diff --git a/DroneClient/README.md b/DroneClient/README.md new file mode 100644 index 0000000..facae82 --- /dev/null +++ b/DroneClient/README.md @@ -0,0 +1,3 @@ +# Client + +Образец клиента для подключения к симулятору. diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore new file mode 100644 index 0000000..98d63b2 --- /dev/null +++ b/DroneSimulator/.gitignore @@ -0,0 +1,3 @@ +.vs/ +obj/ +bin/ \ No newline at end of file diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs new file mode 100644 index 0000000..0fba4f6 --- /dev/null +++ b/DroneSimulator/Drone.cs @@ -0,0 +1,266 @@ +using System.Numerics; +using System.Runtime.InteropServices; + +namespace DroneSimulator +{ + internal class Drone + { + public int ID; + public float Mass; // Масса + public bool Active; // Живой? + public float Length; // Длинна лучей + public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение + public Quaternion Quat; // Основной кватернион + public float Power = 0; // Тяга всех двигателей + public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw + + public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп + public float LaserRange; // Имитация: Дальномер + + private const float Gravity = 1.0f; + + private const float TO_GRAD = 180 / MathF.PI; + private const float TO_RADI = MathF.PI / 180; + + private Thread DroneThread; + private int Timer; + + private static int CounterID = 0; + + public static byte[] getBytes(object data) + { + int size = Marshal.SizeOf(data); + byte[] arr = new byte[size]; + + IntPtr ptr = IntPtr.Zero; + try + { + ptr = Marshal.AllocHGlobal(size); + Marshal.StructureToPtr(data, ptr, true); + Marshal.Copy(ptr, arr, 0, size); + } + finally + { + Marshal.FreeHGlobal(ptr); + } + return arr; + } + + public static object fromBytes(byte[] arr, Type type) + { + object mem = new object(); + + int size = Marshal.SizeOf(type); + IntPtr ptr = IntPtr.Zero; + try + { + ptr = Marshal.AllocHGlobal(size); + + Marshal.Copy(arr, 0, ptr, size); + + mem = Marshal.PtrToStructure(ptr, type); + } + finally + { + Marshal.FreeHGlobal(ptr); + } + + return mem; + } + + public struct DataOut + { + public float AccX, AccY, AccZ; + public float GyrX, GyrY, GyrZ; + public float PosX, PosY; + public float LaserRange; + } + + public struct DataIn + { + public float MotorUL, MotorUR, MotorDL, MotorDR; + } + + public struct DataVisual + { + public int ID; // Идентификатор + public float W, X, Y, Z; // Кватернион вращения + public float PosX, PosY, PosZ; // Координаты в пространстве + } + + public DataVisual GetVisual() + { + return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z }; + } + + private void ThreadFunction() + { + while (DroneThread != null) + { + float time = Environment.TickCount - Timer; + Timer = Environment.TickCount; + Action(time / 100); + Thread.Sleep(1); + } + } + + public Drone(int id) + { + ID = id; + Active = false; + PosXYZ = new Vector3(2000, 1000, 0); + SpdXYZ = Vector3.Zero; + AccXYZ = Vector3.Zero; + Quat = Quaternion.Identity; + + DroneThread = new Thread(new ThreadStart(ThreadFunction)); + Timer = Environment.TickCount; + DroneThread.Start(); + } + + public int Create(float mass, float len) + { + Mass = Range(mass); + Length = len; + + Active = true; + + return ID; + } + + public void Close() + { + DroneThread = null; + } + + private float GetAngle(float a1, float a2, float az) + { + if (a2 == 0.0f && az == 0.0f) + { + if (a1 > 0) return 90; + if (a1 < 0) return -90; + return 0; + } + return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD; + } + + public void Rotate(float x, float y, float z) + { + x = x * MathF.PI / 180; + y = y * MathF.PI / 180; + z = -z * MathF.PI / 180; + + Quaternion map = Quat; + Quaternion spd = new Quaternion(x, y, z, 0); + Quaternion aq = spd * map; + + map.W -= 0.5f * aq.W; + map.X -= 0.5f * aq.X; + map.Y -= 0.5f * aq.Y; + map.Z -= 0.5f * aq.Z; + + Quat = Quaternion.Normalize(map); + } + + public Vector4 GetOrientation() + { + Quaternion grav = new Quaternion(0, 0, 1, 0); + + grav = (Quat * grav) * Quaternion.Inverse(Quat); + + float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD; + if (yaw < 0.0f) yaw = 360.0f + yaw; + + return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z); + } + + public void Action(float time) + { + if (!Active) return; + + float flow = Power; + + if (PosXYZ.Z < 100) + { + flow += flow * 0.1f; // Воздушная подушка + } + + Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat; + AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass; + + SpdPRY += AccPRY * time / (Mass * Length); + + SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time; + PosXYZ += SpdXYZ * time; + + if (PosXYZ.Z < 0) + { + SpdPRY = Vector3.Zero; + SpdXYZ.X = 0; + SpdXYZ.Y = 0; + Quat = Quaternion.Identity; + } + else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z); + + Vector4 ori = GetOrientation(); + + if (PosXYZ.Z < 0) + { + PosXYZ.Z = 0; + + /*if (SpdXYZ.Z < -5) + { + Active = false; // Сильно ударился о землю + }*/ + + /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45) + { + Active = false; // Повредил винты при посадке + }*/ + + SpdXYZ.Z = 0; + + Acc = new Vector3(0, 0, 1); + Gyr = Vector3.Zero; + LaserRange = 0; + } + else + { + /*if (ori.W < 0) + { + Active = false; // Перевернулся вверх ногами + }*/ + + Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0); + grav = (Quat * grav) * Quaternion.Inverse(Quat); + Acc = new Vector3(grav.X, grav.Y, grav.Z); + + Gyr = SpdPRY; + + float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI; + + if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt); + else LaserRange = float.MaxValue; + } + } + + private float Range(float pow) + { + if (pow > 1) pow = 1; + if (pow < 0) pow = 0; + + return pow; + } + + public void SetQadroPow(float ul, float ur, float dl, float dr) + { + ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr); + + Power = (ul + ur + dl + dr) / 4; + + AccPRY.Y = ((ul + dl) - (ur + dr)); + AccPRY.X = ((ul + ur) - (dl + dr)); + AccPRY.Z = ((ul + dr) - (dl + ur)) / 4; + } + } +} diff --git a/DroneSimulator/DroneSimulator.csproj b/DroneSimulator/DroneSimulator.csproj new file mode 100644 index 0000000..da8dc2d --- /dev/null +++ b/DroneSimulator/DroneSimulator.csproj @@ -0,0 +1,16 @@ + + + + WinExe + net9.0-windows + enable + true + enable + icon.ico + + + + + + + \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.csproj.user b/DroneSimulator/DroneSimulator.csproj.user new file mode 100644 index 0000000..cf5c74f --- /dev/null +++ b/DroneSimulator/DroneSimulator.csproj.user @@ -0,0 +1,8 @@ + + + + + Form + + + \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.sln b/DroneSimulator/DroneSimulator.sln new file mode 100644 index 0000000..05ccc73 --- /dev/null +++ b/DroneSimulator/DroneSimulator.sln @@ -0,0 +1,25 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.13.35913.81 d17.13 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DroneSimulator", "DroneSimulator.csproj", "{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Any CPU = Debug|Any CPU + Release|Any CPU = Release|Any CPU + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.Build.0 = Debug|Any CPU + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.ActiveCfg = Release|Any CPU + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.Build.0 = Release|Any CPU + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {F4724E16-C228-4B38-BB06-B90A7A057219} + EndGlobalSection +EndGlobal diff --git a/DroneSimulator/FormMain.Designer.cs b/DroneSimulator/FormMain.Designer.cs new file mode 100644 index 0000000..bab9e3b --- /dev/null +++ b/DroneSimulator/FormMain.Designer.cs @@ -0,0 +1,474 @@ +namespace DroneSimulator +{ + partial class Form_Main + { + /// + /// Required designer variable. + /// + private System.ComponentModel.IContainer components = null; + + /// + /// Clean up any resources being used. + /// + /// true if managed resources should be disposed; otherwise, false. + protected override void Dispose(bool disposing) + { + if (disposing && (components != null)) + { + components.Dispose(); + } + base.Dispose(disposing); + } + + #region Windows Form Designer generated code + + /// + /// Required method for Designer support - do not modify + /// the contents of this method with the code editor. + /// + private void InitializeComponent() + { + components = new System.ComponentModel.Container(); + System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form_Main)); + menuStrip_Menu = new MenuStrip(); + fileToolStripMenuItem = new ToolStripMenuItem(); + exitToolStripMenuItem = new ToolStripMenuItem(); + groupBox_Screen = new GroupBox(); + pictureBox_2D = new PictureBox(); + tabControl_Menu = new TabControl(); + tabPage_Main = new TabPage(); + groupBox_Visual = new GroupBox(); + numericUpDown_Visual_Limit = new NumericUpDown(); + label1 = new Label(); + label_Visual_Num = new Label(); + label3 = new Label(); + button_Visual_Start = new Button(); + numericUpDown_Visual_Port = new NumericUpDown(); + label_Visual_Port = new Label(); + groupBox_Clients = new GroupBox(); + numericUpDown_Clients_Limit = new NumericUpDown(); + label_Clients_Limit = new Label(); + label_Clients_Num = new Label(); + label_Clients_Count = new Label(); + button_Client_Start = new Button(); + numericUpDown_Clients_Port = new NumericUpDown(); + label_Clients_Port = new Label(); + tabPage_Model = new TabPage(); + tabPage_Area = new TabPage(); + groupBox_Navi = new GroupBox(); + panel1 = new Panel(); + button_Drone_Color = new Button(); + comboBox_Drone_Rotor = new ComboBox(); + comboBox_Drone = new ComboBox(); + timer_Test = new System.Windows.Forms.Timer(components); + menuStrip_Menu.SuspendLayout(); + groupBox_Screen.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit(); + tabControl_Menu.SuspendLayout(); + tabPage_Main.SuspendLayout(); + groupBox_Visual.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).BeginInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit(); + groupBox_Clients.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit(); + groupBox_Navi.SuspendLayout(); + panel1.SuspendLayout(); + SuspendLayout(); + // + // menuStrip_Menu + // + menuStrip_Menu.Items.AddRange(new ToolStripItem[] { fileToolStripMenuItem }); + menuStrip_Menu.Location = new Point(0, 0); + menuStrip_Menu.Name = "menuStrip_Menu"; + menuStrip_Menu.Size = new Size(884, 24); + menuStrip_Menu.TabIndex = 0; + menuStrip_Menu.Text = "menuStrip1"; + // + // fileToolStripMenuItem + // + fileToolStripMenuItem.DropDownItems.AddRange(new ToolStripItem[] { exitToolStripMenuItem }); + fileToolStripMenuItem.Name = "fileToolStripMenuItem"; + fileToolStripMenuItem.Size = new Size(37, 20); + fileToolStripMenuItem.Tag = "#file"; + fileToolStripMenuItem.Text = "File"; + // + // exitToolStripMenuItem + // + exitToolStripMenuItem.Name = "exitToolStripMenuItem"; + exitToolStripMenuItem.Size = new Size(93, 22); + exitToolStripMenuItem.Tag = "#exit"; + exitToolStripMenuItem.Text = "Exit"; + exitToolStripMenuItem.Click += exitToolStripMenuItem_Click; + // + // groupBox_Screen + // + groupBox_Screen.Controls.Add(pictureBox_2D); + groupBox_Screen.Dock = DockStyle.Fill; + groupBox_Screen.Location = new Point(218, 24); + groupBox_Screen.Name = "groupBox_Screen"; + groupBox_Screen.Size = new Size(466, 437); + groupBox_Screen.TabIndex = 1; + groupBox_Screen.TabStop = false; + // + // pictureBox_2D + // + pictureBox_2D.BackColor = Color.Gainsboro; + pictureBox_2D.Dock = DockStyle.Fill; + pictureBox_2D.Location = new Point(3, 19); + pictureBox_2D.Name = "pictureBox_2D"; + pictureBox_2D.Size = new Size(460, 415); + pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom; + pictureBox_2D.TabIndex = 0; + pictureBox_2D.TabStop = false; + // + // tabControl_Menu + // + tabControl_Menu.Controls.Add(tabPage_Main); + tabControl_Menu.Controls.Add(tabPage_Model); + tabControl_Menu.Controls.Add(tabPage_Area); + tabControl_Menu.Dock = DockStyle.Left; + tabControl_Menu.Location = new Point(0, 24); + tabControl_Menu.Name = "tabControl_Menu"; + tabControl_Menu.SelectedIndex = 0; + tabControl_Menu.Size = new Size(218, 437); + tabControl_Menu.TabIndex = 2; + // + // tabPage_Main + // + tabPage_Main.Controls.Add(groupBox_Visual); + tabPage_Main.Controls.Add(groupBox_Clients); + tabPage_Main.Location = new Point(4, 24); + tabPage_Main.Name = "tabPage_Main"; + tabPage_Main.Padding = new Padding(3); + tabPage_Main.Size = new Size(210, 409); + tabPage_Main.TabIndex = 0; + tabPage_Main.Tag = "#main"; + tabPage_Main.Text = "Main"; + tabPage_Main.UseVisualStyleBackColor = true; + // + // groupBox_Visual + // + groupBox_Visual.Controls.Add(numericUpDown_Visual_Limit); + groupBox_Visual.Controls.Add(label1); + groupBox_Visual.Controls.Add(label_Visual_Num); + groupBox_Visual.Controls.Add(label3); + groupBox_Visual.Controls.Add(button_Visual_Start); + groupBox_Visual.Controls.Add(numericUpDown_Visual_Port); + groupBox_Visual.Controls.Add(label_Visual_Port); + groupBox_Visual.Dock = DockStyle.Top; + groupBox_Visual.Location = new Point(3, 83); + groupBox_Visual.Name = "groupBox_Visual"; + groupBox_Visual.Size = new Size(204, 91); + groupBox_Visual.TabIndex = 2; + groupBox_Visual.TabStop = false; + groupBox_Visual.Tag = "#visual"; + groupBox_Visual.Text = "Visual"; + // + // numericUpDown_Visual_Limit + // + numericUpDown_Visual_Limit.Location = new Point(44, 57); + numericUpDown_Visual_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); + numericUpDown_Visual_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Visual_Limit.Name = "numericUpDown_Visual_Limit"; + numericUpDown_Visual_Limit.Size = new Size(42, 23); + numericUpDown_Visual_Limit.TabIndex = 13; + numericUpDown_Visual_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 }); + // + // label1 + // + label1.AutoSize = true; + label1.Location = new Point(6, 59); + label1.Name = "label1"; + label1.Size = new Size(37, 15); + label1.TabIndex = 12; + label1.Tag = "#clients_limit"; + label1.Text = "Limit:"; + // + // label_Visual_Num + // + label_Visual_Num.AutoSize = true; + label_Visual_Num.Location = new Point(161, 59); + label_Visual_Num.Name = "label_Visual_Num"; + label_Visual_Num.Size = new Size(13, 15); + label_Visual_Num.TabIndex = 11; + label_Visual_Num.Text = "0"; + // + // label3 + // + label3.AutoSize = true; + label3.Location = new Point(112, 59); + label3.Name = "label3"; + label3.Size = new Size(43, 15); + label3.TabIndex = 10; + label3.Tag = "#clients_count"; + label3.Text = "Count:"; + // + // button_Visual_Start + // + button_Visual_Start.Location = new Point(112, 22); + button_Visual_Start.Name = "button_Visual_Start"; + button_Visual_Start.Size = new Size(86, 23); + button_Visual_Start.TabIndex = 9; + button_Visual_Start.Tag = "#visual_start"; + button_Visual_Start.Text = "Start"; + button_Visual_Start.UseVisualStyleBackColor = true; + button_Visual_Start.Click += button_Visual_Start_Click; + // + // numericUpDown_Visual_Port + // + numericUpDown_Visual_Port.Location = new Point(44, 24); + numericUpDown_Visual_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); + numericUpDown_Visual_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Visual_Port.Name = "numericUpDown_Visual_Port"; + numericUpDown_Visual_Port.Size = new Size(62, 23); + numericUpDown_Visual_Port.TabIndex = 8; + numericUpDown_Visual_Port.Value = new decimal(new int[] { 1002, 0, 0, 0 }); + // + // label_Visual_Port + // + label_Visual_Port.AutoSize = true; + label_Visual_Port.Location = new Point(6, 26); + label_Visual_Port.Name = "label_Visual_Port"; + label_Visual_Port.Size = new Size(32, 15); + label_Visual_Port.TabIndex = 7; + label_Visual_Port.Tag = "#visual_port"; + label_Visual_Port.Text = "Port:"; + // + // groupBox_Clients + // + groupBox_Clients.Controls.Add(numericUpDown_Clients_Limit); + groupBox_Clients.Controls.Add(label_Clients_Limit); + groupBox_Clients.Controls.Add(label_Clients_Num); + groupBox_Clients.Controls.Add(label_Clients_Count); + groupBox_Clients.Controls.Add(button_Client_Start); + groupBox_Clients.Controls.Add(numericUpDown_Clients_Port); + groupBox_Clients.Controls.Add(label_Clients_Port); + groupBox_Clients.Dock = DockStyle.Top; + groupBox_Clients.Location = new Point(3, 3); + groupBox_Clients.Name = "groupBox_Clients"; + groupBox_Clients.Size = new Size(204, 80); + groupBox_Clients.TabIndex = 1; + groupBox_Clients.TabStop = false; + groupBox_Clients.Tag = "#clients"; + groupBox_Clients.Text = "Clients"; + // + // numericUpDown_Clients_Limit + // + numericUpDown_Clients_Limit.Location = new Point(44, 48); + numericUpDown_Clients_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); + numericUpDown_Clients_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Clients_Limit.Name = "numericUpDown_Clients_Limit"; + numericUpDown_Clients_Limit.Size = new Size(42, 23); + numericUpDown_Clients_Limit.TabIndex = 6; + numericUpDown_Clients_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 }); + // + // label_Clients_Limit + // + label_Clients_Limit.AutoSize = true; + label_Clients_Limit.Location = new Point(6, 50); + label_Clients_Limit.Name = "label_Clients_Limit"; + label_Clients_Limit.Size = new Size(37, 15); + label_Clients_Limit.TabIndex = 5; + label_Clients_Limit.Tag = "#clients_limit"; + label_Clients_Limit.Text = "Limit:"; + // + // label_Clients_Num + // + label_Clients_Num.AutoSize = true; + label_Clients_Num.Location = new Point(161, 50); + label_Clients_Num.Name = "label_Clients_Num"; + label_Clients_Num.Size = new Size(13, 15); + label_Clients_Num.TabIndex = 4; + label_Clients_Num.Text = "0"; + // + // label_Clients_Count + // + label_Clients_Count.AutoSize = true; + label_Clients_Count.Location = new Point(112, 50); + label_Clients_Count.Name = "label_Clients_Count"; + label_Clients_Count.Size = new Size(43, 15); + label_Clients_Count.TabIndex = 3; + label_Clients_Count.Tag = "#clients_count"; + label_Clients_Count.Text = "Count:"; + // + // button_Client_Start + // + button_Client_Start.BackColor = Color.Transparent; + button_Client_Start.Location = new Point(112, 15); + button_Client_Start.Name = "button_Client_Start"; + button_Client_Start.Size = new Size(86, 23); + button_Client_Start.TabIndex = 2; + button_Client_Start.Tag = ""; + button_Client_Start.Text = "Start"; + button_Client_Start.UseVisualStyleBackColor = false; + button_Client_Start.Click += button_Client_Start_Click; + // + // numericUpDown_Clients_Port + // + numericUpDown_Clients_Port.Location = new Point(44, 17); + numericUpDown_Clients_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); + numericUpDown_Clients_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Clients_Port.Name = "numericUpDown_Clients_Port"; + numericUpDown_Clients_Port.Size = new Size(62, 23); + numericUpDown_Clients_Port.TabIndex = 1; + numericUpDown_Clients_Port.Value = new decimal(new int[] { 1001, 0, 0, 0 }); + // + // label_Clients_Port + // + label_Clients_Port.AutoSize = true; + label_Clients_Port.Location = new Point(6, 19); + label_Clients_Port.Name = "label_Clients_Port"; + label_Clients_Port.Size = new Size(32, 15); + label_Clients_Port.TabIndex = 0; + label_Clients_Port.Tag = "#clients_port"; + label_Clients_Port.Text = "Port:"; + // + // tabPage_Model + // + tabPage_Model.Location = new Point(4, 24); + tabPage_Model.Name = "tabPage_Model"; + tabPage_Model.Padding = new Padding(3); + tabPage_Model.Size = new Size(210, 409); + tabPage_Model.TabIndex = 1; + tabPage_Model.Tag = "#model"; + tabPage_Model.Text = "Model"; + tabPage_Model.UseVisualStyleBackColor = true; + // + // tabPage_Area + // + tabPage_Area.Location = new Point(4, 24); + tabPage_Area.Name = "tabPage_Area"; + tabPage_Area.Size = new Size(210, 409); + tabPage_Area.TabIndex = 2; + tabPage_Area.Tag = "#area"; + tabPage_Area.Text = "Area"; + tabPage_Area.UseVisualStyleBackColor = true; + // + // groupBox_Navi + // + groupBox_Navi.Controls.Add(panel1); + groupBox_Navi.Controls.Add(comboBox_Drone); + groupBox_Navi.Dock = DockStyle.Right; + groupBox_Navi.Location = new Point(684, 24); + groupBox_Navi.Name = "groupBox_Navi"; + groupBox_Navi.Size = new Size(200, 437); + groupBox_Navi.TabIndex = 3; + groupBox_Navi.TabStop = false; + groupBox_Navi.Tag = "#navigation"; + groupBox_Navi.Text = "Navigation"; + // + // panel1 + // + panel1.Controls.Add(button_Drone_Color); + panel1.Controls.Add(comboBox_Drone_Rotor); + panel1.Dock = DockStyle.Fill; + panel1.Location = new Point(3, 42); + panel1.Name = "panel1"; + panel1.Size = new Size(194, 392); + panel1.TabIndex = 3; + // + // button_Drone_Color + // + button_Drone_Color.BackColor = Color.Tomato; + button_Drone_Color.Location = new Point(13, 6); + button_Drone_Color.Name = "button_Drone_Color"; + button_Drone_Color.Size = new Size(45, 23); + button_Drone_Color.TabIndex = 1; + button_Drone_Color.UseVisualStyleBackColor = false; + // + // comboBox_Drone_Rotor + // + comboBox_Drone_Rotor.FormattingEnabled = true; + comboBox_Drone_Rotor.Items.AddRange(new object[] { "4-Rotor", "6-Rotor", "8-Rotor" }); + comboBox_Drone_Rotor.Location = new Point(114, 6); + comboBox_Drone_Rotor.Name = "comboBox_Drone_Rotor"; + comboBox_Drone_Rotor.Size = new Size(71, 23); + comboBox_Drone_Rotor.TabIndex = 2; + comboBox_Drone_Rotor.Text = "4-Rotor"; + // + // comboBox_Drone + // + comboBox_Drone.Dock = DockStyle.Top; + comboBox_Drone.FormattingEnabled = true; + comboBox_Drone.Location = new Point(3, 19); + comboBox_Drone.Name = "comboBox_Drone"; + comboBox_Drone.Size = new Size(194, 23); + comboBox_Drone.TabIndex = 0; + // + // timer_Test + // + timer_Test.Enabled = true; + timer_Test.Interval = 10; + timer_Test.Tick += timer_Test_Tick; + // + // Form_Main + // + AutoScaleDimensions = new SizeF(7F, 15F); + AutoScaleMode = AutoScaleMode.Font; + ClientSize = new Size(884, 461); + Controls.Add(groupBox_Screen); + Controls.Add(groupBox_Navi); + Controls.Add(tabControl_Menu); + Controls.Add(menuStrip_Menu); + Icon = (Icon)resources.GetObject("$this.Icon"); + MainMenuStrip = menuStrip_Menu; + MinimumSize = new Size(900, 500); + Name = "Form_Main"; + Text = "Drone Simulator V1.0"; + FormClosing += Form_Main_FormClosing; + menuStrip_Menu.ResumeLayout(false); + menuStrip_Menu.PerformLayout(); + groupBox_Screen.ResumeLayout(false); + ((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit(); + tabControl_Menu.ResumeLayout(false); + tabPage_Main.ResumeLayout(false); + groupBox_Visual.ResumeLayout(false); + groupBox_Visual.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).EndInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).EndInit(); + groupBox_Clients.ResumeLayout(false); + groupBox_Clients.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit(); + groupBox_Navi.ResumeLayout(false); + panel1.ResumeLayout(false); + ResumeLayout(false); + PerformLayout(); + } + + #endregion + + private MenuStrip menuStrip_Menu; + private ToolStripMenuItem fileToolStripMenuItem; + private GroupBox groupBox_Screen; + private TabControl tabControl_Menu; + private TabPage tabPage_Main; + private TabPage tabPage_Model; + private Label label_Clients_Port; + private GroupBox groupBox_Clients; + private NumericUpDown numericUpDown_Clients_Port; + private Label label_Clients_Num; + private Label label_Clients_Count; + private Button button_Client_Start; + private NumericUpDown numericUpDown_Clients_Limit; + private Label label_Clients_Limit; + private GroupBox groupBox_Visual; + private Button button_Visual_Start; + private NumericUpDown numericUpDown_Visual_Port; + private Label label_Visual_Port; + private PictureBox pictureBox_2D; + private GroupBox groupBox_Navi; + private ComboBox comboBox_Drone; + private TabPage tabPage_Area; + private Button button_Drone_Color; + private ComboBox comboBox_Drone_Rotor; + private Panel panel1; + private ToolStripMenuItem exitToolStripMenuItem; + private System.Windows.Forms.Timer timer_Test; + private NumericUpDown numericUpDown_Visual_Limit; + private Label label1; + private Label label_Visual_Num; + private Label label3; + } +} diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs new file mode 100644 index 0000000..41e4719 --- /dev/null +++ b/DroneSimulator/FormMain.cs @@ -0,0 +1,207 @@ +using System.Text; +using System.Numerics; +using System.Windows.Forms; +using static System.Net.Mime.MediaTypeNames; +using static System.Runtime.InteropServices.JavaScript.JSType; +using System.Security.Policy; + +namespace DroneSimulator +{ + public partial class Form_Main : Form + { + Screen2D screen2D = null; + + NetServerClients netServerClient = new NetServerClients(); + NetServerVisual netServerVisual = new NetServerVisual(); + + List AllDrones = new List(); + + public Form_Main() + { + InitializeComponent(); + } + + private void ClientConnectionCallback(object o) + { + NetServerClients.ConnectData data = (NetServerClients.ConnectData)o; + + Invoke((MethodInvoker)delegate + { + label_Clients_Num.Text = data.Count.ToString(); + }); + + if (data.Connect) + { + Drone drone = new Drone(data.ID); + drone.Create(0.5f, 10.0f); + + screen2D.CreateDrone(Color.Red, data.ID); + + AllDrones.Add(drone); + } + else + { + foreach (Drone drone in AllDrones) + { + if (drone.ID != data.ID) continue; + drone.Close(); + + screen2D.RemoveDrone(data.ID); + + AllDrones.Remove(drone); + break; + } + } + } + + private void ClientReceiveCallback(object o) + { + NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o; + + Drone? drone = null; + + foreach (Drone d in AllDrones) + { + if (d.ID != data.ID) continue; + drone = d; + break; + } + + if (drone == null) return; + + Drone.DataIn id = (Drone.DataIn)Drone.fromBytes(data.Buffer, typeof(Drone.DataIn)); + + drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR); + + Drone.DataOut od = new Drone.DataOut(); + + od.AccX = drone.Acc.X; od.AccY = drone.Acc.Y; od.AccZ = drone.Acc.Z; + od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z; + od.PosX = drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y; + od.LaserRange = drone.LaserRange; + + try { data.Client.Send(Drone.getBytes(od)); } + catch { } + } + + private void button_Client_Start_Click(object sender, EventArgs e) + { + var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback); + switch (done) + { + case NetServerClients.ServerState.Error: + { + MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error); + break; + } + case NetServerClients.ServerState.Start: + { + button_Client_Start.Text = "Stop"; + button_Client_Start.BackColor = Color.LimeGreen; + break; + } + case NetServerClients.ServerState.Stop: + { + label_Clients_Num.Text = "0"; + button_Client_Start.Text = "Start"; + button_Client_Start.BackColor = Color.Transparent; + break; + } + } + + if (done != NetServerClients.ServerState.Start) return; + + pictureBox_2D.Image = null; + + screen2D = new Screen2D(DrawCallback); + } + + private void exitToolStripMenuItem_Click(object sender, EventArgs e) + { + Close(); + } + + private void DrawCallback(Bitmap bmp) + { + Invoke((MethodInvoker)delegate + { + if (pictureBox_2D.Image == null) pictureBox_2D.Image = bmp; + pictureBox_2D.Refresh(); + }); + } + + private void timer_Test_Tick(object sender, EventArgs e) + { + if (screen2D == null) return; + + foreach (Drone d in AllDrones) + { + screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation()); + } + + screen2D.DrawScene(); + } + private void Form_Main_FormClosing(object sender, FormClosingEventArgs e) + { + foreach (Drone d in AllDrones) d.Close(); + } + + private void VisualConnectionCallback(object o) + { + NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o; + + Invoke((MethodInvoker)delegate + { + label_Clients_Num.Text = data.Count.ToString(); + }); + + if (data.Connect) + { + //--- + } + else + { + //--- + } + } + + private void VisualReceiveCallback(object o) + { + NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o; + + foreach (Drone d in AllDrones) + { + Drone.DataVisual v = d.GetVisual(); + + try { data.Client.Send(Drone.getBytes(v)); } + catch { } + } + } + + private void button_Visual_Start_Click(object sender, EventArgs e) + { + var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback); + switch (done) + { + case NetServerVisual.ServerState.Error: + { + MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error); + break; + } + case NetServerVisual.ServerState.Start: + { + button_Visual_Start.Text = "Stop"; + button_Visual_Start.BackColor = Color.LimeGreen; + break; + } + case NetServerVisual.ServerState.Stop: + { + label_Visual_Num.Text = "0"; + button_Visual_Start.Text = "Start"; + button_Visual_Start.BackColor = Color.Transparent; + break; + } + } + } + } +} diff --git a/DroneSimulator/FormMain.resx b/DroneSimulator/FormMain.resx new file mode 100644 index 0000000..8f19afc --- /dev/null +++ b/DroneSimulator/FormMain.resx @@ -0,0 +1,383 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, 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0000000..8c28f73 --- /dev/null +++ b/DroneSimulator/NetServerClients.cs @@ -0,0 +1,140 @@ +using System.Net.Sockets; +using System.Net; + +namespace DroneSimulator +{ + internal class NetServerClients + { + public class ConnectData + { + public int ID; + public bool Connect; + public int Count; + + public Socket? Client; + } + + public class ReceiveData + { + public int ID; + public byte[]? Buffer; + public int Size; + + public Socket? Client; + } + + private class ClientData + { + public int ID; + public Socket? workSocket = null; + public const int BufferSize = 1024; + public byte[] buffer = new byte[BufferSize]; + } + + private int SocketID = 0; + private int SocketLimit; + private Socket? ServerSocket; + private List ClientSockets = new List(); + + public delegate void ServerCallback(object o); + + private ServerCallback? ConnectionCallback; + private ServerCallback? ReceiveCallback; + + private bool Active = false; + + public enum ServerState { Error, Start, Stop }; + + public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) + { + if (Active) + { + ServerSocket?.Close(); + foreach (ClientData c in ClientSockets) + { + try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } + c.workSocket?.Close(); + } + ClientSockets.Clear(); + return ServerState.Stop; + } + + ConnectionCallback = Connection; + ReceiveCallback = Receive; + + SocketLimit = Limit; + + IPEndPoint ip = new(IPAddress.Any, Port); + ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); + + try + { + ServerSocket.Bind(ip); + ServerSocket.Listen(10); + ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); + Active = true; + } + catch { ServerSocket.Close(); return ServerState.Error; } + + return ServerState.Start; + } + + public void AcceptCallback(IAsyncResult ar) + { + Socket listener = (Socket)ar.AsyncState; + if (listener == null) return; + + Socket handler; + + try { handler = listener.EndAccept(ar); } + catch{ ServerSocket?.Close(); Active = false; return; } + + if (SocketLimit > ClientSockets.Count) + { + ClientData clientData = new ClientData(); + + clientData.ID = ++SocketID; + + clientData.workSocket = handler; + + ClientSockets.Add(clientData); + + ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); + + handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); + } + else handler.Close(); + + listener.BeginAccept(new AsyncCallback(AcceptCallback), listener); + } + + public void ReadCallback(IAsyncResult ar) + { + ClientData cd = (ClientData)ar.AsyncState; + if (cd == null) return; + + int bytes = 0; + try { bytes = cd.workSocket.EndReceive(ar); } + catch { } + + if (bytes == 0) + { + cd.workSocket?.Close(); + + ClientSockets.Remove(cd); + + ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null }); + + return; + } + + ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); + + try + { + cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + } + catch { } + } + } +} diff --git a/DroneSimulator/NetServerVisual.cs b/DroneSimulator/NetServerVisual.cs new file mode 100644 index 0000000..41dd579 --- /dev/null +++ b/DroneSimulator/NetServerVisual.cs @@ -0,0 +1,134 @@ +using System.Net.Sockets; +using System.Net; + +namespace DroneSimulator +{ + internal class NetServerVisual + { + public class ConnectData + { + public bool Connect; + public int Count; + + public Socket? Client; + } + + public class ReceiveData + { + public byte[]? Buffer; + public int Size; + + public Socket? Client; + } + + private class ClientData + { + public Socket? workSocket = null; + public const int BufferSize = 1024; + public byte[] buffer = new byte[BufferSize]; + } + + private int SocketLimit; + private Socket? ServerSocket; + private List ClientSockets = new List(); + + public delegate void ServerCallback(object o); + + private ServerCallback? ConnectionCallback; + private ServerCallback? ReceiveCallback; + + private bool Active = false; + + public enum ServerState { Error, Start, Stop }; + + public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) + { + if (Active) + { + ServerSocket?.Close(); + foreach (ClientData c in ClientSockets) + { + try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } + c.workSocket?.Close(); + } + ClientSockets.Clear(); + return ServerState.Stop; + } + + ConnectionCallback = Connection; + ReceiveCallback = Receive; + + SocketLimit = Limit; + + IPEndPoint ip = new(IPAddress.Any, Port); + ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); + + try + { + ServerSocket.Bind(ip); + ServerSocket.Listen(10); + ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); + Active = true; + } + catch { ServerSocket.Close(); return ServerState.Error; } + + return ServerState.Start; + } + + public void AcceptCallback(IAsyncResult ar) + { + Socket listener = (Socket)ar.AsyncState; + if (listener == null) return; + + Socket handler; + + try { handler = listener.EndAccept(ar); } + catch{ ServerSocket?.Close(); Active = false; return; } + + if (SocketLimit > ClientSockets.Count) + { + ClientData clientData = new ClientData(); + + clientData.workSocket = handler; + + ClientSockets.Add(clientData); + + ConnectionCallback(new ConnectData { Connect = true, Count = ClientSockets.Count, Client = handler }); + + handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); + } + else handler.Close(); + + listener.BeginAccept(new AsyncCallback(AcceptCallback), listener); + } + + public void ReadCallback(IAsyncResult ar) + { + ClientData cd = (ClientData)ar.AsyncState; + if (cd == null) return; + + int bytes = 0; + try { bytes = cd.workSocket.EndReceive(ar); } + catch { } + + if (bytes == 0) + { + cd.workSocket?.Close(); + + ClientSockets.Remove(cd); + + ConnectionCallback(new ConnectData { Connect = false, Count = ClientSockets.Count, Client = null }); + + return; + } + + ReceiveCallback(new ReceiveData { Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); + + try + { + cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + } + catch { } + } + } +} diff --git a/DroneSimulator/Program.cs b/DroneSimulator/Program.cs new file mode 100644 index 0000000..efb14d6 --- /dev/null +++ b/DroneSimulator/Program.cs @@ -0,0 +1,17 @@ +namespace DroneSimulator +{ + internal static class Program + { + /// + /// The main entry point for the application. + /// + [STAThread] + static void Main() + { + // To customize application configuration such as set high DPI settings or default font, + // see https://aka.ms/applicationconfiguration. + ApplicationConfiguration.Initialize(); + Application.Run(new Form_Main()); + } + } +} \ No newline at end of file diff --git a/DroneSimulator/Screen2D.cs b/DroneSimulator/Screen2D.cs new file mode 100644 index 0000000..36a4a72 --- /dev/null +++ b/DroneSimulator/Screen2D.cs @@ -0,0 +1,180 @@ +using System.Numerics; + +namespace DroneSimulator +{ + internal class Screen2D + { + + public delegate void DrawCallback(Bitmap bmp); + + public Screen2D(DrawCallback callback) + { + drawCallback = callback; + } + + private class DroneInfo + { + public int ID; + public Color RGB; + public Bitmap? Drone; + public Point PosXY; + public int Height = 0; + + public PointF TiltXY = new Point(0, 0); + public int Azimuth = 0; + } + + private DrawCallback drawCallback; + private Bitmap MainArea = new Bitmap(4096, 2560); + private List DroneList = new List(); + + public static Bitmap DrawQadro(Color ColorFill) + { + Bitmap drone = new Bitmap(130, 130); + + using (Graphics g = Graphics.FromImage(drone)) + { + g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed; + + SolidBrush solidBrush = new SolidBrush(ColorFill); + + Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) }; + g.FillPolygon(solidBrush, mid); + + g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35)); + g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35)); + g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35)); + g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35)); + + g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10)); + + g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129)); + + solidBrush.Dispose(); + } + + return RotateImage(drone, 90); + } + + private static Bitmap RotateImage(Bitmap bmp, float angle) + { + Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height); + + using (Graphics g = Graphics.FromImage(rotatedImage)) + { + // Set the rotation point to the center in the matrix + g.TranslateTransform(bmp.Width / 2, bmp.Height / 2); + // Rotate + g.RotateTransform(angle); + // Restore rotation point in the matrix + g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2); + // Draw the image on the bitmap + g.DrawImage(bmp, new Point(0, 0)); + } + + return rotatedImage; + } + + public void CreateDrone(Color ColorFill, int ID) + { + DroneInfo info = new DroneInfo(); + info.ID = ID; + info.RGB = ColorFill; + info.Drone = DrawQadro(ColorFill); + + DroneList.Add(info); + } + + public void RemoveDrone(int ID) + { + foreach (DroneInfo i in DroneList) + { + if (i.ID != ID) continue; + DroneList.Remove(i); + break; + } + } + + public void DrawScene() + { + using (Graphics g = Graphics.FromImage(MainArea)) + { + g.Clear(Color.Gainsboro); + SolidBrush shadowBrush = new SolidBrush(Color.Black); + g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 }); + + foreach (var d in DroneList) + { + if (d.Azimuth >= 360) d.Azimuth -= 360; + var bmp = RotateImage(d.Drone, d.Azimuth); + + g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130); + + g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2)); + + //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130)); + + float x1 = 0, y1 = 0; + float x2 = 130, y2 = 0; + float x3 = 0, y3 = 130; + + const float TO_RADI = MathF.PI / 180; + + Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0); + Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI); + + tilt = tilt * rotate * rotate; + + if (tilt.Y > 0) + { + x1 = (int)(Math.Sin(tilt.Y) * 130); + x3 = (int)(Math.Sin(tilt.Y) * 130); + } + else + { + x2 = (int)(Math.Cos(tilt.Y) * 130); + } + + if (tilt.X > 0) + { + y1 = (int)(Math.Sin(tilt.X) * 130); + y2 = (int)(Math.Sin(tilt.X) * 130); + } + else + { + y3 = (int)(Math.Cos(tilt.X) * 130); + } + + PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2); + PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3); + PointF[] dest = { ul, ur, dl }; + + g.DrawImage(bmp, dest); + } + } + + drawCallback(MainArea); + } + + public void Move(int id, Vector3 pos, Vector4 tilt) + { + const float TO_GRAD = 180 / MathF.PI; + const float TO_RADI = MathF.PI / 180; + + foreach (var d in DroneList) + { + if (d.ID != id) continue; + + d.PosXY.X = (int)pos.X; + d.PosXY.Y = MainArea.Height - (int)pos.Y; + d.Height = (int)pos.Z; + + d.TiltXY.X = tilt.X * TO_RADI; + d.TiltXY.Y = tilt.Y * TO_RADI; + d.Azimuth = (int)tilt.Z; + + break; + } + } + } +} diff --git a/DroneSimulator/icon.ico b/DroneSimulator/icon.ico new file mode 100644 index 0000000..26b62ee Binary files /dev/null and b/DroneSimulator/icon.ico differ