forked from CPL/Simulator
Перенос в общую репу
This commit is contained in:
parent
e1b7f7b8e3
commit
f1921083bb
3
DroneClient/README.md
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3
DroneClient/README.md
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# Client
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Образец клиента для подключения к симулятору.
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3
DroneSimulator/.gitignore
vendored
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3
DroneSimulator/.gitignore
vendored
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.vs/
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obj/
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bin/
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266
DroneSimulator/Drone.cs
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266
DroneSimulator/Drone.cs
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using System.Numerics;
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using System.Runtime.InteropServices;
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namespace DroneSimulator
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{
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internal class Drone
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{
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public int ID;
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public float Mass; // Масса
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public bool Active; // Живой?
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public float Length; // Длинна лучей
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public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
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public Quaternion Quat; // Основной кватернион
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public float Power = 0; // Тяга всех двигателей
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public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
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public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
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public float LaserRange; // Имитация: Дальномер
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private const float Gravity = 1.0f;
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private const float TO_GRAD = 180 / MathF.PI;
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private const float TO_RADI = MathF.PI / 180;
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private Thread DroneThread;
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private int Timer;
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private static int CounterID = 0;
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public static byte[] getBytes(object data)
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{
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int size = Marshal.SizeOf(data);
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byte[] arr = new byte[size];
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IntPtr ptr = IntPtr.Zero;
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try
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{
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ptr = Marshal.AllocHGlobal(size);
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Marshal.StructureToPtr(data, ptr, true);
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Marshal.Copy(ptr, arr, 0, size);
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}
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finally
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{
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Marshal.FreeHGlobal(ptr);
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}
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return arr;
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}
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public static object fromBytes(byte[] arr, Type type)
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{
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object mem = new object();
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int size = Marshal.SizeOf(type);
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IntPtr ptr = IntPtr.Zero;
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try
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{
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ptr = Marshal.AllocHGlobal(size);
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Marshal.Copy(arr, 0, ptr, size);
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mem = Marshal.PtrToStructure(ptr, type);
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}
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finally
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{
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Marshal.FreeHGlobal(ptr);
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}
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return mem;
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}
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public struct DataOut
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{
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public float AccX, AccY, AccZ;
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public float GyrX, GyrY, GyrZ;
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public float PosX, PosY;
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public float LaserRange;
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}
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public struct DataIn
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{
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public float MotorUL, MotorUR, MotorDL, MotorDR;
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}
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public struct DataVisual
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{
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public int ID; // Идентификатор
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public float W, X, Y, Z; // Кватернион вращения
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public float PosX, PosY, PosZ; // Координаты в пространстве
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}
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public DataVisual GetVisual()
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{
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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 };
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}
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private void ThreadFunction()
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{
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while (DroneThread != null)
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{
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float time = Environment.TickCount - Timer;
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Timer = Environment.TickCount;
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Action(time / 100);
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Thread.Sleep(1);
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}
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}
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public Drone(int id)
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{
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ID = id;
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Active = false;
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PosXYZ = new Vector3(2000, 1000, 0);
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SpdXYZ = Vector3.Zero;
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AccXYZ = Vector3.Zero;
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Quat = Quaternion.Identity;
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DroneThread = new Thread(new ThreadStart(ThreadFunction));
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Timer = Environment.TickCount;
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DroneThread.Start();
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}
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public int Create(float mass, float len)
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{
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Mass = Range(mass);
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Length = len;
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Active = true;
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return ID;
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}
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public void Close()
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{
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DroneThread = null;
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}
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private float GetAngle(float a1, float a2, float az)
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{
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if (a2 == 0.0f && az == 0.0f)
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{
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if (a1 > 0) return 90;
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if (a1 < 0) return -90;
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return 0;
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}
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return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD;
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}
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public void Rotate(float x, float y, float z)
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{
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x = x * MathF.PI / 180;
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y = y * MathF.PI / 180;
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z = -z * MathF.PI / 180;
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Quaternion map = Quat;
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Quaternion spd = new Quaternion(x, y, z, 0);
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Quaternion aq = spd * map;
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map.W -= 0.5f * aq.W;
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map.X -= 0.5f * aq.X;
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map.Y -= 0.5f * aq.Y;
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map.Z -= 0.5f * aq.Z;
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Quat = Quaternion.Normalize(map);
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}
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public Vector4 GetOrientation()
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{
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Quaternion grav = new Quaternion(0, 0, 1, 0);
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grav = (Quat * grav) * Quaternion.Inverse(Quat);
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float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD;
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if (yaw < 0.0f) yaw = 360.0f + yaw;
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return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
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}
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public void Action(float time)
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{
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if (!Active) return;
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float flow = Power;
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if (PosXYZ.Z < 100)
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{
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flow += flow * 0.1f; // Воздушная подушка
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}
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Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
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AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass;
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SpdPRY += AccPRY * time / (Mass * Length);
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SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
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PosXYZ += SpdXYZ * time;
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if (PosXYZ.Z < 0)
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{
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SpdPRY = Vector3.Zero;
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SpdXYZ.X = 0;
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SpdXYZ.Y = 0;
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Quat = Quaternion.Identity;
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}
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else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
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Vector4 ori = GetOrientation();
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if (PosXYZ.Z < 0)
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{
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PosXYZ.Z = 0;
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/*if (SpdXYZ.Z < -5)
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{
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Active = false; // Сильно ударился о землю
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}*/
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/*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
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{
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Active = false; // Повредил винты при посадке
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}*/
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SpdXYZ.Z = 0;
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Acc = new Vector3(0, 0, 1);
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Gyr = Vector3.Zero;
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LaserRange = 0;
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}
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else
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{
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/*if (ori.W < 0)
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{
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Active = false; // Перевернулся вверх ногами
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}*/
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Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
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grav = (Quat * grav) * Quaternion.Inverse(Quat);
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Acc = new Vector3(grav.X, grav.Y, grav.Z);
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Gyr = SpdPRY;
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float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
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if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
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else LaserRange = float.MaxValue;
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}
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}
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private float Range(float pow)
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{
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if (pow > 1) pow = 1;
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if (pow < 0) pow = 0;
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return pow;
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}
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public void SetQadroPow(float ul, float ur, float dl, float dr)
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{
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ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr);
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Power = (ul + ur + dl + dr) / 4;
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AccPRY.Y = ((ul + dl) - (ur + dr));
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AccPRY.X = ((ul + ur) - (dl + dr));
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AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
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}
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}
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}
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16
DroneSimulator/DroneSimulator.csproj
Normal file
16
DroneSimulator/DroneSimulator.csproj
Normal file
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<Project Sdk="Microsoft.NET.Sdk">
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|
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<PropertyGroup>
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<OutputType>WinExe</OutputType>
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<TargetFramework>net9.0-windows</TargetFramework>
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<Nullable>enable</Nullable>
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<UseWindowsForms>true</UseWindowsForms>
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<ImplicitUsings>enable</ImplicitUsings>
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<ApplicationIcon>icon.ico</ApplicationIcon>
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</PropertyGroup>
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<ItemGroup>
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<Content Include="icon.ico" />
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</ItemGroup>
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</Project>
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8
DroneSimulator/DroneSimulator.csproj.user
Normal file
8
DroneSimulator/DroneSimulator.csproj.user
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<?xml version="1.0" encoding="utf-8"?>
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|
<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<ItemGroup>
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<Compile Update="FormMain.cs">
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<SubType>Form</SubType>
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</Compile>
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|
</ItemGroup>
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|
</Project>
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25
DroneSimulator/DroneSimulator.sln
Normal file
25
DroneSimulator/DroneSimulator.sln
Normal file
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Microsoft Visual Studio Solution File, Format Version 12.00
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||||||
|
# Visual Studio Version 17
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||||||
|
VisualStudioVersion = 17.13.35913.81 d17.13
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|
MinimumVisualStudioVersion = 10.0.40219.1
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|
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DroneSimulator", "DroneSimulator.csproj", "{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}"
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|
EndProject
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|
Global
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|
GlobalSection(SolutionConfigurationPlatforms) = preSolution
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|
Debug|Any CPU = Debug|Any CPU
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|
Release|Any CPU = Release|Any CPU
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||||||
|
EndGlobalSection
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||||||
|
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||||
|
{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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||||||
|
{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
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||||||
|
EndGlobalSection
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||||||
|
GlobalSection(SolutionProperties) = preSolution
|
||||||
|
HideSolutionNode = FALSE
|
||||||
|
EndGlobalSection
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||||||
|
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||||
|
SolutionGuid = {F4724E16-C228-4B38-BB06-B90A7A057219}
|
||||||
|
EndGlobalSection
|
||||||
|
EndGlobal
|
||||||
474
DroneSimulator/FormMain.Designer.cs
generated
Normal file
474
DroneSimulator/FormMain.Designer.cs
generated
Normal file
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|||||||
|
namespace DroneSimulator
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||||||
|
{
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||||||
|
partial class Form_Main
|
||||||
|
{
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||||||
|
/// <summary>
|
||||||
|
/// Required designer variable.
|
||||||
|
/// </summary>
|
||||||
|
private System.ComponentModel.IContainer components = null;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Clean up any resources being used.
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
|
||||||
|
protected override void Dispose(bool disposing)
|
||||||
|
{
|
||||||
|
if (disposing && (components != null))
|
||||||
|
{
|
||||||
|
components.Dispose();
|
||||||
|
}
|
||||||
|
base.Dispose(disposing);
|
||||||
|
}
|
||||||
|
|
||||||
|
#region Windows Form Designer generated code
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Required method for Designer support - do not modify
|
||||||
|
/// the contents of this method with the code editor.
|
||||||
|
/// </summary>
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
207
DroneSimulator/FormMain.cs
Normal file
207
DroneSimulator/FormMain.cs
Normal file
@ -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<Drone> AllDrones = new List<Drone>();
|
||||||
|
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
383
DroneSimulator/FormMain.resx
Normal file
383
DroneSimulator/FormMain.resx
Normal file
@ -0,0 +1,383 @@
|
|||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<root>
|
||||||
|
<!--
|
||||||
|
Microsoft ResX Schema
|
||||||
|
|
||||||
|
Version 2.0
|
||||||
|
|
||||||
|
The primary goals of this format is to allow a simple XML format
|
||||||
|
that is mostly human readable. The generation and parsing of the
|
||||||
|
various data types are done through the TypeConverter classes
|
||||||
|
associated with the data types.
|
||||||
|
|
||||||
|
Example:
|
||||||
|
|
||||||
|
... ado.net/XML headers & schema ...
|
||||||
|
<resheader name="resmimetype">text/microsoft-resx</resheader>
|
||||||
|
<resheader name="version">2.0</resheader>
|
||||||
|
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
|
||||||
|
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
|
||||||
|
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
|
||||||
|
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
|
||||||
|
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
|
||||||
|
<value>[base64 mime encoded serialized .NET Framework object]</value>
|
||||||
|
</data>
|
||||||
|
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||||
|
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
|
||||||
|
<comment>This is a comment</comment>
|
||||||
|
</data>
|
||||||
|
|
||||||
|
There are any number of "resheader" rows that contain simple
|
||||||
|
name/value pairs.
|
||||||
|
|
||||||
|
Each data row contains a name, and value. The row also contains a
|
||||||
|
type or mimetype. Type corresponds to a .NET class that support
|
||||||
|
text/value conversion through the TypeConverter architecture.
|
||||||
|
Classes that don't support this are serialized and stored with the
|
||||||
|
mimetype set.
|
||||||
|
|
||||||
|
The mimetype is used for serialized objects, and tells the
|
||||||
|
ResXResourceReader how to depersist the object. This is currently not
|
||||||
|
extensible. For a given mimetype the value must be set accordingly:
|
||||||
|
|
||||||
|
Note - application/x-microsoft.net.object.binary.base64 is the format
|
||||||
|
that the ResXResourceWriter will generate, however the reader can
|
||||||
|
read any of the formats listed below.
|
||||||
|
|
||||||
|
mimetype: application/x-microsoft.net.object.binary.base64
|
||||||
|
value : The object must be serialized with
|
||||||
|
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
|
||||||
|
: and then encoded with base64 encoding.
|
||||||
|
|
||||||
|
mimetype: application/x-microsoft.net.object.soap.base64
|
||||||
|
value : The object must be serialized with
|
||||||
|
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
|
||||||
|
: and then encoded with base64 encoding.
|
||||||
|
|
||||||
|
mimetype: application/x-microsoft.net.object.bytearray.base64
|
||||||
|
value : The object must be serialized into a byte array
|
||||||
|
: using a System.ComponentModel.TypeConverter
|
||||||
|
: and then encoded with base64 encoding.
|
||||||
|
-->
|
||||||
|
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
|
||||||
|
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
|
||||||
|
<xsd:element name="root" msdata:IsDataSet="true">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:choice maxOccurs="unbounded">
|
||||||
|
<xsd:element name="metadata">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:sequence>
|
||||||
|
<xsd:element name="value" type="xsd:string" minOccurs="0" />
|
||||||
|
</xsd:sequence>
|
||||||
|
<xsd:attribute name="name" use="required" type="xsd:string" />
|
||||||
|
<xsd:attribute name="type" type="xsd:string" />
|
||||||
|
<xsd:attribute name="mimetype" type="xsd:string" />
|
||||||
|
<xsd:attribute ref="xml:space" />
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
<xsd:element name="assembly">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:attribute name="alias" type="xsd:string" />
|
||||||
|
<xsd:attribute name="name" type="xsd:string" />
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
<xsd:element name="data">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:sequence>
|
||||||
|
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||||
|
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
|
||||||
|
</xsd:sequence>
|
||||||
|
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
|
||||||
|
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
|
||||||
|
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
|
||||||
|
<xsd:attribute ref="xml:space" />
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
<xsd:element name="resheader">
|
||||||
|
<xsd:complexType>
|
||||||
|
<xsd:sequence>
|
||||||
|
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||||
|
</xsd:sequence>
|
||||||
|
<xsd:attribute name="name" type="xsd:string" use="required" />
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
</xsd:choice>
|
||||||
|
</xsd:complexType>
|
||||||
|
</xsd:element>
|
||||||
|
</xsd:schema>
|
||||||
|
<resheader name="resmimetype">
|
||||||
|
<value>text/microsoft-resx</value>
|
||||||
|
</resheader>
|
||||||
|
<resheader name="version">
|
||||||
|
<value>2.0</value>
|
||||||
|
</resheader>
|
||||||
|
<resheader name="reader">
|
||||||
|
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||||
|
</resheader>
|
||||||
|
<resheader name="writer">
|
||||||
|
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||||
|
</resheader>
|
||||||
|
<metadata name="menuStrip_Menu.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
|
||||||
|
<value>17, 17</value>
|
||||||
|
</metadata>
|
||||||
|
<metadata name="timer_Test.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
|
||||||
|
<value>162, 5</value>
|
||||||
|
</metadata>
|
||||||
|
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
|
||||||
|
<value>25</value>
|
||||||
|
</metadata>
|
||||||
|
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
|
||||||
|
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||||
|
<value>
|
||||||
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y9HCAxds7gLwu4X7z1OhkmUNYwFGjBjhy0ZAlxeFvputewa0mXGCClRo7s1FgeEkJjq73Ru4/TZ1tOH+
|
||||||
|
q9bT7nZvmZu3e25XAJMmTZJtuQzegSo3akXz956VQv/63V8k4ed5e85Q5YYtDb9bvHhxeQ8fVwA4Fi7X
|
||||||
|
dQfiWDjR+lho2y18kcq1G+PNYyHDSYPPfmODz04rg0/fTTetav9nkMHHI5GALVu2tBvVV6BYPCUMeppS
|
||||||
|
FqyW1G7gKMofV9Lu93BtH44EtEQvI8NwpU6DrAzDg8X/E5dfsWEYXk+BoZHeMgwznEBZI5dPgQq1qJ8N
|
||||||
|
l0/a0E8nXD4lMoMCGDlypCzsoTkQ358zIIBy+jvWAh3XxLUziQKI15x1DSM0fJ21O9AB1/BDzX2uYYYT
|
||||||
|
6K8ZBn0MtQr60Kv9X3fw2owI+vBYOnDr1q113YGuEK7Vpk0bX04HTgsEh+3UdIPDoqyDw+AdesN2z4AS
|
||||||
|
DZO8FRzGcBAI+1yjGYV9Tl1jVfyj/+s23H8ZF/bpsXTgiRMnUsWKFd2mAHAtXNOH04FtwenwcJvp4Y6F
|
||||||
|
h6MNfU4WS++hgGaY+FFCbOc+tCr/1fPV69atvzMu8cOjBUGQvx8fH59u4cc1XK0FkMEKoK6gf+jdt1jd
|
||||||
|
VlYJYrZbiF+gZuOQIFbUGwliDAdhJ/Wzi1Xqp17t/8ajt2dU6qfHS4Khym/lypV1g4MM7QPiO5UqVZLX
|
||||||
|
yAQlwWwBKeKnNSdTxG22EPdeijjDQRgXfxg+x0bWl+3a/w4Uf1jkoXfwSlFQuO0SEhIoX758qSoB646f
|
||||||
|
+Ez+/PllqXBnXX4+pgDgsl2iOVkkxtRC/JLtIjE5PF4khuEAUIpLt/xTiCz/tM+69v9GG62/M7b8k9fK
|
||||||
|
guNfbOOhCMqUKUNRUVEUHBwsI/tAqAKM3+Fv+AxWfcvvZlIFAHTRjMrEJViXidNrId5wxBZHysRxC3Ev
|
||||||
|
oJLmbAFI1P632fo7QwtAGjYGqVKlitsbg5g79UDAUegTYb0g/IzfTZ069fHn3NkYBO+iea4xiBEMC8Xm
|
||||||
|
LVmB+m4+41ALcQcKxT7S0l8oluEADHO+q/caaZX6i21dZxu1/2sPXJGRJaANz6iI6HPHFtxIGVi2BPPU
|
||||||
|
fRyITjylpa81mBFQKv51zZlS8botxO2Wimd3oJewUNNt/R1ObdM2gTC3/k5b/MN+Ewg0GPFkEwj4qrfr
|
||||||
|
3T8oKIi6d+/+WDhdJXcpC1cJ74B3MRjn7WosPAU7zWLGWnmLBuu0EK/Vbxn5B4Z6qlckwwGgE88GvQmI
|
||||||
|
KFDUtvvPVu3/accoJuPbQE03MshFR0fL/Ptx48bJldQVcnVbj8+jCvDkyZNdui+eGc+Od7BjePS08ay6
|
||||||
|
oL9pTrSLs91C/CI1G7eXQqILGr3LK5opRoXhISAab5vumS6+IiVtPZfqCKBX+9+BRpCHNc83gkQ24/dG
|
||||||
|
AuLv7y+bc8TFxblE5cqVk4Y9ZwJ5UPhz4MCBsk9giRIlXLovnhnPbkf44adv6OExjhJ0VDNqGPvyO/Z7
|
||||||
|
BqiQcTs2oy0adw3KwB1AbFzqyq86rb9kK+gudltBz/bC+yChaYemubeGv2YjlBeWeEdsCvh7r169KCIi
|
||||||
|
gjz9XGr7H+aFcZ6nOzb+tlvG4xjQzSJuxLwDCOUdgO/aAPyDQoSWXvF4MrH6y/5vabb/yPOOrdjCXuvv
|
||||||
|
Nl56n2bquOFRYcNqnJiYaFjMA8I/YcIEt3YVsnPEauqlMU4Q9G+9ZymJuhHbrYuEYPEw7wJMKeMLKGdA
|
||||||
|
ENsAfMAL8Lv+ma4xJW05JybwvimsM43vH8k/NXovtpf8c0Mz1Zn3BhBDPkEzSF91F9WsWfMnIeif6JFQ
|
||||||
|
Dg+Sk5O/CgkJ+dPDz4J3fVYz5e57A2jjflPX4BoeSa2nrFbG49Tu416vXBdK4BK1nHhIHDHr2PMC9GHx
|
||||||
|
9Dzga/1SbyKwrS/buid1WnxYThy2bpKEBm8356xs+x0eU8weg7qr9r8zR4EFmqnugMcELzg4eLUQ9Fix
|
||||||
|
0seKfwumpaVLl+YvWbJk6xw5cvzDg8+Bd5zvpa2/Gf5qe65vcC0ST+1mrZeBQVAEsAmYFMJ9wUvvU5Ga
|
||||||
|
ne1FAj7UTCnqDC8YAl/TDMNZ/Sh3XBWq0GE81R+6Tjb7rJm0VBb9CAq3myuP7X+HDHgvFJUYrZlKj3tC
|
||||||
|
8BDV2LVSpUrazJkzNSHwVtShQwez0eyIh54B7zZKy5gCGl3UGOj3PYiOoYodB1Cb6a9Q12V7qeOiN6l+
|
||||||
|
ynTKX7a6PeEHbdJMcQcML6CtoB/tMRx2AwEhERQYFk3+gSGOMunbgiIz6L0Qv442Z69qpmInf7hxy/2i
|
||||||
|
E6tua0H33HTvP9S7YAWupWVcFV0otncdeeaA4FBZUQpHAzuGYsvagK1YLL27C1jjgRXqO8X8GQ24kioK
|
||||||
|
StFMtQjh+tztIsFrkqQ53868hmZKhNru4n3xzCibPVgd2wJ8YFxhDPTE8WYlr/7eB8o+nXXjJMKwOE3z
|
||||||
|
TTdOsNo2u0LpFbwQF+/ri22zMBazjIzILhBCmUuwOGYM6mkmi707hB+VZCN4SLM8ItWK7Y7j1TXNVHiE
|
||||||
|
kYHABBxPxyT+UzP5byN5KLMNYA+A1+WndPDNMY1bhPsMkPb5vGaQJqyz6iMbL1Hj8M3sCJzZnxB0xskj
|
||||||
|
AXhssea5NHGGi/BXGnmJ2pr9kGZiUSASPuivNFMDySGaqbYgI3sDAV8wtr6teOMXGwsFeOmqWmTqahzu
|
||||||
|
69PwU4LdSFCyZurcMlUz+dix2sMizZVbGGkBnoDnpbvilamKdwZppoSl/Jr3IhcZDAaDwWAwGAwGg8Fg
|
||||||
|
MBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwG
|
||||||
|
g8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAw
|
||||||
|
GAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPByIb4f3Ur
|
||||||
|
IFqna2MAAAAAAElFTkSuQmCC
|
||||||
|
</value>
|
||||||
|
</data>
|
||||||
|
</root>
|
||||||
140
DroneSimulator/NetServerClients.cs
Normal file
140
DroneSimulator/NetServerClients.cs
Normal file
@ -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<ClientData> ClientSockets = new List<ClientData>();
|
||||||
|
|
||||||
|
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 { }
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
134
DroneSimulator/NetServerVisual.cs
Normal file
134
DroneSimulator/NetServerVisual.cs
Normal file
@ -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<ClientData> ClientSockets = new List<ClientData>();
|
||||||
|
|
||||||
|
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 { }
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
17
DroneSimulator/Program.cs
Normal file
17
DroneSimulator/Program.cs
Normal file
@ -0,0 +1,17 @@
|
|||||||
|
namespace DroneSimulator
|
||||||
|
{
|
||||||
|
internal static class Program
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// The main entry point for the application.
|
||||||
|
/// </summary>
|
||||||
|
[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());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
180
DroneSimulator/Screen2D.cs
Normal file
180
DroneSimulator/Screen2D.cs
Normal file
@ -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<DroneInfo> DroneList = new List<DroneInfo>();
|
||||||
|
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
BIN
DroneSimulator/icon.ico
Normal file
BIN
DroneSimulator/icon.ico
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 14 KiB |
Loading…
x
Reference in New Issue
Block a user