageExecutor.Submit <GetObjectListResponse>(getObjectListRequest);
task.Wait();
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;
//Get mission from server
GetObjectRequest getMissionObjectRequest = new GetObjectRequest()
{
ClientId = clientId,
ObjectType = "Mission",
ObjectId = mission.Id,
RefreshDependencies = true
};
var getMissionObjectResponse = messageExecutor.Submit <GetObjectResponse>(getMissionObjectRequest);
getMissionObjectResponse.Wait();
//missionFromUcs contains retrieved mission
var missionFromUcs = getMissionObjectResponse.Value.Object.Mission;
System.Console.WriteLine("mission id '{0}' retrieved from UCS with name '{1}'", mission.Id, missionFromUcs.Name);
//vehicles in mission
System.Console.WriteLine("Vehicles in mission:");
foreach (var vehicleMission in missionFromUcs.Vehicles)
{
System.Console.WriteLine(vehicleMission.Vehicle.Name);
}
missionFromUcs.Vehicles.Clear();
//Add vehicle to mission
missionFromUcs.Vehicles.Add(
new MissionVehicle
{
Vehicle = vehicle
});
System.Console.WriteLine("Vehicles in mission after add vehicle:");
foreach (var vehicleMission in missionFromUcs.Vehicles)
{
System.Console.WriteLine(vehicleMission.Vehicle.Name);
}
//save mission
CreateOrUpdateObjectRequest createOrUpdateObjectRequestForMission = new CreateOrUpdateObjectRequest()
{
ClientId = clientId,
Object = new DomainObjectWrapper().Put(missionFromUcs, "Mission"),
WithComposites = true,
ObjectType = "Mission",
AcquireLock = false
};
var updateMissionTask = messageExecutor.Submit <CreateOrUpdateObjectResponse>(createOrUpdateObjectRequestForMission);
updateMissionTask.Wait();
//Import 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();
System.Console.WriteLine("route '{0}' added to mission '{1}'", updateRouteTask.Value.Object.Route.Name, missionFromUcs.Name);
//Get route from server
GetObjectRequest getRouteObjectRequest = new GetObjectRequest()
{
ClientId = clientId,
ObjectType = "Route",
ObjectId = updateRouteTask.Value.Object.Route.Id,
RefreshDependencies = true
};
var geRouteObjectResponse = messageExecutor.Submit <GetObjectResponse>(getRouteObjectRequest);
geRouteObjectResponse.Wait();
//routeFromUcs contains retrieved route
var routeFromUcs = geRouteObjectResponse.Value.Object.Route;
System.Console.WriteLine(string.Format("route id '{0}' retrieved from UCS with name '{1}'", updateRouteTask.Value.Object.Route.Id, routeFromUcs.Name));
//add action to route
ActionDefinition actionDefenition = new ActionDefinition();
actionDefenition.HeadingDefinition = new HeadingDefinition();
actionDefenition.HeadingDefinition.Heading = 1.57079633; // 90 degrees
actionDefenition.HeadingDefinition.RelativeToNorth = true;
if (routeFromUcs.Segments.Count > 2)
{
routeFromUcs.Segments[1].ActionDefinitions.Add(actionDefenition);
}
System.Console.WriteLine(string.Format("action to route '{0}'", routeFromUcs.Name));
//save route
CreateOrUpdateObjectRequest createOrUpdateRouteRequest = new CreateOrUpdateObjectRequest()
{
ClientId = clientId,
Object = new DomainObjectWrapper().Put(routeFromUcs, "Route"),
WithComposites = true,
ObjectType = "Route",
AcquireLock = false
};
var createOrUpdateRouteResponseTask = messageExecutor.Submit <CreateOrUpdateObjectResponse>(createOrUpdateRouteRequest);
createOrUpdateRouteResponseTask.Wait();
if (createOrUpdateRouteResponseTask.Value != null)
{
System.Console.WriteLine(string.Format("'{0}' route updated on UCS", routeFromUcs.Name));
}
else
{
System.Console.WriteLine(string.Format("fail to update route '{0}' on UCS", routeFromUcs.Name));
}
// Payload control
SendCommandRequest requestPaload = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "direct_payload_control",
Subsystem = Subsystem.S_GIMBAL,
Silent = true,
ResultIndifferent = true
}
};
requestPaload.Vehicles.Add(new Vehicle()
{
Id = vehicle.Id
});
List <CommandArgument> listCommands = new List <CommandArgument>();
listCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = 1
}
});
listCommands.Add(new CommandArgument
{
Code = "pitch",
Value = new Value()
{
DoubleValue = 0
}
});
listCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = 0
}
});
listCommands.Add(new CommandArgument
{
Code = "zoom",
Value = new Value()
{
DoubleValue = 0
}
});
requestPaload.Command.Arguments.AddRange(listCommands);
var resultPayload = messageExecutor.Submit <SendCommandResponse>(requestPaload);
resultPayload.Wait();
//update vehicle object
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();
//Vehicle notification 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);
// Get Telemetry for vehicle
DateTime utcTime = DateTime.Now.ToUniversalTime();
DateTime posixEpoch = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);
TimeSpan span = utcTime - posixEpoch;
var beginningMilliseconds = (long)span.TotalMilliseconds;
GetTelemetryRequest telemetryRequest = new GetTelemetryRequest
{
ClientId = clientId,
FromTime = beginningMilliseconds,
Limit = 10,
Vehicle = new Vehicle()
{
Id = 1
}
};
var responseTelemetry = messageExecutor.Submit <GetTelemetryResponse>(telemetryRequest);
responseTelemetry.Wait();
//Go to manual mode
SendCommandRequest manualModeCommand = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "manual",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
Silent = false,
ResultIndifferent = false
}
};
manualModeCommand.Vehicles.Add(new Vehicle()
{
Id = 2
});
var manualMode = messageExecutor.Submit <SendCommandResponse>(manualModeCommand);
manualMode.Wait();
//Go to joystick mode
SendCommandRequest joystickModeCommand = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "joystick",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
Silent = false,
ResultIndifferent = false
}
};
joystickModeCommand.Vehicles.Add(new Vehicle()
{
Id = 2
});
var joystickMode = messageExecutor.Submit <SendCommandResponse>(joystickModeCommand);
joystickMode.Wait();
// Vehicle control in joystick mode
SendCommandRequest vehicleJoystickControl = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "direct_vehicle_control",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
Silent = true,
ResultIndifferent = true
}
};
vehicleJoystickControl.Vehicles.Add(new Vehicle()
{
Id = 2
});
//List of current joystick values to send to vehicle.
List <CommandArgument> listJoystickCommands = new List <CommandArgument>();
listJoystickCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "pitch",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "throttle",
Value = new Value()
{
DoubleValue = 1
}
});
vehicleJoystickControl.Command.Arguments.AddRange(listJoystickCommands);
for (int i = 1; i < 11; i++)
{
var sendJoystickCommandResponse = messageExecutor.Submit <SendCommandResponse>(vehicleJoystickControl);
resultPayload.Wait();
System.Console.WriteLine("Joystick command to go UP {0}", i);
Thread.Sleep(1000);
}
//TelemetrySubscription
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 (Telemetry t in notification.Event.TelemetryEvent.Telemetry)
{
System.Console.WriteLine("Vehicle id: {0} Code: {1} Semantic {2} Subsystem {3} Value {4}", notification.Event.TelemetryEvent.Vehicle.Id, t.TelemetryField.Code, t.TelemetryField.Semantic, t.TelemetryField.Subsystem, getTelemetryValue(t.Value));
}
}
), telemetrySubscriptionWrapper);
notificationListener.AddSubscription(stTelemetry);
//Log notification subscription
var logSubscriptionWrapper = new EventSubscriptionWrapper();
logSubscriptionWrapper.ObjectModificationSubscription = new ObjectModificationSubscription();
logSubscriptionWrapper.ObjectModificationSubscription.ObjectType = "VehicleLogEntry";
SubscribeEventRequest requestLogEvent = new SubscribeEventRequest();
requestLogEvent.ClientId = clientId;
requestLogEvent.Subscription = logSubscriptionWrapper;
var responceLog = messageExecutor.Submit <SubscribeEventResponse>(requestLogEvent);
var subscribeEventResponseLog = responceLog.Value;
SubscriptionToken stLog = new SubscriptionToken(subscribeEventResponseLog.SubscriptionId, (
(notification) =>
{
var eventType = notification.Event.ObjectModificationEvent.ModificationType;
var eventLog = notification.Event.ObjectModificationEvent.Object.VehicleLogEntry;
if (eventType == ModificationType.MT_CREATE)
{
DateTime start = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);
DateTime date = start.AddMilliseconds(eventLog.Time).ToLocalTime();
var command = eventLog.CommandArguments != null ? eventLog.CommandArguments.CommandCode : string.Empty;
System.Console.WriteLine("LOG: {0} Vehicle id: {1} Command: {2} Message: {3}", date.ToString("HH:mm:ss"), eventLog.Vehicle.Id, command, eventLog.Message);
}
}), logSubscriptionWrapper);
notificationListener.AddSubscription(stLog);
//Object notification subscription, subscribe for mission changed
var missionObjectSubscriptionWrapper = new EventSubscriptionWrapper();
missionObjectSubscriptionWrapper.ObjectModificationSubscription = new ObjectModificationSubscription();
missionObjectSubscriptionWrapper.ObjectModificationSubscription.ObjectType = "Mission";
SubscribeEventRequest requestMissionEvent = new SubscribeEventRequest();
requestMissionEvent.ClientId = clientId;
requestMissionEvent.Subscription = missionObjectSubscriptionWrapper;
var responceMission = messageExecutor.Submit <SubscribeEventResponse>(requestMissionEvent);
var subscribeEventResponseMission = responceMission.Value;
SubscriptionToken stMission = new SubscriptionToken(subscribeEventResponseMission.SubscriptionId, (
(notification) =>
{
var eventType = notification.Event.ObjectModificationEvent.ModificationType;
var missionObject = notification.Event.ObjectModificationEvent.Object.Mission;
if (eventType == ModificationType.MT_UPDATE)
{
System.Console.WriteLine("Mission id: {0} updated", missionObject.Id);
}
}), missionObjectSubscriptionWrapper);
notificationListener.AddSubscription(stMission);
System.Console.ReadKey();
tcpClient.Close();
messageSender.Cancel();
messageReceiver.Cancel();
messageExecutor.Close();
notificationListener.Dispose();
}
protected override void OnFormClosed(FormClosedEventArgs e)
{
base.OnFormClosed(e);
_notifListener?.Dispose();
}
protected override void OnExit(ExitEventArgs e)
{
_notificationListener.Dispose();
base.OnExit(e);
}
static void Main(string[] args)
{
//Connect
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);
//auth
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;
System.Console.WriteLine("AuthorizeHciResponse precessed");
//login
LoginRequest loginRequest = new LoginRequest();
loginRequest.UserLogin = "******";
loginRequest.UserPassword = "******";
loginRequest.ClientId = clientId;
var loginResponcetask = messageExecutor.Submit <LoginResponse>(loginRequest);
loginResponcetask.Wait();
// Click&Go example
var sendCommandRequest = new SendCommandRequest
{
ClientId = 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);
sendCommandResponse.Wait();
System.Console.WriteLine("Click&Go command sent");
//Import mission
var byteArray = File.ReadAllBytes("Demo mission.xml");
ImportMissionFromXmlRequest importMissionRequest = new ImportMissionFromXmlRequest()
{
ClientId = clientId,
MissionXml = byteArray
};
var importMissionResponse = messageExecutor.Submit <ImportMissionFromXmlResponse>(importMissionRequest);
importMissionResponse.Wait();
//mission contains imported mission from Demo mission.xml
var mission = importMissionResponse.Value.Mission;
System.Console.WriteLine("Demo mission.xml imported to UCS with name '{0}'", mission.Name);
//Get mission from server
GetObjectRequest getMissionObjectRequest = new GetObjectRequest()
{
ClientId = clientId,
ObjectType = "Mission",
ObjectId = mission.Id,
RefreshDependencies = true
};
var getMissionObjectResponse = messageExecutor.Submit <GetObjectResponse>(getMissionObjectRequest);
getMissionObjectResponse.Wait();
//missionFromUcs contains retrieved mission
var missionFromUcs = getMissionObjectResponse.Value.Object.Mission;
System.Console.WriteLine("mission id '{0}' retrieved from UCS with name '{1}'", mission.Id, missionFromUcs.Name);
//Import 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();
System.Console.WriteLine("route '{0}' added to mission '{1}'", updateRouteTask.Value.Object.Route.Name, missionFromUcs.Name);
//Get route from server
GetObjectRequest getRouteObjectRequest = new GetObjectRequest()
{
ClientId = clientId,
ObjectType = "Route",
ObjectId = updateRouteTask.Value.Object.Route.Id,
RefreshDependencies = true
};
var geRouteObjectResponse = messageExecutor.Submit <GetObjectResponse>(getRouteObjectRequest);
geRouteObjectResponse.Wait();
//routeFromUcs contains retrieved route
var routeFromUcs = geRouteObjectResponse.Value.Object.Route;
System.Console.WriteLine(string.Format("route id '{0}' retrieved from UCS with name '{1}'", updateRouteTask.Value.Object.Route.Id, routeFromUcs.Name));
//Get all vehicles
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();
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 vehicle object
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();
//Vehicle notification 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);
// Get Telemetry for vehicle
DateTime utcTime = DateTime.Now.ToUniversalTime();
DateTime posixEpoch = new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc);
TimeSpan span = utcTime - posixEpoch;
var beginningMilliseconds = (long)span.TotalMilliseconds;
GetTelemetryRequest telemetryRequest = new GetTelemetryRequest
{
ClientId = clientId,
FromTime = beginningMilliseconds,
Limit = 10,
Vehicle = new Vehicle()
{
Id = 1
}
};
var responseTelemetry = messageExecutor.Submit <GetTelemetryResponse>(telemetryRequest);
responseTelemetry.Wait();
//TelemetrySubscription
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);
System.Console.ReadKey();
tcpClient.Close();
messageSender.Cancel();
messageReceiver.Cancel();
messageExecutor.Close();
notificationListener.Dispose();
}