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150billionsteps
2025-07-06 04:58:59 +00:00
parent e5d8a9c507 12e518af0e
commit 5082ecee14
4 changed files with 336 additions and 200 deletions
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186
DroneSimulator/Drone.cs
View File

@ -1,4 +1,6 @@
using System.Numerics;
using System.Collections.Concurrent;
using System.Diagnostics;
using System.Numerics;
using System.Runtime.InteropServices;
using static System.Net.Mime.MediaTypeNames;
@ -28,10 +30,17 @@ namespace DroneSimulator
private const float TO_GRAD = 180 / MathF.PI;
private const float TO_RADI = MathF.PI / 180;
private Thread DroneThread;
private int Timer;
public static List<Drone> AllDrones = new List<Drone>();
private static Thread? DroneThread = null;
public static long Timing = 0;
public static long Lag = 0;
public static long Freq = 1000;
public static bool Boost = false;
private uint Timer;
private Vector2 MoveOF = Vector2.Zero;
private uint CountOF = 0;
public struct Physics
{
@ -112,12 +121,49 @@ namespace DroneSimulator
return drone;
}
private void ThreadFunction()
public static void StartThread()
{
if (DroneThread != null) return;
DroneThread = new Thread(new ThreadStart(Drone.ThreadFunction));
DroneThread.Priority = ThreadPriority.Highest;
DroneThread.Start();
}
public static void StopThread()
{
if (DroneThread == null) return;
DroneThread = null;
}
private static void ThreadFunction()
{
long last = Stopwatch.GetTimestamp();
long prev = Stopwatch.GetTimestamp();
while (DroneThread != null)
{
Action(Environment.TickCount);
Thread.Sleep(1);
if(!Boost) Thread.Yield();
long tick = Stopwatch.GetTimestamp();
if (tick == prev) continue;
Timing = Stopwatch.Frequency / (tick - prev);
prev = tick;
long quant = Stopwatch.Frequency / Freq;
if (tick < last + quant) continue;
if (tick > (last + quant) + quant * 0.1) Lag++;
last = tick;
lock (AllDrones)
foreach (Drone drone in AllDrones)
drone.Action((uint)(tick / (Stopwatch.Frequency / 1000)));
}
}
@ -129,10 +175,6 @@ namespace DroneSimulator
SpdXYZ = Vector3.Zero;
AccXYZ = Vector3.Zero;
Quat = Quaternion.Identity;
DroneThread = new Thread(new ThreadStart(ThreadFunction));
Timer = Environment.TickCount;
DroneThread.Start();
}
public int Create()
@ -142,11 +184,6 @@ namespace DroneSimulator
return ID;
}
public void Close()
{
DroneThread = null;
}
private float GetAngle(float a1, float a2, float az)
{
if (a2 == 0.0f && az == 0.0f)
@ -188,9 +225,13 @@ namespace DroneSimulator
return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
}
public void Action(int tick)
public void Action(uint tick)
{
float time = (tick - Timer) / 1000.0f;
uint period = tick - Timer;
if (period <= 0) return;
float time = period / 1000.0f;
Timer = tick;
if (!Active) return;
@ -202,8 +243,6 @@ namespace DroneSimulator
flow += flow * 0.1f; // Воздушная подушка
}
float wind_x = 0, wind_y = 0, wind_z = 0;
float wind_p = 0, wind_r = 0, wind_w = 0;
@ -241,39 +280,49 @@ namespace DroneSimulator
if (Area.Poisition.Freeze.Y) { SpdXYZ.Y = 0; PosXYZ.Y = 0; }
if (Area.Poisition.Freeze.Z) { SpdXYZ.Z = 0; PosXYZ.Z = 5; }
if (PosXYZ.Z < 0)
/*if (PosXYZ.Z < 0)
{
SpdPRY = Vector3.Zero;
SpdXYZ.X = 0;
SpdXYZ.Y = 0;
Quat = Quaternion.Identity;
}
else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
else */
Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
Vector4 ori = GetOrientation();
Orientation = ori;
float range = 0;
if (PosXYZ.Z < 0)
if (PosXYZ.Z <= 0)
{
PosXYZ.Z = 0;
SpdXYZ.Z = 0;
LaserRange = 0;
Acc = new Vector3(0, 0, 1);
}
/*if (PosXYZ.Z < 0)
{
PosXYZ.Z = 0;
/*if (SpdXYZ.Z < -5)
{
Active = false; // Сильно ударился о землю
}*/
//if (SpdXYZ.Z < -5)
//{
// Active = false; // Сильно ударился о землю
//}
/*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
{
Active = false; // Повредил винты при посадке
}*/
//if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
//{
// 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)
@ -288,21 +337,28 @@ namespace DroneSimulator
float tilt = MathF.Sqrt((ori.X * ori.X) + (ori.Y * ori.Y)) * TO_RADI;
if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
range = PosXYZ.Z / MathF.Cos(tilt);
if (tilt < 90 && ori.W > 0) LaserRange = range;
else LaserRange = float.MaxValue;
}
MoveOF.X += SpdXYZ.X - Gyr.Y;
MoveOF.Y += SpdXYZ.Y + Gyr.X;
RealAcc.Update(Acc, tick);
RealGyr.Update(Gyr, tick);
RealRange.Update(LaserRange, tick);
RealBar.Update(PosXYZ.Z, tick);
RealPos.Update(PosXYZ, tick);
RealAcc.Update(Acc, (uint)tick);
RealGyr.Update(Gyr, (uint)tick);
RealRange.Update(LaserRange, (uint)tick);
RealBar.Update(PosXYZ.Z * 11, (uint)tick);
RealPos.Update(PosXYZ, (uint)tick);
RealOF.Update(MoveOF, LaserRange, (uint)tick);
bool of = RealOF.Update(new Vector2(SpdXYZ.X * range - Gyr.Y, SpdXYZ.Y * range + Gyr.X), LaserRange, tick);
DataTimer = (uint)tick;
if(of) lock (this)
{
MoveOF += RealOF.result;
CountOF += 1;
}
DataTimer = tick;
}
private float Range(float pow)
@ -338,7 +394,7 @@ namespace DroneSimulator
acc.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
acc.Head.Mode = DroneData.DataMode.Response;
acc.Head.Type = DroneData.DataType.DataAcc;
acc.Head.Time = (uint)Environment.TickCount;
acc.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
acc.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
acc.Time = RealAcc.timer;
@ -353,7 +409,7 @@ namespace DroneSimulator
gyr.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGyr));
gyr.Head.Mode = DroneData.DataMode.Response;
gyr.Head.Type = DroneData.DataType.DataGyr;
gyr.Head.Time = (uint)Environment.TickCount;
gyr.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
gyr.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
gyr.Time = RealGyr.timer;
@ -368,7 +424,7 @@ namespace DroneSimulator
mag.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMag));
mag.Head.Mode = DroneData.DataMode.Response;
mag.Head.Type = DroneData.DataType.DataMag;
mag.Head.Time = (uint)Environment.TickCount;
mag.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
mag.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0;
mag.Time = DataTimer;
@ -383,7 +439,7 @@ namespace DroneSimulator
range.Head.Size = Marshal.SizeOf(typeof(DroneData.DataRange));
range.Head.Mode = DroneData.DataMode.Response;
range.Head.Type = DroneData.DataType.DataRange;
range.Head.Time = (uint)Environment.TickCount;
range.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
range.LiDAR = RealRange.result;
range.Time = RealRange.timer;
@ -398,7 +454,7 @@ namespace DroneSimulator
local.Head.Size = Marshal.SizeOf(typeof(DroneData.DataLocal));
local.Head.Mode = DroneData.DataMode.Response;
local.Head.Type = DroneData.DataType.DataLocal;
local.Head.Time = (uint)Environment.TickCount;
local.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
local.Local.X = RealPos.result.X; local.Local.Y = RealPos.result.Y; local.Local.Z = RealPos.result.Z;
local.Time = RealPos.timer;
@ -413,7 +469,7 @@ namespace DroneSimulator
bar.Head.Size = Marshal.SizeOf(typeof(DroneData.DataBar));
bar.Head.Mode = DroneData.DataMode.Response;
bar.Head.Type = DroneData.DataType.DataBar;
bar.Head.Time = (uint)Environment.TickCount;
bar.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
bar.Pressure = RealBar.result;
bar.Time = RealBar.timer;
@ -428,13 +484,17 @@ namespace DroneSimulator
of.Head.Size = Marshal.SizeOf(typeof(DroneData.DataOF));
of.Head.Mode = DroneData.DataMode.Response;
of.Head.Type = DroneData.DataType.DataOF;
of.Head.Time = (uint)Environment.TickCount;
of.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
of.X = RealOF.result.X;
of.Y = RealOF.result.Y;
of.Time = RealBar.timer;
lock (this)
{
of.X = MoveOF.X / CountOF;
of.Y = MoveOF.Y / CountOF;
of.Time = RealOF.timer;
MoveOF = Vector2.Zero;
CountOF = 0;
}
return getBytes(of);
}
@ -446,10 +506,10 @@ namespace DroneSimulator
gps.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGPS));
gps.Head.Mode = DroneData.DataMode.Response;
gps.Head.Type = DroneData.DataType.DataGPS;
gps.Head.Time = (uint)Environment.TickCount;
gps.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
GPS.Point p = new GPS.Point();
p.x = PosXYZ.Y; p.y= PosXYZ.X;
p.x = RealPos.result.Y; p.y= RealPos.result.X;
GPS.GlobalCoords g = new GPS.GlobalCoords();
g.latitude=GPS.Home.Lat; g.longitude=GPS.Home.Lon;
@ -459,7 +519,7 @@ namespace DroneSimulator
gps.Lat = g.latitude; gps.Lon = g.longitude;
gps.Speed = MathF.Sqrt(SpdXYZ.X * SpdXYZ.X + SpdXYZ.Y * SpdXYZ.Y + SpdXYZ.Z * SpdXYZ.Z);
gps.Alt = GPS.Home.Alt + PosXYZ.Z;
gps.Alt = GPS.Home.Alt + RealPos.result.Z;
DateTime tim = DateTime.Now;
gps.UTC = tim.Second + tim.Minute * 100 + tim.Hour * 10000;
@ -472,6 +532,8 @@ namespace DroneSimulator
gps.Vdop = GPS.State.Vdop;
gps.Pdop = GPS.State.Pdop;
gps.Time = RealPos.timer;
return getBytes(gps);
}
@ -482,13 +544,25 @@ namespace DroneSimulator
quat.Head.Size = Marshal.SizeOf(typeof(DroneData.DataQuat));
quat.Head.Mode = DroneData.DataMode.Response;
quat.Head.Type = DroneData.DataType.DataQuat;
quat.Head.Time = (uint)Environment.TickCount;
quat.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
quat.X = Quat.X; quat.Y = Quat.Y; quat.Z = Quat.Z; quat.W = Quat.W;
return getBytes(quat);
}
private byte[] SendPingPong()
{
DroneData.DataHead head = new DroneData.DataHead();
head.Size = Marshal.SizeOf(typeof(DroneData.DataHead));
head.Mode = DroneData.DataMode.Response;
head.Type = DroneData.DataType.None;
head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
return getBytes(head);
}
private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
{
byte[] zero = Array.Empty<byte>();
@ -528,6 +602,8 @@ namespace DroneSimulator
case DroneData.DataType.DataQuat: if (head.Mode == DroneData.DataMode.Request) return SendDataQuaternion(); else return zero;
case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
case DroneData.DataType.None: if (head.Mode == DroneData.DataMode.Request) return SendPingPong(); else return zero;
}
return zero;

239
DroneSimulator/FormMain.Designer.cs generated
View File

@ -34,6 +34,13 @@
pictureBox_2D = new PictureBox();
tabControl_Menu = new TabControl();
tabPage_Main = new TabPage();
groupBox6 = new GroupBox();
checkBox_Freq_Boost = new CheckBox();
label84 = new Label();
numericUpDown_Timing_Freq = new NumericUpDown();
label83 = new Label();
label_Timing = new Label();
label79 = new Label();
groupBox_Visual = new GroupBox();
numericUpDown_Visual_Limit = new NumericUpDown();
label1 = new Label();
@ -71,14 +78,9 @@
checkBox_Model_OF_Real = new CheckBox();
label40 = new Label();
numericUpDown_OF_Lens = new NumericUpDown();
label39 = new Label();
numericUpDown_OF_Wait = new NumericUpDown();
label53 = new Label();
numericUpDown_OF_Laten = new NumericUpDown();
label54 = new Label();
numericUpDown_OF_Error = new NumericUpDown();
label38 = new Label();
label37 = new Label();
numericUpDown_OF_Len = new NumericUpDown();
checkBox_OF_Enable = new CheckBox();
label17 = new Label();
@ -217,10 +219,14 @@
comboBox_Drone_Rotor = new ComboBox();
comboBox_Drone = new ComboBox();
timer_Test = new System.Windows.Forms.Timer(components);
label37 = new Label();
label_Timing_Lag = new Label();
groupBox_Screen.SuspendLayout();
((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit();
tabControl_Menu.SuspendLayout();
tabPage_Main.SuspendLayout();
groupBox6.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Timing_Freq).BeginInit();
groupBox_Visual.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit();
@ -236,9 +242,7 @@
((System.ComponentModel.ISupportInitialize)numericUpDown_Range_Freq).BeginInit();
groupBox_OF.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Lens).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Wait).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Laten).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Error).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Len).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).BeginInit();
@ -303,7 +307,7 @@
groupBox_Screen.Dock = DockStyle.Fill;
groupBox_Screen.Location = new Point(218, 0);
groupBox_Screen.Name = "groupBox_Screen";
groupBox_Screen.Size = new Size(466, 816);
groupBox_Screen.Size = new Size(466, 781);
groupBox_Screen.TabIndex = 1;
groupBox_Screen.TabStop = false;
//
@ -313,7 +317,7 @@
pictureBox_2D.Dock = DockStyle.Fill;
pictureBox_2D.Location = new Point(3, 19);
pictureBox_2D.Name = "pictureBox_2D";
pictureBox_2D.Size = new Size(460, 794);
pictureBox_2D.Size = new Size(460, 759);
pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom;
pictureBox_2D.TabIndex = 0;
pictureBox_2D.TabStop = false;
@ -329,22 +333,99 @@
tabControl_Menu.Location = new Point(0, 0);
tabControl_Menu.Name = "tabControl_Menu";
tabControl_Menu.SelectedIndex = 0;
tabControl_Menu.Size = new Size(218, 816);
tabControl_Menu.Size = new Size(218, 781);
tabControl_Menu.TabIndex = 2;
//
// tabPage_Main
//
tabPage_Main.Controls.Add(groupBox6);
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, 788);
tabPage_Main.Size = new Size(210, 753);
tabPage_Main.TabIndex = 0;
tabPage_Main.Tag = "#main";
tabPage_Main.Text = "Main";
tabPage_Main.UseVisualStyleBackColor = true;
//
// groupBox6
//
groupBox6.Controls.Add(label_Timing_Lag);
groupBox6.Controls.Add(numericUpDown_Timing_Freq);
groupBox6.Controls.Add(label37);
groupBox6.Controls.Add(checkBox_Freq_Boost);
groupBox6.Controls.Add(label84);
groupBox6.Controls.Add(label83);
groupBox6.Controls.Add(label_Timing);
groupBox6.Controls.Add(label79);
groupBox6.Dock = DockStyle.Top;
groupBox6.Location = new Point(3, 174);
groupBox6.Name = "groupBox6";
groupBox6.Size = new Size(204, 75);
groupBox6.TabIndex = 3;
groupBox6.TabStop = false;
groupBox6.Text = "Frequency";
//
// checkBox_Freq_Boost
//
checkBox_Freq_Boost.AutoSize = true;
checkBox_Freq_Boost.Location = new Point(148, 18);
checkBox_Freq_Boost.Name = "checkBox_Freq_Boost";
checkBox_Freq_Boost.Size = new Size(56, 19);
checkBox_Freq_Boost.TabIndex = 11;
checkBox_Freq_Boost.Text = "boost";
checkBox_Freq_Boost.UseVisualStyleBackColor = true;
checkBox_Freq_Boost.CheckedChanged += numericUpDown_Timing_Freq_ValueChanged;
//
// label84
//
label84.AutoSize = true;
label84.Location = new Point(116, 43);
label84.Name = "label84";
label84.Size = new Size(21, 15);
label84.TabIndex = 10;
label84.Text = "Hz";
//
// numericUpDown_Timing_Freq
//
numericUpDown_Timing_Freq.Location = new Point(64, 41);
numericUpDown_Timing_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Timing_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Timing_Freq.Name = "numericUpDown_Timing_Freq";
numericUpDown_Timing_Freq.Size = new Size(51, 23);
numericUpDown_Timing_Freq.TabIndex = 9;
numericUpDown_Timing_Freq.Value = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Timing_Freq.ValueChanged += numericUpDown_Timing_Freq_ValueChanged;
//
// label83
//
label83.AutoSize = true;
label83.Location = new Point(7, 43);
label83.Name = "label83";
label83.Size = new Size(57, 15);
label83.TabIndex = 2;
label83.Text = "Required:";
//
// label_Timing
//
label_Timing.AutoSize = true;
label_Timing.Location = new Point(70, 19);
label_Timing.Name = "label_Timing";
label_Timing.Size = new Size(13, 15);
label_Timing.TabIndex = 1;
label_Timing.Text = "0";
//
// label79
//
label79.AutoSize = true;
label79.Location = new Point(6, 19);
label79.Name = "label79";
label79.Size = new Size(58, 15);
label79.TabIndex = 0;
label79.Text = "Available:";
//
// groupBox_Visual
//
groupBox_Visual.Controls.Add(numericUpDown_Visual_Limit);
@ -528,7 +609,7 @@
tabPage_Model.Location = new Point(4, 24);
tabPage_Model.Name = "tabPage_Model";
tabPage_Model.Padding = new Padding(3);
tabPage_Model.Size = new Size(210, 788);
tabPage_Model.Size = new Size(210, 753);
tabPage_Model.TabIndex = 1;
tabPage_Model.Tag = "#model";
tabPage_Model.Text = "Model";
@ -546,7 +627,7 @@
panel_Menu_Model.Dock = DockStyle.Fill;
panel_Menu_Model.Location = new Point(3, 3);
panel_Menu_Model.Name = "panel_Menu_Model";
panel_Menu_Model.Size = new Size(204, 782);
panel_Menu_Model.Size = new Size(204, 747);
panel_Menu_Model.TabIndex = 5;
//
// groupBox1
@ -566,7 +647,7 @@
groupBox1.Controls.Add(label46);
groupBox1.Controls.Add(label47);
groupBox1.Dock = DockStyle.Top;
groupBox1.Location = new Point(0, 652);
groupBox1.Location = new Point(0, 623);
groupBox1.Name = "groupBox1";
groupBox1.Size = new Size(204, 126);
groupBox1.TabIndex = 8;
@ -691,7 +772,7 @@
// numericUpDown_Range_Freq
//
numericUpDown_Range_Freq.Location = new Point(70, 16);
numericUpDown_Range_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Range_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Range_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Range_Freq.Name = "numericUpDown_Range_Freq";
numericUpDown_Range_Freq.Size = new Size(40, 23);
@ -723,14 +804,9 @@
groupBox_OF.Controls.Add(checkBox_Model_OF_Real);
groupBox_OF.Controls.Add(label40);
groupBox_OF.Controls.Add(numericUpDown_OF_Lens);
groupBox_OF.Controls.Add(label39);
groupBox_OF.Controls.Add(numericUpDown_OF_Wait);
groupBox_OF.Controls.Add(label53);
groupBox_OF.Controls.Add(numericUpDown_OF_Laten);
groupBox_OF.Controls.Add(label54);
groupBox_OF.Controls.Add(numericUpDown_OF_Error);
groupBox_OF.Controls.Add(label38);
groupBox_OF.Controls.Add(label37);
groupBox_OF.Controls.Add(numericUpDown_OF_Len);
groupBox_OF.Controls.Add(checkBox_OF_Enable);
groupBox_OF.Controls.Add(label17);
@ -744,7 +820,7 @@
groupBox_OF.Dock = DockStyle.Top;
groupBox_OF.Location = new Point(0, 489);
groupBox_OF.Name = "groupBox_OF";
groupBox_OF.Size = new Size(204, 163);
groupBox_OF.Size = new Size(204, 134);
groupBox_OF.TabIndex = 4;
groupBox_OF.TabStop = false;
groupBox_OF.Text = "Optical flow";
@ -783,31 +859,10 @@
numericUpDown_OF_Lens.Value = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_OF_Lens.ValueChanged += numericUpDown_OF_Update;
//
// label39
//
label39.AutoSize = true;
label39.Location = new Point(168, 105);
label39.Name = "label39";
label39.Size = new Size(24, 15);
label39.TabIndex = 34;
label39.Text = "sec";
//
// numericUpDown_OF_Wait
//
numericUpDown_OF_Wait.DecimalPlaces = 2;
numericUpDown_OF_Wait.Increment = new decimal(new int[] { 1, 0, 0, 65536 });
numericUpDown_OF_Wait.Location = new Point(119, 103);
numericUpDown_OF_Wait.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_OF_Wait.Name = "numericUpDown_OF_Wait";
numericUpDown_OF_Wait.Size = new Size(47, 23);
numericUpDown_OF_Wait.TabIndex = 33;
numericUpDown_OF_Wait.Value = new decimal(new int[] { 1, 0, 0, 65536 });
numericUpDown_OF_Wait.ValueChanged += numericUpDown_OF_Update;
//
// label53
//
label53.AutoSize = true;
label53.Location = new Point(113, 132);
label53.Location = new Point(114, 107);
label53.Name = "label53";
label53.Size = new Size(24, 15);
label53.TabIndex = 32;
@ -817,7 +872,7 @@
//
numericUpDown_OF_Laten.DecimalPlaces = 2;
numericUpDown_OF_Laten.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
numericUpDown_OF_Laten.Location = new Point(66, 130);
numericUpDown_OF_Laten.Location = new Point(67, 105);
numericUpDown_OF_Laten.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_OF_Laten.Name = "numericUpDown_OF_Laten";
numericUpDown_OF_Laten.Size = new Size(41, 23);
@ -828,41 +883,12 @@
// label54
//
label54.AutoSize = true;
label54.Location = new Point(3, 132);
label54.Location = new Point(4, 107);
label54.Name = "label54";
label54.Size = new Size(55, 15);
label54.TabIndex = 30;
label54.Text = "Lateness:";
//
// numericUpDown_OF_Error
//
numericUpDown_OF_Error.DecimalPlaces = 1;
numericUpDown_OF_Error.Increment = new decimal(new int[] { 1, 0, 0, 65536 });
numericUpDown_OF_Error.Location = new Point(38, 103);
numericUpDown_OF_Error.Name = "numericUpDown_OF_Error";
numericUpDown_OF_Error.Size = new Size(47, 23);
numericUpDown_OF_Error.TabIndex = 24;
numericUpDown_OF_Error.Value = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_OF_Error.ValueChanged += numericUpDown_OF_Update;
//
// label38
//
label38.AutoSize = true;
label38.Location = new Point(83, 105);
label38.Name = "label38";
label38.Size = new Size(17, 15);
label38.TabIndex = 25;
label38.Text = "%";
//
// label37
//
label37.AutoSize = true;
label37.Location = new Point(1, 105);
label37.Name = "label37";
label37.Size = new Size(35, 15);
label37.TabIndex = 23;
label37.Text = "Error:";
//
// numericUpDown_OF_Len
//
numericUpDown_OF_Len.Location = new Point(68, 76);
@ -878,7 +904,7 @@
checkBox_OF_Enable.AutoSize = true;
checkBox_OF_Enable.Checked = true;
checkBox_OF_Enable.CheckState = CheckState.Checked;
checkBox_OF_Enable.Location = new Point(159, 134);
checkBox_OF_Enable.Location = new Point(160, 109);
checkBox_OF_Enable.Name = "checkBox_OF_Enable";
checkBox_OF_Enable.Size = new Size(39, 19);
checkBox_OF_Enable.TabIndex = 22;
@ -939,7 +965,7 @@
// numericUpDown_OF_Freq
//
numericUpDown_OF_Freq.Location = new Point(69, 22);
numericUpDown_OF_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_OF_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_OF_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_OF_Freq.Name = "numericUpDown_OF_Freq";
numericUpDown_OF_Freq.Size = new Size(40, 23);
@ -1108,7 +1134,7 @@
// numericUpDown_Bar_Freq
//
numericUpDown_Bar_Freq.Location = new Point(68, 42);
numericUpDown_Bar_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Bar_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Bar_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Bar_Freq.Name = "numericUpDown_Bar_Freq";
numericUpDown_Bar_Freq.Size = new Size(40, 23);
@ -1232,7 +1258,7 @@
// numericUpDown_Pos_Freq
//
numericUpDown_Pos_Freq.Location = new Point(69, 17);
numericUpDown_Pos_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Pos_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Pos_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Pos_Freq.Name = "numericUpDown_Pos_Freq";
numericUpDown_Pos_Freq.Size = new Size(40, 23);
@ -1307,7 +1333,7 @@
// numericUpDown_Mag_Freq
//
numericUpDown_Mag_Freq.Location = new Point(37, 18);
numericUpDown_Mag_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Mag_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Mag_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Mag_Freq.Name = "numericUpDown_Mag_Freq";
numericUpDown_Mag_Freq.Size = new Size(40, 23);
@ -1499,7 +1525,7 @@
// numericUpDown_Gyr_Freq
//
numericUpDown_Gyr_Freq.Location = new Point(37, 19);
numericUpDown_Gyr_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Gyr_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Gyr_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Gyr_Freq.Name = "numericUpDown_Gyr_Freq";
numericUpDown_Gyr_Freq.Size = new Size(40, 23);
@ -1658,7 +1684,7 @@
// numericUpDown_Acc_Freq
//
numericUpDown_Acc_Freq.Location = new Point(37, 16);
numericUpDown_Acc_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
numericUpDown_Acc_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Acc_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Acc_Freq.Name = "numericUpDown_Acc_Freq";
numericUpDown_Acc_Freq.Size = new Size(40, 23);
@ -1681,7 +1707,7 @@
tabPage_Area.Controls.Add(groupBox3);
tabPage_Area.Location = new Point(4, 24);
tabPage_Area.Name = "tabPage_Area";
tabPage_Area.Size = new Size(210, 788);
tabPage_Area.Size = new Size(210, 753);
tabPage_Area.TabIndex = 2;
tabPage_Area.Tag = "#area";
tabPage_Area.Text = "Area";
@ -1932,7 +1958,7 @@
tabPage_GPS.Location = new Point(4, 24);
tabPage_GPS.Name = "tabPage_GPS";
tabPage_GPS.Padding = new Padding(3);
tabPage_GPS.Size = new Size(210, 788);
tabPage_GPS.Size = new Size(210, 753);
tabPage_GPS.TabIndex = 3;
tabPage_GPS.Text = "GPS";
tabPage_GPS.UseVisualStyleBackColor = true;
@ -2190,7 +2216,7 @@
tabPage_Drone.Location = new Point(4, 24);
tabPage_Drone.Name = "tabPage_Drone";
tabPage_Drone.Padding = new Padding(3);
tabPage_Drone.Size = new Size(210, 788);
tabPage_Drone.Size = new Size(210, 753);
tabPage_Drone.TabIndex = 4;
tabPage_Drone.Text = "Drone";
tabPage_Drone.UseVisualStyleBackColor = true;
@ -2311,7 +2337,7 @@
groupBox_Navi.Dock = DockStyle.Right;
groupBox_Navi.Location = new Point(684, 0);
groupBox_Navi.Name = "groupBox_Navi";
groupBox_Navi.Size = new Size(200, 816);
groupBox_Navi.Size = new Size(200, 781);
groupBox_Navi.TabIndex = 3;
groupBox_Navi.TabStop = false;
groupBox_Navi.Tag = "#navigation";
@ -2325,7 +2351,7 @@
panel1.Dock = DockStyle.Fill;
panel1.Location = new Point(3, 42);
panel1.Name = "panel1";
panel1.Size = new Size(194, 771);
panel1.Size = new Size(194, 736);
panel1.TabIndex = 3;
//
// listBox_Drones
@ -2370,16 +2396,34 @@
timer_Test.Interval = 10;
timer_Test.Tick += timer_Test_Tick;
//
// label37
//
label37.AutoSize = true;
label37.Location = new Point(143, 43);
label37.Name = "label37";
label37.Size = new Size(29, 15);
label37.TabIndex = 12;
label37.Text = "Lag:";
//
// label_Timing_Lag
//
label_Timing_Lag.AutoSize = true;
label_Timing_Lag.Location = new Point(168, 43);
label_Timing_Lag.Name = "label_Timing_Lag";
label_Timing_Lag.Size = new Size(13, 15);
label_Timing_Lag.TabIndex = 13;
label_Timing_Lag.Text = "0";
//
// Form_Main
//
AutoScaleDimensions = new SizeF(7F, 15F);
AutoScaleMode = AutoScaleMode.Font;
ClientSize = new Size(884, 816);
ClientSize = new Size(884, 781);
Controls.Add(groupBox_Screen);
Controls.Add(groupBox_Navi);
Controls.Add(tabControl_Menu);
Icon = (Icon)resources.GetObject("$this.Icon");
MinimumSize = new Size(900, 855);
MinimumSize = new Size(900, 820);
Name = "Form_Main";
Text = "Drone Simulator V1.0";
FormClosing += Form_Main_FormClosing;
@ -2387,6 +2431,9 @@
((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit();
tabControl_Menu.ResumeLayout(false);
tabPage_Main.ResumeLayout(false);
groupBox6.ResumeLayout(false);
groupBox6.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Timing_Freq).EndInit();
groupBox_Visual.ResumeLayout(false);
groupBox_Visual.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).EndInit();
@ -2406,9 +2453,7 @@
groupBox_OF.ResumeLayout(false);
groupBox_OF.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Lens).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Wait).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Laten).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Error).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Len).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).EndInit();
@ -2563,9 +2608,6 @@
private Label label34;
private Label label36;
private Label label35;
private NumericUpDown numericUpDown_OF_Error;
private Label label37;
private Label label38;
private GroupBox groupBox1;
private CheckBox checkBox_Range_Enable;
private NumericUpDown numericUpDown_Range_Max;
@ -2599,8 +2641,6 @@
private NumericUpDown numericUpDown_Range_Laten;
private Label label56;
private ListBox listBox_Drones;
private Label label39;
private NumericUpDown numericUpDown_OF_Wait;
private Label label40;
private NumericUpDown numericUpDown_OF_Lens;
private GroupBox groupBox3;
@ -2666,5 +2706,14 @@
private Label label78;
private NumericUpDown numericUpDown_Physics_Power;
private Label label77;
private GroupBox groupBox6;
private Label label_Timing;
private Label label79;
private Label label84;
private NumericUpDown numericUpDown_Timing_Freq;
private Label label83;
private CheckBox checkBox_Freq_Boost;
private Label label_Timing_Lag;
private Label label37;
}
}

62
DroneSimulator/FormMain.cs
View File

@ -17,8 +17,6 @@ namespace DroneSimulator
NetServerClients netServerClient = new NetServerClients();
NetServerVisual netServerVisual = new NetServerVisual();
List<Drone> AllDrones = new List<Drone>();
public Form_Main()
{
InitializeComponent();
@ -51,21 +49,25 @@ namespace DroneSimulator
screen2D.CreateDrone(Color.Red, data.ID);
AllDrones.Add(drone);
lock (Drone.AllDrones) Drone.AllDrones.Add(drone);
}
else
{
foreach (Drone drone in AllDrones)
Drone? d = null;
lock (Drone.AllDrones)
{
foreach (Drone drone in Drone.AllDrones)
{
if (drone.ID != data.ID) continue;
drone.Close();
screen2D.RemoveDrone(data.ID);
AllDrones.Remove(drone);
d = drone;
Drone.AllDrones.Remove(drone);
break;
}
}
if (d != null) screen2D.RemoveDrone(d.ID);
}
}
private void ClientReceiveCallback(object o)
@ -74,12 +76,15 @@ namespace DroneSimulator
Drone? drone = null;
foreach (Drone d in AllDrones)
lock (Drone.AllDrones)
{
foreach (Drone d in Drone.AllDrones)
{
if (d.ID != data.ID) continue;
drone = d;
break;
}
}
if (drone == null) return;
@ -123,6 +128,8 @@ namespace DroneSimulator
if (done != NetServerClients.ServerState.Start) return;
Drone.StartThread();
pictureBox_2D.Image = null;
screen2D = new Screen2D(DrawCallback);
@ -155,7 +162,9 @@ namespace DroneSimulator
try
{
foreach (Drone d in AllDrones)
lock (Drone.AllDrones)
{
foreach (Drone d in Drone.AllDrones)
{
screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
@ -164,14 +173,14 @@ namespace DroneSimulator
listBox_Drones.Items.Add(line);
}
}
}
catch { }
label_Timing.Text = Drone.Timing.ToString() + " Hz";
label_Timing_Lag.Text = Drone.Lag.ToString();
screen2D.DrawScene();
}
private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
{
foreach (Drone d in AllDrones) d.Close();
}
private void VisualConnectionCallback(object o)
{
@ -198,14 +207,17 @@ namespace DroneSimulator
int index = 0;
foreach (Drone d in AllDrones)
lock (Drone.AllDrones)
{
VisualData.VisualDrone v = d.GetVisual(AllDrones.Count, index++);
foreach (Drone d in Drone.AllDrones)
{
VisualData.VisualDrone v = d.GetVisual(Drone.AllDrones.Count, index++);
try { data.Client.Send(Drone.getBytes(v)); }
catch { }
}
}
}
private void button_Visual_Start_Click(object sender, EventArgs e)
{
@ -306,11 +318,8 @@ namespace DroneSimulator
RealMode.OpticalFlow.Lateness = (float)numericUpDown_OF_Laten.Value;
RealMode.OpticalFlow.Enable = checkBox_OF_Enable.Checked;
RealMode.OpticalFlow.Lens = (uint)numericUpDown_OF_Lens.Value * 10;
RealMode.OpticalFlow.Lens = (uint)numericUpDown_OF_Lens.Value;
RealMode.OpticalFlow.MaxHeight = (float)numericUpDown_OF_Len.Value;
RealMode.OpticalFlow.Error = (float)numericUpDown_OF_Error.Value * 10;
RealMode.OpticalFlow.Wait = (uint)numericUpDown_OF_Wait.Value * 1000;
}
private void checkBox_Area_Freeze_CheckedChanged(object sender, EventArgs e)
@ -352,5 +361,16 @@ namespace DroneSimulator
Drone.Physics.Length = (float)numericUpDown_Physics_Length.Value;
Drone.Physics.MaxPower = (float)numericUpDown_Physics_Power.Value;
}
private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
{
Drone.StopThread();
}
private void numericUpDown_Timing_Freq_ValueChanged(object sender, EventArgs e)
{
Drone.Freq = (long)numericUpDown_Timing_Freq.Value;
Drone.Boost = checkBox_Freq_Boost.Checked;
}
}
}

27
DroneSimulator/RealMode.cs
View File

@ -225,7 +225,7 @@ namespace DroneSimulator
public void Update(float value, uint time)
{
value = Pressure - value;
value = Pressure - value * 12.15f;
if (!Enable)
{
@ -273,8 +273,6 @@ namespace DroneSimulator
public static uint Freq;
public static float Noise;
public static float Lateness;
public static float Error;
public static uint Wait;
public static float Lens;
public static bool RealSimulation;
@ -290,31 +288,21 @@ namespace DroneSimulator
public uint timer = 0;
public Vector2 result;
public void Update(Vector2 value, float Range, uint time)
public bool Update(Vector2 value, float Range, uint time)
{
value *= Lens;
if (!Enable)
{
result = Vector2.NaN;
return;
return true;
}
if (!RealSimulation)
{
result = value;
timer = time;
return;
}
value *= Lens;
if (rand.Next(0, 1000) < (Error * 10))
{
value = Vector2.Zero;
delay = time + Wait;
}
else if (delay > time)
{
value = Vector2.Zero;
return true;
}
if (Range > MaxHeight) value = Vector2.Zero;
@ -344,7 +332,10 @@ namespace DroneSimulator
{
result = value;
timer = time;
return true;
}
return false;
}
}