Hi,

I'm trying to use UgCS .NET SDK to control my DJI Phantom 3 Pro. I wanted to start with the most basic functionality - arm/disarm. I am able to connect to the UgCS server, get the list of vehicles and select the P3P, but then when I send the Arm command it returns immediately with no effect.

Bellow is the code, I'm sure I'm missing something but I can't find out what. Any help is welcome,

Thank,

Nir.

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using System;using System.Collections.Generic;using System.Linq;using System.Text;
using System.Threading.Tasks;

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

namespace ArmTest
{
    class Program
    {
        static void Main(string[] args)
        {
            /* Connects to UgCS server */
            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);

            /* Gets client ID */
            AuthorizeHciRequest AuthRequest = new AuthorizeHciRequest();
            AuthRequest.ClientId = -1;
            AuthRequest.Locale = "en-US";
            var future = messageExecutor.Submit(AuthRequest);
            future.Wait();
            AuthorizeHciResponse AuthorizeHciResponse = future.Value;
            int clientId = AuthorizeHciResponse.ClientId;

            /* Logs into the server */
            LoginRequest loginRequest = new LoginRequest();
            loginRequest.UserLogin = "admin";
            loginRequest.UserPassword = "admin";
            loginRequest.ClientId = clientId;
            var loginResponcetask = messageExecutor.Submit(loginRequest);
            loginResponcetask.Wait();

            /* Gets list of 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(getObjectListRequest);
            task.Wait();

            /* Outputs found vehivles */
            var list = task.Value;
            foreach (var v in list.Objects)
            {
                System.Console.WriteLine(string.Format("Idx: {0}; name: {1}; id: {2}; type: {3}",
                       list.Objects.IndexOf(v), v.Vehicle.Name, v.Vehicle.Id, v.Vehicle.Type.ToString()));
            }

            System.Console.Write(string.Format("Select Vehicle Idx: "));
            var userSelectedId = Console.Read();
            /* Sets vehicle */
            Vehicle vehicle = task.Value.Objects.FirstOrDefault().Vehicle;
            vehicle.Id = userSelectedId;

            /* Sends ARM command */
            SendCommandRequest CmdRequest = new SendCommandRequest
            {
                ClientId = clientId,
                Command = new UGCS.Sdk.Protocol.Encoding.Command
                {
                    Code = "arm",
                    Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
                }
            };
            CmdRequest.Vehicles.Add(new Vehicle() { Id = vehicle.Id });
            var CmdResponce = messageExecutor.Submit(CmdRequest);
            CmdResponce.Wait();

            System.Threading.Thread.Sleep(5000);

            /* Sends DISARM command */
            CmdRequest.Command = new UGCS.Sdk.Protocol.Encoding.Command
            {
                Code = "disarm",
                Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
            };
            CmdRequest.Vehicles.Add(new Vehicle() { Id = vehicle.Id });
            CmdResponce = messageExecutor.Submit(CmdRequest);
            CmdResponce.Wait();

            /* Clean ups */
            tcpClient.Close();
            messageSender.Cancel();
            messageReceiver.Cancel();
            messageExecutor.Close();
            notificationListener.Dispose();
        }
    }
}

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