;)

Reviewed-on: CPL/Simulator#5

.gitignore

@@ -0,0 +1,4 @@
+.vs/
+obj/
+bin/
+x64/

DroneClient/.vs/DroneClient/v17/DocumentLayout.backup.json

@@ -1,12 +0,0 @@
-{
-  "Version": 1,
-  "WorkspaceRootPath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\",
-  "Documents": [],
-  "DocumentGroupContainers": [
-    {
-      "Orientation": 0,
-      "VerticalTabListWidth": 256,
-      "DocumentGroups": []
-    }
-  ]
-}

DroneClient/.vs/DroneClient/v17/DocumentLayout.json

@@ -1,53 +0,0 @@
-{
-  "Version": 1,
-  "WorkspaceRootPath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\",
-  "Documents": [
-    {
-      "AbsoluteMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneClient.csproj|d:\\cpl\\simulator\\droneclient\\droneclient\\formmain.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
-      "RelativeMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneClient.csproj|solutionrelative:formmain.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
-    },
-    {
-      "AbsoluteMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneClient.csproj|d:\\cpl\\simulator\\droneclient\\droneclient\\formmain.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}|Form",
-      "RelativeMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneClient.csproj|solutionrelative:formmain.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}|Form"
-    }
-  ],
-  "DocumentGroupContainers": [
-    {
-      "Orientation": 0,
-      "VerticalTabListWidth": 256,
-      "DocumentGroups": [
-        {
-          "DockedWidth": 200,
-          "SelectedChildIndex": 0,
-          "Children": [
-            {
-              "$type": "Document",
-              "DocumentIndex": 0,
-              "Title": "FormMain.cs",
-              "DocumentMoniker": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\FormMain.cs",
-              "RelativeDocumentMoniker": "FormMain.cs",
-              "ToolTip": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\FormMain.cs",
-              "RelativeToolTip": "FormMain.cs",
-              "ViewState": "AgIAACEAAAAAAAAAAAAYwCYAAAAOAAAAAAAAAA==",
-              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
-              "WhenOpened": "2025-03-27T13:11:11.045Z",
-              "EditorCaption": ""
-            },
-            {
-              "$type": "Document",
-              "DocumentIndex": 1,
-              "Title": "FormMain.cs [\u041A\u043E\u043D\u0441\u0442\u0440\u0443\u043A\u0442\u043E\u0440]",
-              "DocumentMoniker": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\FormMain.cs",
-              "RelativeDocumentMoniker": "FormMain.cs",
-              "ToolTip": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\FormMain.cs [\u041A\u043E\u043D\u0441\u0442\u0440\u0443\u043A\u0442\u043E\u0440]",
-              "RelativeToolTip": "FormMain.cs [\u041A\u043E\u043D\u0441\u0442\u0440\u0443\u043A\u0442\u043E\u0440]",
-              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
-              "WhenOpened": "2025-03-27T13:11:01.471Z",
-              "EditorCaption": " [\u041A\u043E\u043D\u0441\u0442\u0440\u0443\u043A\u0442\u043E\u0440]"
-            }
-          ]
-        }
-      ]
-    }
-  ]
-}

DroneClient/Drone.cs

@@ -1,26 +1,21 @@
-using System;
+using System.Diagnostics.Metrics;
-using System.Collections.Generic;
+using System.Drawing;
-using System.Linq;
 using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace DroneClient
 {
   internal class Drone
   {
-    public struct DataOut
+
-    {
     public float AccX, AccY, AccZ;
     public float GyrX, GyrY, GyrZ;
+    public uint TimeAcc, TimeGyr;
+
     public float PosX, PosY;
     public float LaserRange;
-    }
+    public uint TimeRange;
 
-    public struct DataIn
-    {
     public float MotorUL, MotorUR, MotorDL, MotorDR;
-    }
 
     public static byte[] getBytes(object data)
     {
@@ -63,5 +58,241 @@ namespace DroneClient
       return mem;
     }
 
+    private byte[] SendDataMotor4()
+    {
+      DroneData.DataMotor4 mot4 = new DroneData.DataMotor4();
+
+      mot4.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMotor4));
+      mot4.Head.Mode = DroneData.DataMode.Response;
+      mot4.Head.Type = DroneData.DataType.DataMotor4;
+
+      mot4.UL = MotorUL;
+      mot4.UR = MotorUR;
+      mot4.DL = MotorDL;
+      mot4.DR = MotorDR;
+
+      return getBytes(mot4);
+    }
+
+    private byte[]? RecvDataAcc(byte[] data)
+    {
+      DroneData.DataAcc imu = (DroneData.DataAcc)fromBytes(data, typeof(DroneData.DataAcc));
+
+      AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
+
+      TimeAcc= imu.Time;
+
+      return new byte[0];
+    }
+
+    private byte[]? RecvDataGyr(byte[] data)
+    {
+      DroneData.DataGyr imu = (DroneData.DataGyr)fromBytes(data, typeof(DroneData.DataGyr));
+
+      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+
+      TimeGyr = imu.Time;
+
+      return new byte[0];
+    }
+
+    private byte[]? RecvDataRange(byte[] data)
+    {
+      DroneData.DataRange pos = (DroneData.DataRange)fromBytes(data, typeof(DroneData.DataRange));
+
+      LaserRange = pos.LiDAR;
+
+      TimeRange = pos.Time;
+
+      return new byte[0];
+    }
+
+    private byte[]? RecvDataLocal(byte[] data)
+    {
+      DroneData.DataLocal pos = (DroneData.DataLocal)fromBytes(data, typeof(DroneData.DataLocal));
+
+      PosX = pos.Local.X; PosY = pos.Local.Y;
+
+      return new byte[0];
+    }
+
+    private byte[]? ClientRequestResponse(DroneData.DataHead head, byte[] body)
+    {
+      byte[] zero = new byte[0];
+
+      switch (head.Type)
+      {
+        case DroneData.DataType.DataAcc:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataAcc(body);
+            }
+          }
+
+        case DroneData.DataType.DataGyr:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataGyr(body);
+            }
+          }
+
+        case DroneData.DataType.DataRange:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataRange(body);
+            }
+          }
+
+        case DroneData.DataType.DataLocal:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataLocal(body);
+            }
+          }
+
+        case DroneData.DataType.DataMotor4:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataMotor4();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
+      }
+
+      return zero;
+    }
+
+    private const int DroneStreamCount = 512;
+    private byte[] DroneStreamData = new byte[DroneStreamCount];
+    private int DroneStreamIndex = 0;
+    private DroneData.DataHead DroneStreamHead = new DroneData.DataHead() { Mode = DroneData.DataMode.None, Size = 0, Type = DroneData.DataType.None };
+
+    public List<byte[]?>? DataStream(byte[]? data, int size)
+    {
+      List<byte[]?> ret = new List<byte[]?>();
+
+      if (data == null) return ret; // Последовательность не сформирована, ждать данных
+
+      if (size + DroneStreamIndex > DroneStreamCount) return null; // Ошибка переполнения, поток сломан (конец)
+
+      Array.Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
+      DroneStreamIndex += size;
+
+      while (true)
+      {
+        if (DroneStreamHead.Size == 0) // Заголовок ещё не получен
+        {
+          if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать
+          DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead));
+        }
+
+        if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный
+
+        byte[] body = new byte[DroneStreamHead.Size];
+
+        Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
+
+        int shift = DroneStreamHead.Size;
+
+        DroneStreamIndex -= shift;
+        Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные
+
+        DroneStreamHead.Size = 0; // Отменяем прошлый заголовок
+
+        ret.Add(ClientRequestResponse(DroneStreamHead, body));
+      }
+
+      return ret;
+    }
+
+    public byte[] SendReqest()
+    {
+      DroneData.DataHead acc = new DroneData.DataHead();
+      acc.Size = DroneData.DataHead.StrLen;
+      acc.Mode = DroneData.DataMode.Request;
+      acc.Type = DroneData.DataType.DataAcc;
+
+      DroneData.DataHead gyr = new DroneData.DataHead();
+      gyr.Size = DroneData.DataHead.StrLen;
+      gyr.Mode = DroneData.DataMode.Request;
+      gyr.Type = DroneData.DataType.DataGyr;
+
+      DroneData.DataHead range = new DroneData.DataHead();
+      range.Size = DroneData.DataHead.StrLen;
+      range.Mode = DroneData.DataMode.Request;
+      range.Type = DroneData.DataType.DataRange;
+
+      DroneData.DataHead local = new DroneData.DataHead();
+      local.Size = DroneData.DataHead.StrLen;
+      local.Mode = DroneData.DataMode.Request;
+      local.Type = DroneData.DataType.DataLocal;
+
+      List<byte[]> list = new List<byte[]>();
+
+      list.Add(getBytes(acc));
+      list.Add(getBytes(gyr));
+      list.Add(getBytes(range));
+      list.Add(getBytes(local));
+      list.Add(SendDataMotor4());
+
+      int count = 0;
+
+      foreach (byte[] d in list) count += d.Length;
+
+      byte[] send = new byte[count];
+
+      count = 0;
+      foreach (byte[] d in list)
+      {
+        d.CopyTo(send, count);
+        count += d.Length;
+      }
+
+      return send;
+    }
   }
 }

DroneClient/DroneData.cs

@@ -0,0 +1,100 @@
+using System.Runtime.InteropServices;
+
+namespace DroneData
+{
+  public enum DataMode : ushort
+  {
+    None = 0, Response = 1, Request = 2
+  };
+
+  public enum DataType : ushort
+  {
+    None = 0, Head = 1,
+
+    // Output
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
+
+    // Input
+    DataMotor4 = 2001, DataMotor6 = 2002
+  };
+
+  public struct DataHead
+  {
+    public int Size;
+
+    public DataMode Mode;
+    public DataType Type;
+
+    public uint Time; // Îáùåå âðåìÿ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
+  }
+
+  public struct XYZ { public float X, Y, Z; }
+
+  public struct DataAcc
+  {
+    public DataHead Head;
+    public XYZ Acc;
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
+  }
+
+  public struct DataGyr
+  {
+    public DataHead Head;
+    public XYZ Gyr;
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
+  }
+
+  public struct DataMag
+  {
+    public DataHead Head;
+    public XYZ Mag;
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
+  }
+
+  public struct DataLocal
+  {
+    public DataHead Head;
+    public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
+  }
+
+  public struct DataRange
+  {
+    public DataHead Head;
+    public float LiDAR; // Äàò÷èê ïîñàäêè
+
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
+  }
+
+  public struct DataMotor4
+  {
+    public DataHead Head;
+    public float UL, UR, DL, DR;
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
+  }
+
+  public struct DataMotor6
+  {
+    public DataHead Head;
+    public float UL, UR, LL, RR, DL, DR;
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
+  }
+}

DroneClient/FormMain.Designer.cs

@@ -65,6 +65,9 @@
       label_Pow = new Label();
       button_ML = new Button();
       button_MR = new Button();
+      label_time_acc = new Label();
+      label_time_range = new Label();
+      label_time_gyr = new Label();
       groupBox1.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit();
       groupBox2.SuspendLayout();
@@ -156,6 +159,7 @@
       // 
       // groupBox2
       // 
+      groupBox2.Controls.Add(label_time_acc);
       groupBox2.Controls.Add(label_Acc_Z);
       groupBox2.Controls.Add(label7);
       groupBox2.Controls.Add(label_Acc_Y);
@@ -164,7 +168,7 @@
       groupBox2.Controls.Add(label1);
       groupBox2.Location = new Point(6, 86);
       groupBox2.Name = "groupBox2";
-      groupBox2.Size = new Size(78, 100);
+      groupBox2.Size = new Size(78, 118);
       groupBox2.TabIndex = 5;
       groupBox2.TabStop = false;
       groupBox2.Text = "Acc";
@@ -216,6 +220,7 @@
       // 
       // groupBox3
       // 
+      groupBox3.Controls.Add(label_time_gyr);
       groupBox3.Controls.Add(label_Gyr_Z);
       groupBox3.Controls.Add(label9);
       groupBox3.Controls.Add(label_Gyr_Y);
@@ -224,7 +229,7 @@
       groupBox3.Controls.Add(label13);
       groupBox3.Location = new Point(95, 86);
       groupBox3.Name = "groupBox3";
-      groupBox3.Size = new Size(78, 100);
+      groupBox3.Size = new Size(78, 118);
       groupBox3.TabIndex = 6;
       groupBox3.TabStop = false;
       groupBox3.Text = "Gyr";
@@ -285,6 +290,7 @@
       // 
       // groupBox4
       // 
+      groupBox4.Controls.Add(label_time_range);
       groupBox4.Controls.Add(label_Pos_L);
       groupBox4.Controls.Add(label6);
       groupBox4.Controls.Add(label_Pos_Y);
@@ -293,7 +299,7 @@
       groupBox4.Controls.Add(label14);
       groupBox4.Location = new Point(188, 86);
       groupBox4.Name = "groupBox4";
-      groupBox4.Size = new Size(78, 100);
+      groupBox4.Size = new Size(78, 118);
       groupBox4.TabIndex = 7;
       groupBox4.TabStop = false;
       groupBox4.Text = "Pos";
@@ -437,6 +443,33 @@
       button_MR.MouseDown += button_UU_MouseDown;
       button_MR.MouseUp += button_UU_MouseUp;
       // 
+      // label_time_acc
+      // 
+      label_time_acc.AutoSize = true;
+      label_time_acc.Location = new Point(6, 100);
+      label_time_acc.Name = "label_time_acc";
+      label_time_acc.Size = new Size(13, 15);
+      label_time_acc.TabIndex = 25;
+      label_time_acc.Text = "0";
+      // 
+      // label_time_range
+      // 
+      label_time_range.AutoSize = true;
+      label_time_range.Location = new Point(6, 100);
+      label_time_range.Name = "label_time_range";
+      label_time_range.Size = new Size(13, 15);
+      label_time_range.TabIndex = 27;
+      label_time_range.Text = "0";
+      // 
+      // label_time_gyr
+      // 
+      label_time_gyr.AutoSize = true;
+      label_time_gyr.Location = new Point(3, 100);
+      label_time_gyr.Name = "label_time_gyr";
+      label_time_gyr.Size = new Size(13, 15);
+      label_time_gyr.TabIndex = 26;
+      label_time_gyr.Text = "0";
+      // 
       // Form_Main
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
@@ -509,5 +542,9 @@
     private Label label_Pow;
     private Button button_ML;
     private Button button_MR;
+    private Label label4;
+    private Label label_time_acc;
+    private Label label_time_range;
+    private Label label_time_gyr;
   }
 }

DroneClient/FormMain.cs

@@ -20,6 +20,8 @@ namespace DroneSimulator
       ConnectData data = (ConnectData)o;
 
       if (!data.Connect)
+      {
+        try
         {
           Invoke((MethodInvoker)delegate
           {
@@ -27,28 +29,29 @@ namespace DroneSimulator
             button_Connect.BackColor = Color.Transparent;
             MessageBox.Show("Connection closed");
           });
+        }
+        catch { }
 
         return;
       }
-
-      byte[] send = Drone.getBytes(sendDrone);
-
-      data.Server.Send(send);
     }
 
-    Drone.DataIn sendDrone;
+    Drone dataDrone = new Drone();
-
-    Drone.DataOut recvDrone;
 
     private void ReceiveCallback(object o)
     {
       ReceiveData data = (ReceiveData)o;
 
-      recvDrone = (Drone.DataOut)Drone.fromBytes(data.Buffer, typeof(Drone.DataOut));
+      List<byte[]?>? send = dataDrone.DataStream(data.Buffer, data.Size);
 
-      byte[] send = Drone.getBytes(sendDrone);
+      if (send == null) return;
-
+      try
-      try { data.Server.Send(send); }
+      {
+        foreach (byte[]? b in send)
+        {
+          if (b != null) data.Server?.Send(b);
+        }
+      }
       catch { }
     }
 
@@ -88,17 +91,25 @@ namespace DroneSimulator
 
     private void timer_Test_Tick(object sender, EventArgs e)
     {
-      label_Acc_X.Text = recvDrone.AccX.ToString();
+      label_Acc_X.Text = dataDrone.AccX.ToString();
-      label_Acc_Y.Text = recvDrone.AccY.ToString();
+      label_Acc_Y.Text = dataDrone.AccY.ToString();
-      label_Acc_Z.Text = recvDrone.AccZ.ToString();
+      label_Acc_Z.Text = dataDrone.AccZ.ToString();
 
-      label_Gyr_X.Text = recvDrone.GyrX.ToString();
+      label_time_acc.Text = dataDrone.TimeAcc.ToString();
-      label_Gyr_Y.Text = recvDrone.GyrY.ToString();
-      label_Gyr_Z.Text = recvDrone.GyrZ.ToString();
 
-      label_Pos_X.Text = recvDrone.PosX.ToString();
+      label_Gyr_X.Text = dataDrone.GyrX.ToString();
-      label_Pos_Y.Text = recvDrone.PosY.ToString();
+      label_Gyr_Y.Text = dataDrone.GyrY.ToString();
-      label_Pos_L.Text = recvDrone.LaserRange.ToString();
+      label_Gyr_Z.Text = dataDrone.GyrZ.ToString();
+
+      label_time_gyr.Text = dataDrone.TimeGyr.ToString();
+
+      label_Pos_X.Text = dataDrone.PosX.ToString();
+      label_Pos_Y.Text = dataDrone.PosY.ToString();
+      label_Pos_L.Text = dataDrone.LaserRange.ToString();
+
+      label_time_range.Text = dataDrone.TimeRange.ToString();
+
+      netClient.SendData(dataDrone.SendReqest());
     }
 
     private void trackBar_Power_Scroll(object sender, EventArgs e)
@@ -107,42 +118,44 @@ namespace DroneSimulator
 
       label_Pow.Text = pow.ToString();
 
-      sendDrone.MotorUL = sendDrone.MotorUR = sendDrone.MotorDL = sendDrone.MotorDR = pow;
+      dataDrone.MotorUL = dataDrone.MotorUR = dataDrone.MotorDL = dataDrone.MotorDR = pow;
     }
 
     private void button_UU_MouseDown(object sender, MouseEventArgs e)
     {
+      const float pow = 0.1f;
+
       if (sender == button_UU)
       {
-        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR -= 0.1f;
+        dataDrone.MotorUL -= pow; dataDrone.MotorUR -= pow;
-        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR += 0.1f;
+        dataDrone.MotorDL += pow; dataDrone.MotorDR += pow;
       }
       if (sender == button_DD)
       {
-        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR += 0.1f;
+        dataDrone.MotorUL += pow; dataDrone.MotorUR += pow;
-        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR -= 0.1f;
+        dataDrone.MotorDL -= pow; dataDrone.MotorDR -= pow;
       }
       if (sender == button_LL)
       {
-        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
+        dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
-        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
+        dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
       }
       if (sender == button_RR)
       {
-        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
+        dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
-        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
+        dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
       }
 
       if (sender == button_ML)
       {
-        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
+        dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
-        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
+        dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
       }
 
       if (sender == button_MR)
       {
-        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
+        dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
-        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
+        dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
       }
     }
 

DroneClient/NetClient.cs

@@ -1,9 +1,4 @@
-using System;
+using System.Net.Sockets;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Net.Sockets;
 using System.Net;
 
 namespace DroneSimulator
@@ -31,6 +26,7 @@ namespace DroneSimulator
       public byte[] buffer = new byte[size];
     }
 
+    private bool Connected = false;
     private Socket? ServerSocket = null;
     private ServerData DataServer = new ServerData();
 
@@ -43,10 +39,9 @@ namespace DroneSimulator
 
     public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
     {
-      if (ServerSocket != null)
+      if (Connected)
       {
-        ServerSocket.Close();
+        Close();
-        ServerSocket = null;
         return ClientState.Stop;
       }
 
@@ -56,24 +51,26 @@ namespace DroneSimulator
       IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
       ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
 
-      try
+      try { ServerSocket.Connect(ep); }
-      {
+      catch { ServerSocket.Close(); return ClientState.Error; }
-        ServerSocket.Connect(ep);
+
-      }
+      Connected = true;
-      catch { ServerSocket.Close(); ServerSocket = null; return ClientState.Error; }
 
       ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket });
 
       ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket };
-      ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData);
+
+      try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); }
+      catch { }
 
       return ClientState.Connected;
     }
 
     public void Close()
     {
+      try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
       ServerSocket?.Close();
-      ServerSocket = null;
+      Connected = false;
     }
 
     public void ReadCallback(IAsyncResult ar)
@@ -82,23 +79,28 @@ namespace DroneSimulator
       if (cd == null) return;
 
       int bytes = 0;
-      try { bytes = ServerSocket.EndReceive(ar); }
+      try { bytes = ServerSocket.EndReceive(ar); } catch {  }
-      catch {  }
 
       if (bytes == 0)
       {
         ServerSocket?.Close();
 
-        if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
+        Connected = false;
 
-        ServerSocket = null;
+        if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
 
         return;
       }
 
       ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
 
-      ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd);
+      try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }  
+      catch { }
+    }
+
+    public void SendData(byte[] data)
+    {
+      try { ServerSocket?.Send(data); } catch { }
     }
   }
 }

DroneClient/README.md

@@ -0,0 +1,3 @@
+# Client
+
+Образец клиента для подключения к симулятору.

DroneClient/bin/Debug/net9.0-windows/DroneClient.deps.json

@@ -1,23 +0,0 @@
-{
-  "runtimeTarget": {
-    "name": ".NETCoreApp,Version=v9.0",
-    "signature": ""
-  },
-  "compilationOptions": {},
-  "targets": {
-    ".NETCoreApp,Version=v9.0": {
-      "DroneClient/1.0.0": {
-        "runtime": {
-          "DroneClient.dll": {}
-        }
-      }
-    }
-  },
-  "libraries": {
-    "DroneClient/1.0.0": {
-      "type": "project",
-      "serviceable": false,
-      "sha512": ""
-    }
-  }
-}

DroneClient/bin/Debug/net9.0-windows/DroneClient.runtimeconfig.json

@@ -1,19 +0,0 @@
-{
-  "runtimeOptions": {
-    "tfm": "net9.0",
-    "frameworks": [
-      {
-        "name": "Microsoft.NETCore.App",
-        "version": "9.0.0"
-      },
-      {
-        "name": "Microsoft.WindowsDesktop.App",
-        "version": "9.0.0"
-      }
-    ],
-    "configProperties": {
-      "System.Runtime.Serialization.EnableUnsafeBinaryFormatterSerialization": false,
-      "CSWINRT_USE_WINDOWS_UI_XAML_PROJECTIONS": false
-    }
-  }
-}

DroneClient/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs

@@ -1,4 +0,0 @@
-// <autogenerated />
-using System;
-using System.Reflection;
-[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETCoreApp,Version=v9.0", FrameworkDisplayName = ".NET 9.0")]

DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfo.cs

@@ -1,25 +0,0 @@
-//------------------------------------------------------------------------------
-// <auto-generated>
-//     Этот код создан программой.
-//     Исполняемая версия:4.0.30319.42000
-//
-//     Изменения в этом файле могут привести к неправильной работе и будут потеряны в случае
-//     повторной генерации кода.
-// </auto-generated>
-//------------------------------------------------------------------------------
-
-using System;
-using System.Reflection;
-
-[assembly: System.Reflection.AssemblyCompanyAttribute("DroneClient")]
-[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
-[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
-[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")]
-[assembly: System.Reflection.AssemblyProductAttribute("DroneClient")]
-[assembly: System.Reflection.AssemblyTitleAttribute("DroneClient")]
-[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]
-[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")]
-[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")]
-
-// Создано классом WriteCodeFragment MSBuild.
-

DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfoInputs.cache

@@ -1 +0,0 @@
-372de9fd6d36597e50cdb2250f48b9cb0d5e8e1a2d1e568b83e287afe9580301

DroneClient/obj/Debug/net9.0-windows/DroneClient.GeneratedMSBuildEditorConfig.editorconfig

@@ -1,22 +0,0 @@
-is_global = true
-build_property.ApplicationManifest = 
-build_property.StartupObject = 
-build_property.ApplicationDefaultFont = 
-build_property.ApplicationHighDpiMode = 
-build_property.ApplicationUseCompatibleTextRendering = 
-build_property.ApplicationVisualStyles = 
-build_property.TargetFramework = net9.0-windows
-build_property.TargetPlatformMinVersion = 7.0
-build_property.UsingMicrosoftNETSdkWeb = 
-build_property.ProjectTypeGuids = 
-build_property.InvariantGlobalization = 
-build_property.PlatformNeutralAssembly = 
-build_property.EnforceExtendedAnalyzerRules = 
-build_property._SupportedPlatformList = Linux,macOS,Windows
-build_property.RootNamespace = DroneClient
-build_property.ProjectDir = D:\CPL\Simulator\DroneClient\DroneClient\
-build_property.EnableComHosting = 
-build_property.EnableGeneratedComInterfaceComImportInterop = 
-build_property.CsWinRTUseWindowsUIXamlProjections = false
-build_property.EffectiveAnalysisLevelStyle = 9.0
-build_property.EnableCodeStyleSeverity = 

DroneClient/obj/Debug/net9.0-windows/DroneClient.GlobalUsings.g.cs

@@ -1,10 +0,0 @@
-// <auto-generated/>
-global using global::System;
-global using global::System.Collections.Generic;
-global using global::System.Drawing;
-global using global::System.IO;
-global using global::System.Linq;
-global using global::System.Net.Http;
-global using global::System.Threading;
-global using global::System.Threading.Tasks;
-global using global::System.Windows.Forms;

DroneClient/obj/Debug/net9.0-windows/DroneClient.csproj.CoreCompileInputs.cache

@@ -1 +0,0 @@
-01e86f1c7bc139724ab77bc57845e8da30f3f593b41b11317ce8867d8fb43c28

DroneClient/obj/Debug/net9.0-windows/DroneClient.csproj.FileListAbsolute.txt

@@ -1,32 +0,0 @@
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\DroneSimulator.Form_Main.resources
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\DroneClient.csproj.GenerateResource.cache
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\DroneClient.GeneratedMSBuildEditorConfig.editorconfig
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\DroneClient.AssemblyInfoInputs.cache
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\DroneClient.AssemblyInfo.cs
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\DroneClient.csproj.CoreCompileInputs.cache
-D:\Files\Main\Projects\Fly\DroneClient\bin\Debug\net9.0-windows\DroneClient.exe
-D:\Files\Main\Projects\Fly\DroneClient\bin\Debug\net9.0-windows\DroneClient.deps.json
-D:\Files\Main\Projects\Fly\DroneClient\bin\Debug\net9.0-windows\DroneClient.runtimeconfig.json
-D:\Files\Main\Projects\Fly\DroneClient\bin\Debug\net9.0-windows\DroneClient.dll
-D:\Files\Main\Projects\Fly\DroneClient\bin\Debug\net9.0-windows\DroneClient.pdb
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\DroneClient.dll
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\refint\DroneClient.dll
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\DroneClient.pdb
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\DroneClient.genruntimeconfig.cache
-D:\Files\Main\Projects\Fly\DroneClient\obj\Debug\net9.0-windows\ref\DroneClient.dll
-D:\CPL\Simulator\DroneClient\DroneClient\bin\Debug\net9.0-windows\DroneClient.exe
-D:\CPL\Simulator\DroneClient\DroneClient\bin\Debug\net9.0-windows\DroneClient.deps.json
-D:\CPL\Simulator\DroneClient\DroneClient\bin\Debug\net9.0-windows\DroneClient.runtimeconfig.json
-D:\CPL\Simulator\DroneClient\DroneClient\bin\Debug\net9.0-windows\DroneClient.dll
-D:\CPL\Simulator\DroneClient\DroneClient\bin\Debug\net9.0-windows\DroneClient.pdb
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\DroneSimulator.Form_Main.resources
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\DroneClient.csproj.GenerateResource.cache
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\DroneClient.GeneratedMSBuildEditorConfig.editorconfig
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\DroneClient.AssemblyInfoInputs.cache
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\DroneClient.AssemblyInfo.cs
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\DroneClient.csproj.CoreCompileInputs.cache
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\DroneClient.dll
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\refint\DroneClient.dll
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\DroneClient.pdb
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\DroneClient.genruntimeconfig.cache
-D:\CPL\Simulator\DroneClient\DroneClient\obj\Debug\net9.0-windows\ref\DroneClient.dll

DroneClient/obj/Debug/net9.0-windows/DroneClient.designer.deps.json

@@ -1,11 +0,0 @@
-{
-  "runtimeTarget": {
-    "name": ".NETCoreApp,Version=v9.0",
-    "signature": ""
-  },
-  "compilationOptions": {},
-  "targets": {
-    ".NETCoreApp,Version=v9.0": {}
-  },
-  "libraries": {}
-}

DroneClient/obj/Debug/net9.0-windows/DroneClient.designer.runtimeconfig.json

@@ -1,25 +0,0 @@
-{
-  "runtimeOptions": {
-    "tfm": "net9.0",
-    "frameworks": [
-      {
-        "name": "Microsoft.NETCore.App",
-        "version": "9.0.0"
-      },
-      {
-        "name": "Microsoft.WindowsDesktop.App",
-        "version": "9.0.0"
-      }
-    ],
-    "additionalProbingPaths": [
-      "C:\\Users\\Дана\\.dotnet\\store\\|arch|\\|tfm|",
-      "C:\\Users\\Дана\\.nuget\\packages",
-      "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages"
-    ],
-    "configProperties": {
-      "System.Runtime.Serialization.EnableUnsafeBinaryFormatterSerialization": false,
-      "CSWINRT_USE_WINDOWS_UI_XAML_PROJECTIONS": false,
-      "Microsoft.NETCore.DotNetHostPolicy.SetAppPaths": true
-    }
-  }
-}

DroneClient/obj/Debug/net9.0-windows/DroneClient.genruntimeconfig.cache

@@ -1 +0,0 @@
-812e26f7e032de5fb2d5301fec24f483552f39e0a38ac0c052cba2ffa3a73bbd

DroneClient/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs

@@ -1,25 +0,0 @@
-//------------------------------------------------------------------------------
-// <auto-generated>
-//     This code was generated by a tool.
-//     Runtime Version:4.0.30319.42000
-//
-//     Changes to this file may cause incorrect behavior and will be lost if
-//     the code is regenerated.
-// </auto-generated>
-//------------------------------------------------------------------------------
-
-using System;
-using System.Reflection;
-
-[assembly: System.Reflection.AssemblyCompanyAttribute("DroneSimulator")]
-[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
-[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
-[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")]
-[assembly: System.Reflection.AssemblyProductAttribute("DroneSimulator")]
-[assembly: System.Reflection.AssemblyTitleAttribute("DroneSimulator")]
-[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]
-[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")]
-[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")]
-
-// Generated by the MSBuild WriteCodeFragment class.
-

DroneClient/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache

@@ -1 +0,0 @@
-7f461f329c2aabe3c068a957f4f02cdcdb168c359c556cd0c46598798ec3c65d

DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig

@@ -1,22 +0,0 @@
-is_global = true
-build_property.ApplicationManifest = 
-build_property.StartupObject = 
-build_property.ApplicationDefaultFont = 
-build_property.ApplicationHighDpiMode = 
-build_property.ApplicationUseCompatibleTextRendering = 
-build_property.ApplicationVisualStyles = 
-build_property.TargetFramework = net9.0-windows
-build_property.TargetPlatformMinVersion = 7.0
-build_property.UsingMicrosoftNETSdkWeb = 
-build_property.ProjectTypeGuids = 
-build_property.InvariantGlobalization = 
-build_property.PlatformNeutralAssembly = 
-build_property.EnforceExtendedAnalyzerRules = 
-build_property._SupportedPlatformList = Linux,macOS,Windows
-build_property.RootNamespace = DroneSimulator
-build_property.ProjectDir = D:\Files\Main\Projects\Fly\DroneClient\
-build_property.EnableComHosting = 
-build_property.EnableGeneratedComInterfaceComImportInterop = 
-build_property.CsWinRTUseWindowsUIXamlProjections = false
-build_property.EffectiveAnalysisLevelStyle = 9.0
-build_property.EnableCodeStyleSeverity = 

DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs

@@ -1,10 +0,0 @@
-// <auto-generated/>
-global using global::System;
-global using global::System.Collections.Generic;
-global using global::System.Drawing;
-global using global::System.IO;
-global using global::System.Linq;
-global using global::System.Net.Http;
-global using global::System.Threading;
-global using global::System.Threading.Tasks;
-global using global::System.Windows.Forms;

DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache

@@ -1 +0,0 @@
-051ffb89f1ee627ab3b9aaef920afd665a18f0f3c3fe82852812d5c6608dcb30

DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt

@@ -1,32 +0,0 @@
-R:\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.exe
-R:\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.deps.json
-R:\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.runtimeconfig.json
-R:\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.dll
-R:\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.pdb
-R:\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.Form1.resources
-R:\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.csproj.GenerateResource.cache
-R:\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig
-R:\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.AssemblyInfoInputs.cache
-R:\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.AssemblyInfo.cs
-R:\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.csproj.CoreCompileInputs.cache
-R:\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.dll
-R:\DroneSimulator\obj\Debug\net9.0-windows\refint\DroneSimulator.dll
-R:\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.pdb
-R:\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.genruntimeconfig.cache
-R:\DroneSimulator\obj\Debug\net9.0-windows\ref\DroneSimulator.dll
-D:\Files\Main\Projects\Fly\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.exe
-D:\Files\Main\Projects\Fly\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.deps.json
-D:\Files\Main\Projects\Fly\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.runtimeconfig.json
-D:\Files\Main\Projects\Fly\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.dll
-D:\Files\Main\Projects\Fly\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.pdb
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.csproj.GenerateResource.cache
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.AssemblyInfoInputs.cache
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.AssemblyInfo.cs
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.csproj.CoreCompileInputs.cache
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.dll
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\refint\DroneSimulator.dll
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.pdb
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.genruntimeconfig.cache
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\ref\DroneSimulator.dll
-D:\Files\Main\Projects\Fly\DroneSimulator\obj\Debug\net9.0-windows\DroneSimulator.Form_Main.resources

DroneClient/obj/Debug/net9.0-windows/DroneSimulator.designer.deps.json

@@ -1,11 +0,0 @@
-{
-  "runtimeTarget": {
-    "name": ".NETCoreApp,Version=v9.0",
-    "signature": ""
-  },
-  "compilationOptions": {},
-  "targets": {
-    ".NETCoreApp,Version=v9.0": {}
-  },
-  "libraries": {}
-}

DroneClient/obj/Debug/net9.0-windows/DroneSimulator.designer.runtimeconfig.json

@@ -1,25 +0,0 @@
-{
-  "runtimeOptions": {
-    "tfm": "net9.0",
-    "frameworks": [
-      {
-        "name": "Microsoft.NETCore.App",
-        "version": "9.0.0"
-      },
-      {
-        "name": "Microsoft.WindowsDesktop.App",
-        "version": "9.0.0"
-      }
-    ],
-    "additionalProbingPaths": [
-      "C:\\Users\\USER\\.dotnet\\store\\|arch|\\|tfm|",
-      "C:\\Users\\USER\\.nuget\\packages",
-      "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages"
-    ],
-    "configProperties": {
-      "System.Runtime.Serialization.EnableUnsafeBinaryFormatterSerialization": false,
-      "CSWINRT_USE_WINDOWS_UI_XAML_PROJECTIONS": false,
-      "Microsoft.NETCore.DotNetHostPolicy.SetAppPaths": true
-    }
-  }
-}

DroneClient/obj/Debug/net9.0-windows/DroneSimulator.genruntimeconfig.cache

@@ -1 +0,0 @@
-42c9c47684404b6458665b5db1d77e8e1563e0e910b9607df810cd1011407bfc

DroneClient/obj/DroneClient.csproj.nuget.dgspec.json

@@ -1,76 +0,0 @@
-{
-  "format": 1,
-  "restore": {
-    "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\DroneClient.csproj": {}
-  },
-  "projects": {
-    "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\DroneClient.csproj": {
-      "version": "1.0.0",
-      "restore": {
-        "projectUniqueName": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\DroneClient.csproj",
-        "projectName": "DroneClient",
-        "projectPath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\DroneClient.csproj",
-        "packagesPath": "C:\\Users\\Дана\\.nuget\\packages\\",
-        "outputPath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\obj\\",
-        "projectStyle": "PackageReference",
-        "fallbackFolders": [
-          "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages"
-        ],
-        "configFilePaths": [
-          "C:\\Users\\Дана\\AppData\\Roaming\\NuGet\\NuGet.Config",
-          "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.FallbackLocation.config",
-          "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.Offline.config"
-        ],
-        "originalTargetFrameworks": [
-          "net9.0-windows"
-        ],
-        "sources": {
-          "C:\\Program Files (x86)\\Microsoft SDKs\\NuGetPackages\\": {},
-          "https://api.nuget.org/v3/index.json": {}
-        },
-        "frameworks": {
-          "net9.0-windows7.0": {
-            "targetAlias": "net9.0-windows",
-            "projectReferences": {}
-          }
-        },
-        "warningProperties": {
-          "warnAsError": [
-            "NU1605"
-          ]
-        },
-        "restoreAuditProperties": {
-          "enableAudit": "true",
-          "auditLevel": "low",
-          "auditMode": "direct"
-        },
-        "SdkAnalysisLevel": "9.0.200"
-      },
-      "frameworks": {
-        "net9.0-windows7.0": {
-          "targetAlias": "net9.0-windows",
-          "imports": [
-            "net461",
-            "net462",
-            "net47",
-            "net471",
-            "net472",
-            "net48",
-            "net481"
-          ],
-          "assetTargetFallback": true,
-          "warn": true,
-          "frameworkReferences": {
-            "Microsoft.NETCore.App": {
-              "privateAssets": "all"
-            },
-            "Microsoft.WindowsDesktop.App.WindowsForms": {
-              "privateAssets": "none"
-            }
-          },
-          "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\9.0.201/PortableRuntimeIdentifierGraph.json"
-        }
-      }
-    }
-  }
-}

DroneClient/obj/DroneClient.csproj.nuget.g.props

@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="utf-8" standalone="no"?>
-<Project ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <PropertyGroup Condition=" '$(ExcludeRestorePackageImports)' != 'true' ">
-    <RestoreSuccess Condition=" '$(RestoreSuccess)' == '' ">True</RestoreSuccess>
-    <RestoreTool Condition=" '$(RestoreTool)' == '' ">NuGet</RestoreTool>
-    <ProjectAssetsFile Condition=" '$(ProjectAssetsFile)' == '' ">$(MSBuildThisFileDirectory)project.assets.json</ProjectAssetsFile>
-    <NuGetPackageRoot Condition=" '$(NuGetPackageRoot)' == '' ">$(UserProfile)\.nuget\packages\</NuGetPackageRoot>
-    <NuGetPackageFolders Condition=" '$(NuGetPackageFolders)' == '' ">C:\Users\Дана\.nuget\packages\;C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages</NuGetPackageFolders>
-    <NuGetProjectStyle Condition=" '$(NuGetProjectStyle)' == '' ">PackageReference</NuGetProjectStyle>
-    <NuGetToolVersion Condition=" '$(NuGetToolVersion)' == '' ">6.13.2</NuGetToolVersion>
-  </PropertyGroup>
-  <ItemGroup Condition=" '$(ExcludeRestorePackageImports)' != 'true' ">
-    <SourceRoot Include="C:\Users\Дана\.nuget\packages\" />
-    <SourceRoot Include="C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages\" />
-  </ItemGroup>
-</Project>

DroneClient/obj/DroneClient.csproj.nuget.g.targets

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="utf-8" standalone="no"?>
-<Project ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" />

DroneClient/obj/DroneSimulator.csproj.nuget.dgspec.json

@@ -1,76 +0,0 @@
-{
-  "format": 1,
-  "restore": {
-    "D:\\Files\\Main\\Projects\\Fly\\DroneClient\\DroneSimulator.csproj": {}
-  },
-  "projects": {
-    "D:\\Files\\Main\\Projects\\Fly\\DroneClient\\DroneSimulator.csproj": {
-      "version": "1.0.0",
-      "restore": {
-        "projectUniqueName": "D:\\Files\\Main\\Projects\\Fly\\DroneClient\\DroneSimulator.csproj",
-        "projectName": "DroneSimulator",
-        "projectPath": "D:\\Files\\Main\\Projects\\Fly\\DroneClient\\DroneSimulator.csproj",
-        "packagesPath": "C:\\Users\\USER\\.nuget\\packages\\",
-        "outputPath": "D:\\Files\\Main\\Projects\\Fly\\DroneClient\\obj\\",
-        "projectStyle": "PackageReference",
-        "fallbackFolders": [
-          "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages"
-        ],
-        "configFilePaths": [
-          "C:\\Users\\USER\\AppData\\Roaming\\NuGet\\NuGet.Config",
-          "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.FallbackLocation.config",
-          "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.Offline.config"
-        ],
-        "originalTargetFrameworks": [
-          "net9.0-windows"
-        ],
-        "sources": {
-          "C:\\Program Files (x86)\\Microsoft SDKs\\NuGetPackages\\": {},
-          "https://api.nuget.org/v3/index.json": {}
-        },
-        "frameworks": {
-          "net9.0-windows7.0": {
-            "targetAlias": "net9.0-windows",
-            "projectReferences": {}
-          }
-        },
-        "warningProperties": {
-          "warnAsError": [
-            "NU1605"
-          ]
-        },
-        "restoreAuditProperties": {
-          "enableAudit": "true",
-          "auditLevel": "low",
-          "auditMode": "direct"
-        },
-        "SdkAnalysisLevel": "9.0.200"
-      },
-      "frameworks": {
-        "net9.0-windows7.0": {
-          "targetAlias": "net9.0-windows",
-          "imports": [
-            "net461",
-            "net462",
-            "net47",
-            "net471",
-            "net472",
-            "net48",
-            "net481"
-          ],
-          "assetTargetFallback": true,
-          "warn": true,
-          "frameworkReferences": {
-            "Microsoft.NETCore.App": {
-              "privateAssets": "all"
-            },
-            "Microsoft.WindowsDesktop.App.WindowsForms": {
-              "privateAssets": "none"
-            }
-          },
-          "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\9.0.201/PortableRuntimeIdentifierGraph.json"
-        }
-      }
-    }
-  }
-}

DroneClient/obj/DroneSimulator.csproj.nuget.g.props

@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="utf-8" standalone="no"?>
-<Project ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <PropertyGroup Condition=" '$(ExcludeRestorePackageImports)' != 'true' ">
-    <RestoreSuccess Condition=" '$(RestoreSuccess)' == '' ">True</RestoreSuccess>
-    <RestoreTool Condition=" '$(RestoreTool)' == '' ">NuGet</RestoreTool>
-    <ProjectAssetsFile Condition=" '$(ProjectAssetsFile)' == '' ">$(MSBuildThisFileDirectory)project.assets.json</ProjectAssetsFile>
-    <NuGetPackageRoot Condition=" '$(NuGetPackageRoot)' == '' ">$(UserProfile)\.nuget\packages\</NuGetPackageRoot>
-    <NuGetPackageFolders Condition=" '$(NuGetPackageFolders)' == '' ">C:\Users\USER\.nuget\packages\;C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages</NuGetPackageFolders>
-    <NuGetProjectStyle Condition=" '$(NuGetProjectStyle)' == '' ">PackageReference</NuGetProjectStyle>
-    <NuGetToolVersion Condition=" '$(NuGetToolVersion)' == '' ">6.13.2</NuGetToolVersion>
-  </PropertyGroup>
-  <ItemGroup Condition=" '$(ExcludeRestorePackageImports)' != 'true' ">
-    <SourceRoot Include="C:\Users\USER\.nuget\packages\" />
-    <SourceRoot Include="C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages\" />
-  </ItemGroup>
-</Project>

DroneClient/obj/DroneSimulator.csproj.nuget.g.targets

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="utf-8" standalone="no"?>
-<Project ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" />

DroneClient/obj/project.assets.json

@@ -1,82 +0,0 @@
-{
-  "version": 3,
-  "targets": {
-    "net9.0-windows7.0": {}
-  },
-  "libraries": {},
-  "projectFileDependencyGroups": {
-    "net9.0-windows7.0": []
-  },
-  "packageFolders": {
-    "C:\\Users\\Дана\\.nuget\\packages\\": {},
-    "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages": {}
-  },
-  "project": {
-    "version": "1.0.0",
-    "restore": {
-      "projectUniqueName": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\DroneClient.csproj",
-      "projectName": "DroneClient",
-      "projectPath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\DroneClient.csproj",
-      "packagesPath": "C:\\Users\\Дана\\.nuget\\packages\\",
-      "outputPath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\obj\\",
-      "projectStyle": "PackageReference",
-      "fallbackFolders": [
-        "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages"
-      ],
-      "configFilePaths": [
-        "C:\\Users\\Дана\\AppData\\Roaming\\NuGet\\NuGet.Config",
-        "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.FallbackLocation.config",
-        "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.Offline.config"
-      ],
-      "originalTargetFrameworks": [
-        "net9.0-windows"
-      ],
-      "sources": {
-        "C:\\Program Files (x86)\\Microsoft SDKs\\NuGetPackages\\": {},
-        "https://api.nuget.org/v3/index.json": {}
-      },
-      "frameworks": {
-        "net9.0-windows7.0": {
-          "targetAlias": "net9.0-windows",
-          "projectReferences": {}
-        }
-      },
-      "warningProperties": {
-        "warnAsError": [
-          "NU1605"
-        ]
-      },
-      "restoreAuditProperties": {
-        "enableAudit": "true",
-        "auditLevel": "low",
-        "auditMode": "direct"
-      },
-      "SdkAnalysisLevel": "9.0.200"
-    },
-    "frameworks": {
-      "net9.0-windows7.0": {
-        "targetAlias": "net9.0-windows",
-        "imports": [
-          "net461",
-          "net462",
-          "net47",
-          "net471",
-          "net472",
-          "net48",
-          "net481"
-        ],
-        "assetTargetFallback": true,
-        "warn": true,
-        "frameworkReferences": {
-          "Microsoft.NETCore.App": {
-            "privateAssets": "all"
-          },
-          "Microsoft.WindowsDesktop.App.WindowsForms": {
-            "privateAssets": "none"
-          }
-        },
-        "runtimeIdentifierGraphPath": "C:\\Program Files\\dotnet\\sdk\\9.0.201/PortableRuntimeIdentifierGraph.json"
-      }
-    }
-  }
-}

DroneClient/obj/project.nuget.cache

@@ -1,8 +0,0 @@
-{
-  "version": 2,
-  "dgSpecHash": "ddOSNwF62rQ=",
-  "success": true,
-  "projectFilePath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\DroneClient.csproj",
-  "expectedPackageFiles": [],
-  "logs": []
-}

DroneClientCpp/Client.cpp

@@ -0,0 +1,106 @@
+#pragma once
+
+#include "Client.h"
+
+Client::Client(const char* ip, int port) : running(true), Connection(INVALID_SOCKET)
+{
+    if (!ConnectToServer(ip, port))
+    {
+        std::cerr << "Failed to connect to server!" << std::endl;
+    }
+}
+
+Client::~Client()
+{
+    Stop();
+    CloseConnection();
+}
+
+bool Client::ConnectToServer(const char* ip, int port)
+{
+    WSAData wsaData;
+    WORD DLLVersion = MAKEWORD(2, 2);
+
+    if (WSAStartup(DLLVersion, &wsaData) != 0)
+    {
+        std::cerr << "Error: WSAStartup failed" << std::endl;
+        return false;
+    }
+
+    SOCKADDR_IN addr;
+    inet_pton(AF_INET, ip, &addr.sin_addr);
+    addr.sin_port = htons(port);
+    addr.sin_family = AF_INET;
+
+    Connection = socket(AF_INET, SOCK_STREAM, 0);
+    if (Connection == INVALID_SOCKET)
+    {
+        std::cerr << "Error: Failed to create socket" << std::endl;
+        WSACleanup();
+        return false;
+    }
+
+    if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
+    {
+        std::cerr << "Error: Failed to connect to server" << std::endl;
+        closesocket(Connection);
+        WSACleanup();
+        return false;
+    }
+
+    return true;
+}
+
+void Client::CloseConnection()
+{
+    if (Connection != INVALID_SOCKET)
+    {
+        closesocket(Connection);
+        WSACleanup();
+        Connection = INVALID_SOCKET;
+    }
+}
+
+void Client::ReceiveHandler()
+{
+    while (running)
+    {
+        DataIn tempData;
+        int result = recv(Connection, (char*)&tempData, sizeof(tempData), 0);
+
+        if (result <= 0)
+        {
+            std::cerr << "Error: Connection lost (recv failed)" << std::endl;
+            running = false;
+            break;
+        }
+
+        std::lock_guard<std::mutex> lock(dataMutex);
+        dataIn = tempData;
+    }
+}
+
+void Client::SendHandler()
+{
+    while (running)
+    {
+        {
+            std::lock_guard<std::mutex> lock(dataMutex);
+            send(Connection, (char*)&dataOut, sizeof(dataOut), 0);
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+}
+
+void Client::Start()
+{
+    recvThread = std::thread(&Client::ReceiveHandler, this);
+    sendThread = std::thread(&Client::SendHandler, this);
+}
+
+void Client::Stop()
+{
+    running = false;
+    if (recvThread.joinable()) recvThread.join();
+    if (sendThread.joinable()) sendThread.join();
+}

DroneClientCpp/Client.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#include <iostream>
+#include <WinSock2.h>
+#include <WS2tcpip.h>
+#include <thread>
+#include <atomic>
+#include <mutex>
+
+#pragma comment(lib, "Ws2_32.lib")
+
+class Client
+{
+public:
+    Client(const char* ip, int port);
+    ~Client();
+
+    void Start();   // Запуск потоков
+    void Stop();    // Остановка потоков
+    struct DataIn
+    {
+        float AccX, AccY, AccZ;
+        float GyrX, GyrY, GyrZ;
+        float PosX, PosY, LaserRange;
+    } dataIn;
+
+    struct DataOut
+    {
+        float MotorUL, MotorUR, MotorDL, MotorDR;
+    } dataOut;
+    bool ConnectToServer(const char* ip, int port);
+    void CloseConnection();
+
+private:
+    std::atomic<bool> running;
+    std::mutex dataMutex;
+
+    SOCKET Connection;
+    std::thread recvThread;
+    std::thread sendThread;
+
+    void ReceiveHandler();
+    void SendHandler();
+};

DroneClientCpp/Drone.cpp

@@ -0,0 +1,255 @@
+#include "Drone.h"
+
+namespace DroneClient {
+
+    // Реализация статического метода GetBytes
+    array<Byte>^ Drone::GetBytes(Object^ data)
+    {
+        int size = Marshal::SizeOf(data);
+        array<Byte>^ arr = gcnew array<Byte>(size);
+
+        IntPtr ptr = IntPtr::Zero;
+        try
+        {
+            ptr = Marshal::AllocHGlobal(size);
+            Marshal::StructureToPtr(data, ptr, true);
+            Marshal::Copy(ptr, arr, 0, size);
+        }
+        finally
+        {
+            Marshal::FreeHGlobal(ptr);
+        }
+        return arr;
+    }
+
+    // Реализация статического метода FromBytes
+    Object^ Drone::FromBytes(array<Byte>^ arr, Type^ type)
+    {
+        Object^ mem = gcnew Object();
+
+        int size = Marshal::SizeOf(type);
+        IntPtr ptr = IntPtr::Zero;
+        try
+        {
+            ptr = Marshal::AllocHGlobal(size);
+            Marshal::Copy(arr, 0, ptr, size);
+            mem = Marshal::PtrToStructure(ptr, type);
+        }
+        finally
+        {
+            Marshal::FreeHGlobal(ptr);
+        }
+        return mem;
+    }
+
+    // Реализация приватного метода SendDataMotor4
+    array<Byte>^ Drone::SendDataMotor4()
+    {
+        DroneData::DataMotor4 mot4;
+
+        mot4.Head.Size = Marshal::SizeOf(DroneData::DataMotor4::typeid);
+        mot4.Head.Mode = DroneData::DataMode::Response;
+        mot4.Head.Type = DroneData::DataType::DataMotor4;
+
+        mot4.UL = MotorUL;
+        mot4.UR = MotorUR;
+        mot4.DL = MotorDL;
+        mot4.DR = MotorDR;
+
+        return GetBytes(mot4);
+    }
+
+    array<Byte>^ Drone::RecvDataAcc(array<Byte>^ data)
+    {
+        DroneData::DataAcc imu = (DroneData::DataAcc)FromBytes(data, DroneData::DataAcc::typeid);
+
+        AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
+        TimeAcc = imu.Time;
+
+        return gcnew array<Byte>(0);
+    }
+
+    array<Byte>^ Drone::RecvDataGyr(array<Byte>^ data)
+    {
+      DroneData::DataGyr imu = (DroneData::DataGyr)FromBytes(data, DroneData::DataGyr::typeid);
+
+      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+      TimeGyr = imu.Time;
+
+      return gcnew array<Byte>(0);
+    }
+
+    array<Byte>^ Drone::RecvDataRange(array<Byte>^ data)
+    {
+      DroneData::DataRange pos = (DroneData::DataRange)FromBytes(data, DroneData::DataRange::typeid);
+
+      LaserRange = pos.LiDAR;
+      TimeRange = pos.Time;
+
+      return gcnew array<Byte>(0);
+    }
+
+    array<Byte>^ Drone::RecvDataLocal(array<Byte>^ data)
+    {
+        DroneData::DataLocal pos = (DroneData::DataLocal)FromBytes(data, DroneData::DataLocal::typeid);
+
+        PosX = pos.Local.X; PosY = pos.Local.Y;
+
+        return gcnew array<Byte>(0);
+    }
+
+    array<Byte>^ Drone::ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body)
+    {
+        array<Byte>^ zero = gcnew array<Byte>(0);
+
+        switch (head.Type)
+        {
+        case DroneData::DataType::DataAcc:
+            if (head.Mode == DroneData::DataMode::Request)
+            {
+                return zero; // Запрос данных (не реализовано)
+            }
+            else
+            {
+                return RecvDataAcc(body); // Пришли данные
+            }
+
+        case DroneData::DataType::DataGyr:
+          if (head.Mode == DroneData::DataMode::Request)
+          {
+            return zero; // Запрос данных (не реализовано)
+          }
+          else
+          {
+            return RecvDataGyr(body); // Пришли данные
+          }
+
+        case DroneData::DataType::DataRange:
+            if (head.Mode == DroneData::DataMode::Request)
+            {
+                return zero; // Запрос данных (не реализовано)
+            }
+            else
+            {
+                return RecvDataRange(body); // Пришли данные
+            }
+
+        case DroneData::DataType::DataLocal:
+          if (head.Mode == DroneData::DataMode::Request)
+          {
+            return zero; // Запрос данных (не реализовано)
+          }
+          else
+          {
+            return RecvDataLocal(body); // Пришли данные
+          }
+
+        case DroneData::DataType::DataMotor4:
+            if (head.Mode == DroneData::DataMode::Request)
+            {
+                return SendDataMotor4(); // Запрос данных
+            }
+            else
+            {
+                return zero; // Пришли данные (не реализовано)
+            }
+        }
+
+        return zero;
+    }
+
+    // Реализация конструктора
+    Drone::Drone()
+    {
+        DroneStreamData = gcnew array<Byte>(DroneStreamCount); // Инициализация массива
+        DroneStreamIndex = 0;
+        DroneStreamHead.Mode = DroneData::DataMode::None;
+        DroneStreamHead.Size = 0;
+        DroneStreamHead.Type = DroneData::DataType::None;
+    }
+
+    // Реализация метода DataStream
+    List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
+    {
+        System::Collections::Generic::List<array<Byte>^>^ ret = gcnew System::Collections::Generic::List<array<Byte>^>();
+
+        if (data == nullptr) return ret; // Последовательность не сформирована
+
+        if (size + DroneStreamIndex > DroneStreamCount) return nullptr; // Ошибка переполнения
+
+        Array::Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
+        DroneStreamIndex += size;
+
+        while (true)
+        {
+            if (DroneStreamHead.Size == 0) // Заголовок еще не получен
+            {
+                if (DroneStreamIndex < DroneData::DataHead::StrLen) return ret;
+                DroneStreamHead = (DroneData::DataHead)FromBytes(DroneStreamData, DroneData::DataHead::typeid);
+            }
+
+            if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет еще не полный
+
+            array<Byte>^ body = gcnew array<Byte>(DroneStreamHead.Size);
+            Array::Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
+
+            int shift = DroneStreamHead.Size;
+
+            DroneStreamIndex -= shift;
+            Array::Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвиг массива
+
+            DroneStreamHead.Size = 0; // Сброс заголовка
+
+            ret->Add(ClientRequestResponse(DroneStreamHead, body));
+        }
+
+        return ret;
+    }
+
+    // Реализация метода SendRequest
+    array<Byte>^ Drone::SendRequest()
+    {
+      DroneData::DataHead^ acc = gcnew DroneData::DataHead();
+      acc->Size = DroneData::DataHead::StrLen;
+      acc->Mode = DroneData::DataMode::Request;
+      acc->Type = DroneData::DataType::DataAcc;
+
+      DroneData::DataHead^ gyr = gcnew DroneData::DataHead();
+      gyr->Size = DroneData::DataHead::StrLen;
+      gyr->Mode = DroneData::DataMode::Request;
+      gyr->Type = DroneData::DataType::DataGyr;
+
+      DroneData::DataHead^ range = gcnew DroneData::DataHead();
+      range->Size = DroneData::DataHead::StrLen;
+      range->Mode = DroneData::DataMode::Request;
+      range->Type = DroneData::DataType::DataRange;
+
+      DroneData::DataHead^ local = gcnew DroneData::DataHead();
+      local->Size = DroneData::DataHead::StrLen;
+      local->Mode = DroneData::DataMode::Request;
+      local->Type = DroneData::DataType::DataLocal;
+
+      List<array<byte>^>^ list = gcnew List<array<byte>^>();
+
+      list->Add(GetBytes(acc));
+      list->Add(GetBytes(gyr));
+      list->Add(GetBytes(range));
+      list->Add(GetBytes(local));
+      list->Add(SendDataMotor4());
+
+      int count = 0;
+
+      for each(array<byte>^ d in list) count += d->Length;
+
+      array<byte>^ send = gcnew array<byte>(count);
+
+      count = 0;
+      for each (array<byte> ^ d in list)
+      {
+        d->CopyTo(send, count);
+        count += d->Length;
+      }
+
+      return send;
+    }
+}

DroneClientCpp/Drone.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include "DroneData.h"
+#include <Windows.h>
+#include <vcclr.h>
+
+#using <System.dll>
+#using <mscorlib.dll>
+
+using namespace System;
+using namespace System::Collections::Generic;
+using namespace System::Runtime::InteropServices;
+
+namespace DroneClient {
+
+    public ref class Drone
+    {
+    public:
+        float AccX, AccY, AccZ;
+        float GyrX, GyrY, GyrZ;
+        unsigned int TimeAcc, TimeGyr;
+
+        float PosX, PosY;
+        float LaserRange;
+        unsigned int TimeRange;
+
+        float MotorUL, MotorUR, MotorDL, MotorDR;
+
+        static array<Byte>^ GetBytes(Object^ data);
+        static Object^ FromBytes(array<Byte>^ arr, Type^ type);
+
+    private:
+        array<Byte>^ SendDataMotor4();
+        array<Byte>^ RecvDataAcc(array<Byte>^ data);
+        array<Byte>^ RecvDataGyr(array<Byte>^ data);
+        array<Byte>^ RecvDataRange(array<Byte>^ data);
+        array<Byte>^ RecvDataLocal(array<Byte>^ data);
+        array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);
+
+        literal int DroneStreamCount = 512;
+        array<Byte>^ DroneStreamData;
+        int DroneStreamIndex;
+        DroneData::DataHead DroneStreamHead;
+
+    public:
+        Drone(); // Конструктор для инициализации
+
+        System::Collections::Generic::List<array<Byte>^>^ DataStream(array<Byte>^ data, int size);
+        array<Byte>^ SendRequest();
+    };
+}

DroneClientCpp/DroneClient.h

@@ -0,0 +1,65 @@
+#pragma once
+
+#include <Windows.h>
+#include <vcclr.h>
+
+#using <System.dll>
+#using <mscorlib.dll>
+
+using namespace System;
+using namespace System::Runtime::InteropServices;
+
+namespace DroneClient {
+
+    public ref class Drone
+    {
+    public:
+        value struct DataOut
+        {
+            float AccX, AccY, AccZ;
+            float GyrX, GyrY, GyrZ;
+            float PosX, PosY;
+            float LaserRange;
+        };
+
+        value struct DataIn
+        {
+            float MotorUL, MotorUR, MotorDL, MotorDR;
+        };
+
+        static array<Byte>^ GetBytes(Object^ data)
+        {
+            int size = Marshal::SizeOf(data);
+            array<Byte>^ arr = gcnew array<Byte>(size);
+
+            IntPtr ptr = IntPtr::Zero;
+            try
+            {
+                ptr = Marshal::AllocHGlobal(size);
+                Marshal::StructureToPtr(data, ptr, true);
+                Marshal::Copy(ptr, arr, 0, size);
+            }
+            finally
+            {
+                Marshal::FreeHGlobal(ptr);
+            }
+            return arr;
+        }
+
+        static Object^ FromBytes(array<Byte>^ arr, Type^ type)
+        {
+            int size = Marshal::SizeOf(type);
+            IntPtr ptr = IntPtr::Zero;
+            try
+            {
+                ptr = Marshal::AllocHGlobal(size);
+                Marshal::Copy(arr, 0, ptr, size);
+                return Marshal::PtrToStructure(ptr, type);
+            }
+            finally
+            {
+                Marshal::FreeHGlobal(ptr);
+            }
+        }
+    };
+}

DroneClientCpp/DroneClientCpp.sln

@@ -0,0 +1,28 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.12.35527.113
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DroneClientCpp", "DroneClientCpp.vcxproj", "{690C304C-A70B-4B0F-BF61-8C51290BF444}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.ActiveCfg = Debug|x64
+		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.Build.0 = Debug|x64
+		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.ActiveCfg = Debug|Win32
+		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.Build.0 = Debug|Win32
+		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.ActiveCfg = Release|x64
+		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.Build.0 = Release|x64
+		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.ActiveCfg = Release|Win32
+		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

DroneClientCpp/DroneClientCpp.vcxproj

@@ -0,0 +1,141 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <VCProjectVersion>17.0</VCProjectVersion>
+    <ProjectGuid>{690C304C-A70B-4B0F-BF61-8C51290BF444}</ProjectGuid>
+    <TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
+    <Keyword>ManagedCProj</Keyword>
+    <RootNamespace>DroneClientCpp</RootNamespace>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <CLRSupport>true</CLRSupport>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <CLRSupport>true</CLRSupport>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <CLRSupport>true</CLRSupport>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <CLRSupport>true</CLRSupport>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="Shared">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup />
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PreprocessorDefinitions>_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+    </ClCompile>
+    <Link>
+      <AdditionalDependencies />
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PreprocessorDefinitions>WIN32;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+    </ClCompile>
+    <Link>
+      <AdditionalDependencies />
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PreprocessorDefinitions>WIN32;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+    </ClCompile>
+    <Link>
+      <AdditionalDependencies />
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PreprocessorDefinitions>NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+    </ClCompile>
+    <Link>
+      <AdditionalDependencies />
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="Drone.cpp" />
+    <ClCompile Include="FormMain.cpp" />
+    <ClCompile Include="NetClient.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="Drone.h" />
+    <ClInclude Include="DroneData.h" />
+    <ClInclude Include="FormMain.h">
+      <FileType>CppForm</FileType>
+    </ClInclude>
+    <ClInclude Include="NetClient.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <EmbeddedResource Include="FormMain.resx">
+      <DependentUpon>FormMain.h</DependentUpon>
+    </EmbeddedResource>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

DroneClientCpp/DroneClientCpp.vcxproj.filters

@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Исходные файлы">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Файлы заголовков">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
+    </Filter>
+    <Filter Include="Файлы ресурсов">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="FormMain.cpp">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="NetClient.cpp">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+    <ClCompile Include="Drone.cpp">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="FormMain.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="NetClient.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="DroneData.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="Drone.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>

DroneClientCpp/DroneClientCpp.vcxproj.user

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>

DroneClientCpp/DroneData.h

@@ -0,0 +1,117 @@
+#pragma once
+
+#include <Windows.h>
+#include <vcclr.h>
+
+using namespace System;
+using namespace System::Runtime::InteropServices;
+
+namespace DroneData {
+
+    public enum class DataMode : unsigned short
+    {
+        None = 0, Response = 1, Request = 2
+    };
+
+    public enum class DataType : unsigned short
+    {
+      None = 0, Head = 1,
+
+      // Output
+      DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
+
+      // Input
+      DataMotor4 = 2001, DataMotor6 = 2002
+    };
+
+    public value struct DataHead
+    {
+    public:
+      long Size;
+        DataMode Mode;
+        DataType Type;
+
+        unsigned long Time;
+
+        static const int StrLen = sizeof(DataHead);
+    };
+
+    public value struct XYZ
+    {
+    public:
+        float X, Y, Z;
+    };
+
+    public value struct DataAcc
+    {
+    public:
+        DataHead Head;
+        XYZ Acc;
+
+        unsigned long Time;
+
+        static const int StrLen = sizeof(DataAcc);
+    };
+
+    public value struct DataGyr
+    {
+    public:
+      DataHead Head;
+      XYZ Gyr;
+
+      unsigned long Time;
+
+      static const int StrLen = sizeof(DataGyr);
+    };
+
+    public value struct DataMag
+    {
+    public:
+      DataHead Head;
+      XYZ Mag;
+
+      unsigned long Time;
+
+      static const int StrLen = sizeof(DataMag);
+    };
+
+    public value struct DataRange
+    {
+    public:
+        DataHead Head;
+        float LiDAR;
+
+        unsigned long Time;
+
+        static const int StrLen = sizeof(DataRange);
+    };
+
+    public value struct DataLocal
+    {
+    public:
+      DataHead Head;
+      XYZ Local;
+
+      unsigned long Time;
+
+      static const int StrLen = sizeof(DataLocal);
+    };
+
+    public value struct DataMotor4
+    {
+    public:
+        DataHead Head;
+        float UL, UR, DL, DR;
+
+        static const int StrLen = sizeof(DataMotor4);
+    };
+
+    public value struct DataMotor6
+    {
+    public:
+        DataHead Head;
+        float UL, UR, LL, RR, DL, DR;
+
+        static const int StrLen = sizeof(DataMotor6);
+    };
+}

DroneClientCpp/FormMain.cpp

@@ -0,0 +1,12 @@
+#include "FormMain.h"
+
+#include <Windows.h>
+
+using namespace DroneClientCpp;
+
+int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) {
+    Application::EnableVisualStyles();
+    Application::SetCompatibleTextRenderingDefault(false);
+    Application::Run(gcnew FormMain);
+    return 0;
+}

DroneClientCpp/FormMain.resx

@@ -0,0 +1,126 @@
+<?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="backgroundWorker1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>310, 17</value>
+  </metadata>
+</root>

DroneClientCpp/MyForm.cpp

@@ -0,0 +1,12 @@
+#include "MyForm.h"
+
+#include <Windows.h>
+
+using namespace DroneClientCpp;
+
+int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) {
+    Application::EnableVisualStyles();
+    Application::SetCompatibleTextRenderingDefault(false);
+    Application::Run(gcnew MyForm);
+    return 0;
+}

DroneClientCpp/MyForm.resx

@@ -0,0 +1,120 @@
+<?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>
+</root>

DroneClientCpp/NetClient.cpp

@@ -0,0 +1,105 @@
+#include "NetClient.h"
+
+namespace DroneSimulator {
+
+    // Конструктор ConnectData
+    NetClient::ConnectData::ConnectData(bool connect, Socket^ server)
+    {
+        Connect = connect;
+        Server = server;
+    }
+
+    // Конструктор ReceiveData
+    NetClient::ReceiveData::ReceiveData(array<Byte>^ buffer, int size, Socket^ server)
+    {
+        Buffer = buffer;
+        Size = size;
+        Server = server;
+    }
+
+    // Конструктор NetClient
+    NetClient::NetClient()
+    {
+        Connected = false;
+        ServerSocket = nullptr;
+        DataServer = gcnew ServerData(); // Инициализация DataServer
+    }
+
+    // Реализация метода Connect
+    NetClient::ClientState NetClient::Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive)
+    {
+        if (Connected)
+        {
+            Close();
+            return ClientState::Stop;
+        }
+
+        ConnectionCallback = Connection;
+        ReceiveCallback = Receive;
+
+        IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port);
+        ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
+
+        try { if (ServerSocket) ServerSocket->Connect(ep); }
+        catch (...) { ServerSocket->Close(); return ClientState::Error; }
+
+        Connected = true;
+
+        ConnectionCallback(gcnew ConnectData(true, ServerSocket));
+
+        ReceiveData^ receiveData = gcnew ReceiveData(DataServer->buffer, ServerData::size, ServerSocket);
+
+        try { if (ServerSocket) ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
+        catch (...) {}
+
+        return ClientState::Connected;
+    }
+
+    // Реализация метода Close
+    void NetClient::Close()
+    {
+        try { if(ServerSocket) ServerSocket->Shutdown(SocketShutdown::Both); }
+        catch (...) {}
+        if(ServerSocket) ServerSocket->Close();
+        Connected = false;
+    }
+
+    // Реализация метода Send
+    void NetClient::Send(array<Byte>^ data)
+    {
+        if (ServerSocket != nullptr && Connected)
+        {
+            try { if (ServerSocket) ServerSocket->Send(data); }
+            catch (...) {}
+        }
+    }
+
+    // Реализация метода ReadCallback
+    void NetClient::ReadCallback(IAsyncResult^ ar)
+    {
+        ReceiveData^ cd = (ReceiveData^)ar->AsyncState;
+        if (cd == nullptr) return;
+
+        int bytes = 0;
+        try { bytes = ServerSocket->EndReceive(ar); }
+        catch (...) {}
+
+        if (bytes == 0)
+        {
+          if (ServerSocket) ServerSocket->Close();
+            Connected = false;
+
+            if (ServerSocket != nullptr)
+            {
+                ConnectionCallback(gcnew ConnectData(false, nullptr));
+            }
+
+            return;
+        }
+
+        ReceiveCallback(gcnew ReceiveData(cd->Buffer, bytes, ServerSocket));
+
+        try { if (ServerSocket) ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
+        catch (...) {}
+    }
+}

DroneClientCpp/NetClient.h

@@ -0,0 +1,68 @@
+#pragma once
+
+#include <Windows.h>
+#include <vcclr.h>
+
+#using <System.dll>
+#using <System.Net.dll>
+
+using namespace System;
+using namespace System::Net;
+using namespace System::Net::Sockets;
+
+namespace DroneSimulator {
+
+    public ref class NetClient
+    {
+    public:
+        ref class ConnectData
+        {
+        public:
+            bool Connect;
+            Socket^ Server;
+
+            ConnectData(bool connect, Socket^ server);
+        };
+
+        ref class ReceiveData
+        {
+        public:
+            array<Byte>^ Buffer;
+            int Size;
+            Socket^ Server;
+
+            ReceiveData(array<Byte>^ buffer, int size, Socket^ server);
+        };
+
+    private:
+        ref class ServerData
+        {
+        public:
+            literal int size = 1024;
+            array<Byte>^ buffer = gcnew array<Byte>(size);
+        };
+
+        bool Connected;
+        Socket^ ServerSocket;
+        ServerData^ DataServer;
+
+    public:
+        delegate void ClientCallback(Object^ o);
+
+    private:
+        ClientCallback^ ConnectionCallback;
+        ClientCallback^ ReceiveCallback;
+
+    public:
+        NetClient(); // Добавлен конструктор
+
+        enum class ClientState { Error, Connected, Stop };
+
+        ClientState Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive);
+        void Close();
+        void Send(array<Byte>^ data);
+
+    private:
+        void ReadCallback(IAsyncResult^ ar);
+    };
+}

DroneClientCpp/Source.cpp

@@ -0,0 +1,11 @@
+#include "MyForm.h"
+
+using namespace MyWinFormsApp; // ???????????? ???? ?????? ???????
+
+[STAThread]
+int main(array<String^>^ args) {
+    Application::EnableVisualStyles(); // ???????? ??????????? ????? ????????? ??????????
+    Application::SetCompatibleTextRenderingDefault(false); // ????????? ?????????? ??????
+    Application::Run(gcnew MyForm()); // ?????? ?????
+    return 0;
+}

DroneSimulator/.vs/DroneSimulator/v17/DocumentLayout.backup.json

@@ -1,12 +0,0 @@
-{
-  "Version": 1,
-  "WorkspaceRootPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\",
-  "Documents": [],
-  "DocumentGroupContainers": [
-    {
-      "Orientation": 0,
-      "VerticalTabListWidth": 256,
-      "DocumentGroups": []
-    }
-  ]
-}

DroneSimulator/.vs/DroneSimulator/v17/DocumentLayout.json

@@ -1,37 +0,0 @@
-{
-  "Version": 1,
-  "WorkspaceRootPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\",
-  "Documents": [
-    {
-      "AbsoluteMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneSimulator.csproj|d:\\cpl\\simulator\\dronesimulator\\dronesimulator\\screen2d.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
-      "RelativeMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneSimulator.csproj|solutionrelative:screen2d.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
-    }
-  ],
-  "DocumentGroupContainers": [
-    {
-      "Orientation": 0,
-      "VerticalTabListWidth": 256,
-      "DocumentGroups": [
-        {
-          "DockedWidth": 200,
-          "SelectedChildIndex": 0,
-          "Children": [
-            {
-              "$type": "Document",
-              "DocumentIndex": 0,
-              "Title": "Screen2D.cs",
-              "DocumentMoniker": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\Screen2D.cs",
-              "RelativeDocumentMoniker": "Screen2D.cs",
-              "ToolTip": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\Screen2D.cs",
-              "RelativeToolTip": "Screen2D.cs",
-              "ViewState": "AgIAAIgAAAAAAAAAAAAwwAAAAAAAAAAAAAAAAA==",
-              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
-              "WhenOpened": "2025-03-27T13:13:30.215Z",
-              "EditorCaption": ""
-            }
-          ]
-        }
-      ]
-    }
-  ]
-}

DroneSimulator/Drone.cs

@@ -1,11 +1,10 @@
-using System;
+using System.CodeDom;
-using System.Collections.Generic;
-using System.Linq;
 using System.Numerics;
 using System.Runtime.InteropServices;
-using System.Text;
+using System.Security.Cryptography;
-using System.Threading.Tasks;
+using static DroneSimulator.Drone;
-using static System.Windows.Forms.AxHost;
+using static System.Windows.Forms.VisualStyles.VisualStyleElement;
+using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
 
 namespace DroneSimulator
 {
@@ -15,15 +14,19 @@ namespace DroneSimulator
     public float Mass; // Масса
     public bool Active; // Живой?
     public float Length; // Длинна лучей
+    public const float Dynamic = 10; // Динамика вращения
     public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
     public Quaternion Quat; // Основной кватернион
-    public float Power = 0; // Тяга всех двигателей
+    public float Power = 0; // Тяга всех двигателей (0-1)
+    public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
     public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
 
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
     public float LaserRange; // Имитация: Дальномер
 
-    private const float Gravity = 1.0f;
+    private uint DataTimer;
+
+    private const float Gravity = 9.8f;
 
     private const float TO_GRAD = 180 / MathF.PI;
     private const float TO_RADI = MathF.PI / 180;
@@ -31,27 +34,24 @@ namespace DroneSimulator
     private Thread DroneThread;
     private int Timer;
 
-    private static int CounterID = 0;
+    private Random MainRandom = new Random();
 
+    RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
+    RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
+    RealMode.Position RealPos = new RealMode.Position();
+    RealMode.Barometer RealBar = new RealMode.Barometer();
+    RealMode.Range RealRange = new RealMode.Range();
 
-
+    public static byte[] getBytes(object data)
-    public struct DataOut
     {
-      public float AccX, AccY, AccZ;
+      int size = Marshal.SizeOf(data);
-      public float GyrX, GyrY, GyrZ;
-      public float PosX, PosY;
-      public float LaserRange;
-
-      public byte[] getBytes()
-      {
-        int size = Marshal.SizeOf(this);
       byte[] arr = new byte[size];
 
       IntPtr ptr = IntPtr.Zero;
       try
       {
         ptr = Marshal.AllocHGlobal(size);
-          Marshal.StructureToPtr(this, ptr, true);
+        Marshal.StructureToPtr(data, ptr, true);
         Marshal.Copy(ptr, arr, 0, size);
       }
       finally
@@ -60,17 +60,12 @@ namespace DroneSimulator
       }
       return arr;
     }
-    }
 
-    public struct DataIn
+    public static object fromBytes(byte[] arr, Type type)
     {
-      public float MotorUL, MotorUR, MotorDL, MotorDR;
+      object mem = new object();
 
-      public void fromBytes(byte[] arr)
+      int size = Marshal.SizeOf(type);
-      {
-        DataIn mem = new DataIn();
-
-        int size = Marshal.SizeOf(mem);
       IntPtr ptr = IntPtr.Zero;
       try
       {
@@ -78,24 +73,33 @@ namespace DroneSimulator
 
         Marshal.Copy(arr, 0, ptr, size);
 
-          mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType());
+        mem = Marshal.PtrToStructure(ptr, type);
       }
       finally
       {
         Marshal.FreeHGlobal(ptr);
       }
 
-        this = mem;
+      return mem;
     }
+
+    public struct DataVisual
+    {
+      public int ID; // Идентификатор
+      public float W, X, Y, Z; // Кватернион вращения
+      public float PosX, PosY, PosZ; // Координаты в пространстве
+    }
+
+    public DataVisual GetVisual()
+    {
+      return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z };
     }
 
     private void ThreadFunction()
     {
       while (DroneThread != null)
       {
-        float time = Environment.TickCount - Timer;
+        Action(Environment.TickCount);
-        Timer = Environment.TickCount;
-        Action(time / 100);
         Thread.Sleep(1);
       }
     }
@@ -104,7 +108,7 @@ namespace DroneSimulator
     {
       ID = id;
       Active = false;
-      PosXYZ = new Vector3(2000, 1000, 0);
+      PosXYZ = Vector3.Zero;
       SpdXYZ = Vector3.Zero;
       AccXYZ = Vector3.Zero;
       Quat = Quaternion.Identity;
@@ -114,10 +118,11 @@ namespace DroneSimulator
       DroneThread.Start();
     }
 
-    public int Create(float mass, float len)
+    public int Create(float power, float mass, float len)
     {
-      Mass = Range(mass);
+      Mass = mass;
       Length = len;
+      MaxPower = power;
 
       Active = true;
 
@@ -170,25 +175,30 @@ 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(float time)
+    public void Action(int tick)
     {
+      float time = (tick - Timer) / 1000.0f;
+      Timer = tick;
+
       if (!Active) return;
 
       float flow = Power;
 
-      if (PosXYZ.Z < 100)
+      if (PosXYZ.Z < 0.3f)
       {
         flow += flow * 0.1f; // Воздушная подушка
       }
 
-      Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
+      SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
-      AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass;
 
-      SpdPRY += AccPRY * time / (Mass * Length);
+      Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
+      AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass);
 
       SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
       PosXYZ += SpdXYZ * time;
 
+      AccXYZ /= Gravity; // Вернуть измерения в G
+
       if (PosXYZ.Z < 0)
       {
         SpdPRY = Vector3.Zero;
@@ -196,7 +206,7 @@ namespace DroneSimulator
         SpdXYZ.Y = 0;
         Quat = Quaternion.Identity;
       }
-      else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
+      else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
 
       Vector4 ori = GetOrientation();
 
@@ -209,7 +219,7 @@ namespace DroneSimulator
           Active = false; // Сильно ударился о землю
         }*/
 
-        /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
+        /*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
         {
           Active = false; // Повредил винты при посадке
         }*/
@@ -222,13 +232,13 @@ namespace DroneSimulator
       }
       else
       {
-        /*if (ori.W < 0)
+        if (ori.W < 0)
         {
-          Active = false; // Перевернулся вверх ногами
+          //Active = false; // Перевернулся вверх ногами
-        }*/
+        }
 
         Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
-        grav = (Quat * grav) * Quaternion.Inverse(Quat);
+        //grav = (Quat * grav) * Quaternion.Inverse(Quat); // Инерциальный акселерометр (тест)
         Acc = new Vector3(grav.X, grav.Y, grav.Z);
 
         Gyr = SpdPRY;
@@ -238,6 +248,14 @@ namespace DroneSimulator
         if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
         else LaserRange = float.MaxValue;
       }
+
+      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);
+
+      DataTimer = (uint)tick;
     }
 
     private float Range(float pow)
@@ -245,7 +263,7 @@ namespace DroneSimulator
       if (pow > 1) pow = 1;
       if (pow < 0) pow = 0;
 
-      return pow;
+      return pow * MaxPower;
     }
 
     public void SetQadroPow(float ul, float ur, float dl, float dr)
@@ -258,5 +276,183 @@ namespace DroneSimulator
       AccPRY.X = ((ul + ur) - (dl + dr));
       AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
     }
+
+    private void RecvDataMotor4(byte[] data)
+    {
+      DroneData.DataMotor4 mot = (DroneData.DataMotor4)fromBytes(data, typeof(DroneData.DataMotor4));
+      /* обработка */
+      SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR);
+    }
+
+    private byte[] SendDataAcc()
+    {
+      DroneData.DataAcc acc = new DroneData.DataAcc();
+
+      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.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
+      acc.Time = RealAcc.timer;
+
+      return getBytes(acc);
+    }
+
+    private byte[] SendDataGyr()
+    {
+      DroneData.DataGyr gyr = new DroneData.DataGyr();
+
+      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.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
+      gyr.Time = RealGyr.timer;
+
+      return getBytes(gyr);
+    }
+
+    private byte[] SendDataMag()
+    {
+      DroneData.DataMag mag = new DroneData.DataMag();
+
+      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.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0;
+      mag.Time = DataTimer;
+
+      return getBytes(mag);
+    }
+
+    private byte[] SendDataRange()
+    {
+      DroneData.DataRange range = new DroneData.DataRange();
+
+      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.LiDAR = RealRange.result;
+      range.Time = RealRange.timer;
+
+      return getBytes(range);
+    }
+
+    private byte[] SendDataLocal()
+    {
+      DroneData.DataLocal local = new DroneData.DataLocal();
+
+      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.Local.X = RealPos.result.X; local.Local.Y = RealPos.result.Y; local.Local.Z = RealPos.result.Z;
+      local.Time = RealPos.timer;
+
+      return getBytes(local);
+    }
+
+    private byte[] SendDataBarometer()
+    {
+      DroneData.DataBar bar = new DroneData.DataBar();
+
+      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.Pressure = RealBar.result;
+      bar.Time = RealBar.timer;
+
+      return getBytes(bar);
+    }
+
+    private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
+    {
+      byte[] zero = new byte[0];
+
+      switch (head.Type)
+      {
+        case DroneData.DataType.DataAcc:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataAcc();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
+
+        case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
+
+        case DroneData.DataType.DataMag: if (head.Mode == DroneData.DataMode.Request) return SendDataMag(); else return zero;
+
+        case DroneData.DataType.DataRange: if (head.Mode == DroneData.DataMode.Request) return SendDataRange(); else return zero;
+
+        case DroneData.DataType.DataLocal: if (head.Mode == DroneData.DataMode.Request) return SendDataLocal(); else return zero;
+
+        case DroneData.DataType.DataBar: if (head.Mode == DroneData.DataMode.Request) return SendDataBarometer(); else return zero;
+
+        case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
+      }
+
+      return zero;
+    }
+
+    private const int DroneStreamCount = 512;
+    private byte[] DroneStreamData = new byte[DroneStreamCount];
+    private int DroneStreamIndex = 0;
+    private DroneData.DataHead DroneStreamHead = new DroneData.DataHead() { Mode = DroneData.DataMode.None, Size = 0, Type = DroneData.DataType.None };
+
+    public List<byte[]?>? DataStream(byte[]? data, int size)
+    {
+      List<byte[]?> ret = new List<byte[]?>();
+
+      if (data == null) return ret; // Последовательность не сформирована, ждать данных
+
+      if (size + DroneStreamIndex > DroneStreamCount) return null; // Ошибка переполнения, поток сломан (конец)
+
+      Array.Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
+      DroneStreamIndex += size;
+
+      while (true)
+      {
+        if (DroneStreamHead.Size == 0) // Заголовок ещё не получен
+        {
+          if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать
+          DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead));
+        }
+
+        if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный
+
+        byte[] body = new byte[DroneStreamHead.Size];
+
+        Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
+
+        int shift = DroneStreamHead.Size;
+
+        DroneStreamIndex -= shift;
+        Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные
+
+        DroneStreamHead.Size = 0; // Отменяем прошлый заголовок
+
+        ret.Add(ServerRequestResponse(DroneStreamHead, body));
+      }
+
+      return ret;
+    }
   }
 }

DroneSimulator/DroneData.cs

@@ -0,0 +1,110 @@
+using System.Runtime.InteropServices;
+
+namespace DroneData
+{
+  public enum DataMode : ushort
+  {
+    None = 0, Response = 1, Request = 2
+  };
+
+  public enum DataType : ushort
+  { 
+    None = 0, Head = 1,
+
+    // Output
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006,
+
+    // Input
+    DataMotor4 = 2001, DataMotor6 = 2002
+  };
+
+  public struct DataHead
+  {
+    public int Size;
+
+    public DataMode Mode;
+    public DataType Type;
+
+    public uint Time; // Общее время
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
+  }
+
+  public struct XYZ { public float X, Y, Z; }
+
+  public struct DataAcc
+  {
+    public DataHead Head;
+    public XYZ Acc;
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
+  }
+
+  public struct DataGyr
+  {
+    public DataHead Head;
+    public XYZ Gyr;
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
+  }
+
+  public struct DataMag
+  {
+    public DataHead Head;
+    public XYZ Mag;
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
+  }
+
+  public struct DataRange
+  {
+    public DataHead Head;
+    public float LiDAR; // Датчик посадки
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
+  }
+
+  public struct DataLocal
+  {
+    public DataHead Head;
+    public XYZ Local; // Локальные координаты
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
+  }
+
+  public struct DataBar
+  {
+    public DataHead Head;
+    public float Pressure; // Давление
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
+  }
+
+  public struct DataMotor4
+  {
+    public DataHead Head;
+    public float UL, UR, DL, DR;
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
+  }
+
+  public struct DataMotor6
+  {
+    public DataHead Head;
+    public float UL, UR, LL, RR, DL, DR;
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
+  }
+}

DroneSimulator/FormMain.cs

@@ -1,9 +1,12 @@
-using System.Text;
+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;
+using System.Runtime.InteropServices;
+using System.CodeDom;
+using System.Linq;
 
 namespace DroneSimulator
 {
@@ -12,15 +15,23 @@ namespace DroneSimulator
     Screen2D screen2D = null;
 
     NetServerClients netServerClient = new NetServerClients();
+    NetServerVisual netServerVisual = new NetServerVisual();
 
     List<Drone> AllDrones = new List<Drone>();
 
     public Form_Main()
     {
       InitializeComponent();
+
+      RealMode.RealSimulation = checkBox_Mode_Real.Checked;
+      numericUpDown_Acc_Update(null, null);
+      numericUpDown_Gyr_Update(null, null);
+      numericUpDown_Pos_Update(null, null);
+      numericUpDown_Bar_Update(null, null);
+      numericUpDown_Range_Update(null, null);
     }
 
-    private void ConnectionCallback(object o)
+    private void ClientConnectionCallback(object o)
     {
       NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
 
@@ -32,7 +43,7 @@ namespace DroneSimulator
       if (data.Connect)
       {
         Drone drone = new Drone(data.ID);
-        drone.Create(0.5f, 10.0f);
+        drone.Create(1.0f, 0.5f, 1.0f);
 
         screen2D.CreateDrone(Color.Red, data.ID);
 
@@ -53,7 +64,7 @@ namespace DroneSimulator
       }
     }
 
-    private void ReceiveCallback(object o)
+    private void ClientReceiveCallback(object o)
     {
       NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
 
@@ -68,30 +79,27 @@ namespace DroneSimulator
 
       if (drone == null) return;
 
-      Drone.DataIn id = new Drone.DataIn();
+      List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
 
-      id.fromBytes(data.Buffer);
+      if (send == null) return;
-
+      try
-      drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR);
+      {
-
+        foreach (byte[]? b in send)
-      Drone.DataOut od = new Drone.DataOut();
+        {
-
+          if (b != null) data.Client?.Send(b);
-      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;
+      catch { }
-      od.LaserRange = drone.LaserRange;
-
-      data.Client.Send(od.getBytes());
     }
 
     private void button_Client_Start_Click(object sender, EventArgs e)
     {
-      var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ConnectionCallback, ReceiveCallback);
+      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 server");
+            MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
             break;
           }
         case NetServerClients.ServerState.Start:
@@ -102,6 +110,7 @@ namespace DroneSimulator
           }
         case NetServerClients.ServerState.Stop:
           {
+            label_Clients_Num.Text = "0";
             button_Client_Start.Text = "Start";
             button_Client_Start.BackColor = Color.Transparent;
             break;
@@ -144,5 +153,123 @@ namespace DroneSimulator
     {
       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;
+          }
+      }
+    }
+
+    private void numericUpDown_Bar_Update(object sender, EventArgs e)
+    {
+      try { RealMode.Barometer.Pressure = uint.Parse(textBox_Bar_Pressure.Text); }
+      catch
+      {
+        RealMode.Barometer.Pressure = 102258;
+        MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+      }
+
+
+      RealMode.Barometer.Freq = (uint)numericUpDown_Bar_Freq.Value;
+      RealMode.Barometer.Noise = (float)numericUpDown_Bar_Noise.Value;
+      RealMode.Barometer.Lateness = (float)numericUpDown_Bar_Laten.Value;
+      RealMode.Barometer.Enable = checkBox_Bar_Enable.Checked;
+    }
+
+    private void checkBox_Mode_Real_CheckedChanged(object sender, EventArgs e)
+    {
+      RealMode.RealSimulation = checkBox_Mode_Real.Checked;
+    }
+
+    private void numericUpDown_Acc_Update(object sender, EventArgs e)
+    {
+      RealMode.Accelerometer.Freq = (uint)numericUpDown_Acc_Freq.Value;
+      RealMode.Accelerometer.Noise = (float)numericUpDown_Acc_Noise.Value;
+      RealMode.Accelerometer.Lateness = (float)numericUpDown_Acc_Laten.Value;
+
+      RealMode.Accelerometer.ScaleLeft = (float)numericUpDown_Acc_Scale_Left.Value;
+      RealMode.Accelerometer.ScaleRight = (float)numericUpDown_Acc_Scale_Rigth.Value;
+    }
+
+    private void numericUpDown_Gyr_Update(object sender, EventArgs e)
+    {
+      RealMode.Gyroscope.Freq = (uint)numericUpDown_Gyr_Freq.Value;
+      RealMode.Gyroscope.Noise = (float)numericUpDown_Gyr_Noise.Value;
+      RealMode.Gyroscope.Lateness = (float)numericUpDown_Gyr_Laten.Value;
+
+      RealMode.Gyroscope.Shift.X = (float)numericUpDown_Gyr_Shift_X.Value;
+      RealMode.Gyroscope.Shift.Y = (float)numericUpDown_Gyr_Shift_Y.Value;
+      RealMode.Gyroscope.Shift.Z = (float)numericUpDown_Gyr_Shift_Z.Value;
+    }
+
+    private void numericUpDown_Pos_Update(object sender, EventArgs e)
+    {
+      RealMode.Position.Freq = (uint)numericUpDown_Pos_Freq.Value;
+      RealMode.Position.Noise = (float)numericUpDown_Pos_Noise.Value;
+      RealMode.Position.Lateness = (float)numericUpDown_Pos_Laten.Value;
+      RealMode.Position.Enable = checkBox_Pos_Enable.Checked;
+    }
+
+    private void numericUpDown_Range_Update(object sender, EventArgs e)
+    {
+      RealMode.Range.Freq = (uint)numericUpDown_Range_Freq.Value;
+      RealMode.Range.Noise = (float)numericUpDown_Range_Noise.Value;
+      RealMode.Range.Lateness = (float)numericUpDown_Range_Laten.Value;
+      RealMode.Range.Enable = checkBox_Range_Enable.Checked;
+
+      RealMode.Range.MaxHeight = (float)numericUpDown_Range_Max.Value;
+    }
   }
 }

DroneSimulator/NetServerClients.cs

@@ -1,10 +1,6 @@
-using System;
+using System.Net.Sockets;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Net.Sockets;
 using System.Net;
+using System.Drawing;
 
 namespace DroneSimulator
 {
@@ -21,8 +17,9 @@ namespace DroneSimulator
 
     public class ReceiveData
     {
+      
       public int ID;
-      public byte[]? Buffer;
+      public byte[] Buffer;
       public int Size;
 
       public Socket? Client;
@@ -32,13 +29,13 @@ namespace DroneSimulator
     {
       public int ID;
       public Socket? workSocket = null;
-      public const int BufferSize = 1024;
+      public const int count = 1024;
-      public byte[] buffer = new byte[BufferSize];
+      public byte[] buffer = new byte[count];
     }
 
     private int SocketID = 0;
     private int SocketLimit;
-    private Socket? ServerSocket = null;
+    private Socket? ServerSocket;
     private List<ClientData> ClientSockets = new List<ClientData>();
 
     public delegate void ServerCallback(object o);
@@ -46,14 +43,21 @@ namespace DroneSimulator
     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 (ServerSocket != null)
+      if (Active)
       {
-        ServerSocket.Close();
+        ServerSocket?.Close();
-        foreach (ClientData c in ClientSockets) { c.workSocket?.Shutdown(SocketShutdown.Both); c.workSocket?.Close(); }
+        foreach (ClientData c in ClientSockets)
+        {
+          try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { }
+          c.workSocket?.Close();
+        }
+        ClientSockets.Clear();
         return ServerState.Stop;
       }
 
@@ -70,8 +74,9 @@ namespace DroneSimulator
         ServerSocket.Bind(ip);
         ServerSocket.Listen(10);
         ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket);
+        Active = true;
       }
-      catch { ServerSocket.Close(); ServerSocket = null; return ServerState.Error; }
+      catch { ServerSocket.Close(); return ServerState.Error; }
 
       return ServerState.Start;
     }
@@ -84,7 +89,7 @@ namespace DroneSimulator
       Socket handler;
 
       try { handler = listener.EndAccept(ar); }
-      catch{ ServerSocket?.Close(); ServerSocket = null; return; }
+      catch{ ServerSocket?.Close(); Active = false; return; }
 
       if (SocketLimit > ClientSockets.Count)
       {
@@ -98,7 +103,7 @@ namespace DroneSimulator
 
         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);
+        handler.BeginReceive(clientData.buffer, 0, ClientData.count, 0, new AsyncCallback(ReadCallback), clientData);
       }
       else handler.Close();
 
@@ -127,7 +132,11 @@ namespace DroneSimulator
 
       ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
 
-      cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
+      try
+      {
+        cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.count, 0, new AsyncCallback(ReadCallback), cd);
+      }
+      catch { }
     }
   }
 }

DroneSimulator/NetServerVisual.cs

@@ -0,0 +1,134 @@
+using System.Net.Sockets;
+using System.Net;
+
+namespace DroneSimulator
+{
+  internal class NetServerVisual
+  {
+    public class ConnectData
+    {
+      public bool Connect;
+      public int Count;
+
+      public Socket? Client;
+    }
+
+    public class ReceiveData
+    {
+      public byte[]? Buffer;
+      public int Size;
+
+      public Socket? Client;
+    }
+
+    private class ClientData
+    {
+      public Socket? workSocket = null;
+      public const int BufferSize = 1024;
+      public byte[] buffer = new byte[BufferSize];
+    }
+
+    private int SocketLimit;
+    private Socket? ServerSocket;
+    private List<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 { }
+    }
+  }
+}

DroneSimulator/RealMode.cs

@@ -0,0 +1,333 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Numerics;
+using System.Reflection;
+
+namespace DroneSimulator
+{
+  internal class RealMode
+  {
+    public static bool RealSimulation;
+
+    internal class Accelerometer
+    {
+      public static uint Freq;
+      public static float Noise;
+      public static float ScaleLeft;
+      public static float ScaleRight;
+      public static float Lateness;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector3[] laten = new Vector3[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public Vector3 result;
+
+      public void Update(Vector3 value, uint time)
+      {
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        float scale = (ScaleRight - ScaleLeft) / 2;
+        float shift = scale + ScaleLeft;
+
+        value.X = (value.X * scale) + shift;
+        value.Y = (value.Y * scale) + shift;
+        value.Z = (value.Z * scale) + shift;
+
+        int noise = (int)(Noise * 1000);
+        value.X += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Z += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Gyroscope
+    {
+      public static uint Freq;
+      public static float Noise;
+      public static Vector3 Shift;
+      public static float Lateness;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector3[] laten = new Vector3[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public Vector3 result;
+
+      public void Update(Vector3 value, uint time)
+      {
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        value.X += Shift.X;
+        value.Y += Shift.Y;
+        value.Z += Shift.Z;
+
+        int noise = (int)(Noise * 1000);
+        value.X += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Z += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Magnetometer
+    {
+
+    }
+
+    internal class Position
+    {
+      public static bool Enable;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector3[] laten = new Vector3[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public Vector3 result;
+
+      public void Update(Vector3 value, uint time)
+      {
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        if (!Enable)
+        {
+          result = Vector3.NaN;
+          return;
+        }
+
+        int noise = (int)(Noise * 1000);
+        value.X += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Z += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Barometer
+    {
+      public static bool Enable;
+      public static float Pressure;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private float[] laten = new float[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public float result;
+
+      public void Update(float value, uint time)
+      {
+        value = Pressure - value;
+
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return; 
+        }
+
+        if (!Enable)
+        {
+          result = float.NaN;
+          return;
+        }
+
+        int noise = (int)(Noise * 1000);
+        value += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class OpticalFlow
+    {
+
+    }
+
+    internal class Range
+    {
+      public static bool Enable;
+      public static float MaxHeight;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private float[] laten = new float[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public float result;
+
+      public void Update(float value, uint time)
+      {
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        if (!Enable)
+        {
+          result = float.NaN;
+          return;
+        }
+
+        if (value > MaxHeight) value = -1;
+        else
+        {
+          int noise = (int)(Noise * 1000);
+          value += ((float)rand.Next(-noise, noise)) / 1000;
+        }
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+  }
+}

DroneSimulator/Screen2D.cs

@@ -1,10 +1,4 @@
-using System;
+using System.Numerics;
-using System.Collections.Generic;
-using System.Linq;
-using System.Numerics;
-using System.Reflection.Metadata;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace DroneSimulator
 {
@@ -30,6 +24,7 @@ namespace DroneSimulator
       public int Azimuth = 0;
     }
 
+    private float Scale = 100;
     private DrawCallback drawCallback;
     private Bitmap MainArea = new Bitmap(4096, 2560);
     private List<DroneInfo> DroneList = new List<DroneInfo>();
@@ -167,6 +162,11 @@ namespace DroneSimulator
       const float TO_GRAD = 180 / MathF.PI;
       const float TO_RADI = MathF.PI / 180;
 
+      pos *= Scale;
+
+      pos.X += MainArea.Width / 2;
+      pos.Y += MainArea.Height / 2;
+
       foreach (var d in DroneList)
       {
         if (d.ID != id) continue;