Добавлен сервер для отправки телеметрии

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/BaseCommHandler.cs

@@ -0,0 +1,478 @@
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using TelemetryIO.Models;
+
+namespace TelemetryIO
+{
+    public interface iCommParams
+    {
+
+    }
+
+    internal class TCPCommParams : iCommParams
+    {
+        public string IP = "";
+        public int Port = 0;
+        public TCPCommParams(string addr, int port)
+        {
+            this.IP = addr;
+            this.Port = port;
+        }
+    }
+
+    public class SerialCommParams : iCommParams
+    {
+        public string PortName = "";
+        public int BaudRate = 9600;
+        public SerialCommParams(string portName, int baudRate)
+        {
+            PortName = portName;
+            BaudRate = baudRate;
+        }
+    }
+
+    public abstract class BaseCommHandler
+    {
+        public const int TELE_CMD_RD_ONCE = 1;
+        public const int TELE_CMD_RD_MON_ON = 2;
+        public const int TELE_CMD_RD_MON_OFF = 3;
+        public const int TELE_CMD_RD_MON_ADD = 4;
+        public const int TELE_CMD_RD_MON_REMOVE = 5;
+        public const int TELE_CMD_RD_MON_REMOVEALL = 6;
+        public const int TELE_CMD_WR = 10;
+        public const int TELE_CMD_MOTORS_CTRL = 100;
+        public const int TELE_CMD_ABORT = 999;
+        public const int TELE_CMD_HELLO = 9999;
+        public const byte CRC8_POLYNOMIAL = 0x07;
+        public const int CRC32_POLY = 0x04C11DB7;
+        public const byte ESCAPE_BEGIN = 0xBE;
+        public const byte ESCAPE_END = 0xED;
+        public const byte ESCAPE_CHAR = 0x0E;
+
+
+        private volatile bool _isReading = true;
+        private readonly ConcurrentQueue<byte> dataQueue = new ConcurrentQueue<byte>();
+        static private List<byte> rx_buf = new List<byte>();
+        private Task _readingTask;
+        private object lock_obj = new object();
+        private object lock_obj_put = new object();
+        private bool waitingForResponse = false;
+        private bool isTimeout = false;
+        private readonly int responseTimeout = 2000;
+        private System.Timers.Timer timeout = new System.Timers.Timer(3000);
+        private bool exitPending = false;
+        private float[] monitor = new float[32];
+        public string view_str = "";
+
+        protected string IP = "127.0.0.1";
+        protected int Port = 8888;
+
+        protected string PortName = "COM1";
+        protected int BaudRate = 9600;
+
+        private Queue<byte[]> req_buffer = new Queue<byte[]>();
+
+        //Generate event when answer is received
+        public delegate void AnswerEventHandler<SerialEventArgs>(object sender, SerialEventArgs e);
+        public event AnswerEventHandler<FeedbackEventArgs> AnswerReceived;//событие получены данные в ответ на запрос
+
+        //Generate event when handshake is occurred
+        public delegate void HandShakeHandler(object sender, EventArgs e);
+        public event HandShakeHandler HandShakeOccurred;//событие полетник ответил на запрос HELLO
+
+        //Generate event when monitoring telegram is received
+        public delegate void MonitoringEventHandler<MonitoringEventArgs>(object sender, MonitoringEventArgs e);
+        public event MonitoringEventHandler<MonitoringEventArgs> MonitoringItemsReceived;//событие получены данные мониторинга
+
+        Models.Telemetry telemetry = Models.Telemetry.Instance;
+        abstract public Task Open();
+        abstract public void Close();
+        abstract protected void sendData(byte[] data);
+        abstract public bool IsOpen();
+        abstract public void CloseConnection();
+        abstract public Task StartReadingAsync(object? client = null);
+
+        abstract public void setCommParams(iCommParams commParams);
+
+        abstract protected void ProcessCommand(int cmd, int slot, byte[] data, int offset, int len);
+
+        /// <summary>
+        /// Обрабатывает входящий поток данных, при обнаружении ECSAPE_END байта декодирует данные, проверяет контрольную сумму и запускает обработку команды
+        /// </summary>
+        protected void data_extract()
+        {
+            byte b = new byte();
+            while (dataQueue.TryDequeue(out b))
+            {
+                if (b == ESCAPE_END)
+                {//END BYTE IS RECEIVED
+                    isTimeout = false;
+                    byte[] unscape = EscapeSeqToBytes(rx_buf.ToArray());
+                    uint checksum = crc32(unscape, unscape.Length - 4);
+                    uint re_checksum = BitConverter.ToUInt32(unscape, unscape.Length - 4);
+                    if (re_checksum == checksum)
+                    {
+                        //Parse telegram
+                        int cmd = BitConverter.ToInt32(unscape, 0);
+                        int slot = BitConverter.ToInt32(unscape, 4);
+                        int len = BitConverter.ToInt32(unscape, 8);
+                        int offset = BitConverter.ToInt32(unscape, 12);
+                        byte[] data = new byte[len];
+                        Debug.WriteLine($"cmd = {cmd} *** slot = {slot} *** offset = {offset} *** len = {len}");
+                        if(cmd == TELE_CMD_WR)Array.Copy(unscape, 16, data, 0, len);
+                        ProcessCommand(cmd, slot, data, offset, len);
+
+                        waitingForResponse = false;
+                        timeout.Stop();
+                        sendNextRequest();
+                    }
+                }
+                else if (b == ESCAPE_BEGIN)
+                {//START BYTE IS RECEIVED
+                    rx_buf.Clear();
+                }
+                else
+                {//FILLING BUFFER
+                    rx_buf.Add(b);
+                }
+            }
+
+        }
+        //**********************************************************************************************
+        //*************************************** REQUESTS BLOCK ***************************************
+        //**********************************************************************************************
+
+        public void getPIDs()
+        {
+            //отправить наборы ПИДов
+            putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1000, new byte[0], 0, 4 * 9));
+            putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1001, new byte[0], 0, 4 * 9));
+            putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1002, new byte[0], 0, 4 * 9));
+            putRequest(prepareTelegram(TELE_CMD_RD_ONCE, 1003, new byte[0], 0, 4 * 9));
+        }
+
+        public void stopMonitoring()
+        {
+            //остановить мониторинг
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_OFF, 0, new byte[0], 0, 0));
+        }
+
+        public void startMonitoring()
+        {
+            //начать мониторинг
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_ON, 0, new byte[0], 0, 0));
+        }
+
+        public void AddMonitoringItem(int slot, int offset)
+        {
+            //добавить элемент из массива мониторинга по адресу
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, slot, new byte[0], offset));
+        }
+
+        public void AddMonitoringItem(string name)
+        {
+            //добавить элемент из массива мониторинга по имени
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_ADD, new byte[0], name));
+        }
+
+        public void RemoveMonitoringItem(int id)
+        {
+            //удалить элемент из массива мониторинга (len == id)
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVE, 0, new byte[0], id));
+        }
+
+        public void RemoveMonitoringItems()
+        {
+            //удалить все элементы из массива мониторинга
+            putRequest(prepareTelegram(TELE_CMD_RD_MON_REMOVEALL, 0, new byte[0], 0));
+        }
+
+        public void sendFloats(int slot, float[] sp)
+        {
+            //Записать массив чисел с плавающей точкой
+            putRequest(prepareTelegram(TELE_CMD_WR, slot, sp, 0, sp.Length * 4));
+        }
+
+        public void sendMotorsControl()
+        {
+            //Отправляет задание на моторы в полетник. Тот в ответ посылает актуальные скорости на моторах
+            //В offset передается количество моторов
+            putRequest(prepareTelegram(TELE_CMD_MOTORS_CTRL, Telemetry.MOTORS_SP_ADDRESS, telemetry.motor_sp, 8));
+        }
+
+        /// <summary>
+        /// Считает контрольную сумму CRC32
+        /// </summary>
+        public uint crc32(byte[] data, int length)
+        {
+            uint crc = 0xFFFFFFFF;  // Начальное значение CRC
+
+            for (int i = 0; i < length; i++)
+            {
+                crc ^= (uint)data[i] << 24;  // XOR с текущим байтом
+
+                for (int j = 0; j < 8; j++)
+                {
+                    if ((uint)(crc & 0x80000000) != 0)
+                    {
+                        crc = (crc << 1) ^ CRC32_POLY;
+                    }
+                    else
+                    {
+                        crc <<= 1;
+                    }
+                }
+            }
+
+            return crc;
+        }
+        public byte[] prepareTelegram<T>(int cmd, T[] load, string var_name)
+        {
+            VarAddress va = telemetry.getVarAdress(var_name);
+            return prepareTelegram(cmd, va.slot, load, va.offset, va.length);
+        }
+
+        /// <summary>
+        /// Подготавливает данные для отправки, кодируя их в ESCAPE-последовательность
+        /// </summary>
+        public byte[] prepareTelegram<T>(int cmd, int slot, T[] load, int offset, int len = 0)
+        {
+            byte[] byteload = DataArrayToBytes(load);
+            int total_len = 20 + byteload.Length;//cmd[4 bytes] + slot[4 bytes] + len[4 bytes] + offset[4 bytes] + load[len bytes]
+            byte[] data = new byte[total_len];
+
+            //Construct telegram
+            data[0] = (byte)(0xFF & cmd);
+            data[1] = (byte)(0xFF & (cmd >> 8));
+            data[2] = (byte)(0xFF & (cmd >> 16));
+            data[3] = (byte)(0xFF & (cmd >> 24));
+
+            data[4] = (byte)(0xFF & slot);
+            data[5] = (byte)(0xFF & (slot >> 8));
+            data[6] = (byte)(0xFF & (slot >> 16));
+            data[7] = (byte)(0xFF & (slot >> 24));
+
+            int l = 0;
+            if (cmd == TELE_CMD_WR) l = byteload.Length;
+            else l = len;
+
+            data[8] = (byte)(0xFF & l);
+            data[9] = (byte)(0xFF & (l >> 8));
+            data[10] = (byte)(0xFF & (l >> 16));
+            data[11] = (byte)(0xFF & (l >> 24));
+
+            data[12] = (byte)(0xFF & offset);
+            data[13] = (byte)(0xFF & (offset >> 8));
+            data[14] = (byte)(0xFF & (offset >> 16));
+            data[15] = (byte)(0xFF & (offset >> 24));
+
+            if (byteload.Length > 0)
+            {
+                //Copy data
+                Array.Copy(byteload, 0, data, 16, byteload.Length);
+            }
+            //CRC32
+            uint checksum = crc32(data, total_len - 4);
+            data[total_len - 4] = (byte)(0xFF & checksum);
+            data[total_len - 3] = (byte)(0xFF & (checksum >> 8));
+            data[total_len - 2] = (byte)(0xFF & (checksum >> 16));
+            data[total_len - 1] = (byte)(0xFF & (checksum >> 24));
+
+            byte[] escape = BytesToEscapeSeq(data);
+            byte[] ret = new byte[escape.Length + 2];
+            Array.Copy(escape, 0, ret, 1, escape.Length);
+            ret[0] = ESCAPE_BEGIN;
+            ret[ret.Length - 1] = ESCAPE_END;
+            //Array.Copy(ret, saving_request, ret.Length);
+            return ret;
+        }
+
+        /// <summary>
+        /// Конвертирует массив bool/byte/int/float в массив байт. Создает новый массив.
+        /// </summary>
+        byte[] DataArrayToBytes<T>(T[] data)
+        {
+            if (data == null) return new byte[0];
+            List<byte> ret = new List<byte>();
+            for (int i = 0; i < data.Length; i++)
+            {
+                if (typeof(T) == typeof(float))
+                {
+                    ret.AddRange(BitConverter.GetBytes((float)(object)data[i]));
+                }
+                else if (typeof(T) == typeof(int))
+                {
+                    ret.AddRange(BitConverter.GetBytes((int)(object)data[i]));
+                }
+                else if (typeof(T) == typeof(byte))
+                {
+                    ret.Add((byte)(object)data[i]);
+                }
+                else if (typeof(T) == typeof(bool))
+                {
+                    bool t = (bool)(object)data[i];
+                    if (t) ret.Add(1);
+                    else ret.Add(0);
+                }
+
+            }
+            return ret.ToArray();
+        }
+
+        /// <summary>
+        /// Конвертирует массив байт в ESCAPE-последовательность.
+        /// </summary>
+        public byte[] BytesToEscapeSeq(byte[] data)
+        {
+            List<byte> ret = new List<byte>();
+            for (int i = 0; i < data.Length; i++)
+            {
+                if ((data[i] == ESCAPE_BEGIN) || (data[i] == ESCAPE_CHAR) || (data[i] == ESCAPE_END))
+                {
+                    ret.Add(ESCAPE_CHAR);
+                    ret.Add((byte)(data[i] - 0x0E));
+                }
+                else
+                {
+                    ret.Add(data[i]);
+                }
+            }
+            return ret.ToArray();
+        }
+
+        /// <summary>
+        /// Конвертирует ESCAPE-последовательность в массив байт.
+        /// </summary>
+        public byte[] EscapeSeqToBytes(byte[] EscSeq)
+        {
+            List<byte> ret = new List<byte>();
+            for (int i = 0; i < EscSeq.Length; i++)
+            {
+                //if ((EscSeq[i] == ESCAPE_BEGIN) || (EscSeq[i] == ESCAPE_CHAR) || (EscSeq[i] == ESCAPE_END))
+                if (EscSeq[i] == ESCAPE_CHAR)
+                {
+                    i++;
+                    ret.Add((byte)(EscSeq[i] + 0x0E));
+                }
+                else
+                {
+                    ret.Add(EscSeq[i]);
+                }
+            }
+            return ret.ToArray();
+        }
+
+        public void requestExit()
+        {
+            //запрос на закрытие приложения, отправляем команду на очистку массива мониторинга и ждем ответ, либо таймаут,
+            //после чего приложение закрывается
+            RemoveMonitoringItems();
+            exitPending = true;
+        }
+
+        /// <summary>
+        /// Добавляет данные в очередь ожидания отправки.
+        /// </summary>
+        public void putRequest(byte[] request)
+        {
+            //добавить в очередь или отправить(если очередь пуста) пакет в порт
+            lock (lock_obj_put)
+            {
+                if (waitingForResponse)
+                {
+                    req_buffer.Enqueue(request);
+                    return;
+                }
+
+                sendRequest(request);
+            }
+        }
+
+        /// <summary>
+        /// Толкает данные непосредственно в очередь отправки.
+        /// </summary>
+        protected void sendRequest(byte[] request)
+        {
+            //отправка пакета
+            //waitingForResponse = true;
+            if (IsOpen())
+            {
+                sendData(request);
+            }
+            timeout.Stop();
+            timeout.Start();
+        }
+
+        /// <summary>
+        /// Вытягивает данные из очереди ожидания непосредственно в очередь отправки.
+        /// </summary>
+        protected void sendNextRequest()
+        {
+            //вытащить из очереди пакет и отправить в порт
+            waitingForResponse = false;
+            if (req_buffer.Count > 0)
+            {
+                sendRequest(req_buffer.Dequeue());
+            }
+        }
+
+        /// <summary>
+        /// Копирует входящие данные в очередь.
+        /// </summary>
+        protected void EnqueueData(byte[] data, int len)
+        {
+            for (int i = 0; i < len; i++)
+            {
+                dataQueue.Enqueue(data[i]);
+            }
+        }
+
+        public void ClearReqQueue()
+        {
+            req_buffer.Clear();
+        }
+
+        protected virtual void OnAnswerReceived(string answer, int id)
+        {
+            AnswerReceived?.Invoke(this, new FeedbackEventArgs(answer, id));
+        }
+
+        protected virtual void OnHandShakeOccurred()
+        {
+            HandShakeOccurred?.Invoke(this, new EventArgs());
+        }
+
+        protected virtual void OnMonitoringItemsReceived(float[] data)
+        {
+            MonitoringItemsReceived?.Invoke(this, new MonitoringEventArgs(data));
+        }
+    }
+
+    public class FeedbackEventArgs : EventArgs
+    {
+        public string Answer { get; set; }
+        public int Id { get; set; }
+
+        public FeedbackEventArgs(string answer, int id)
+        {
+            Answer = answer;
+            Id = id;
+        }
+    }
+
+    public class MonitoringEventArgs : EventArgs
+    {
+        public float[] Data { get; set; }
+
+        public MonitoringEventArgs(float[] data)
+        {
+            Data = data;
+        }
+    }
+}

DroneClient/Drone.cs

@@ -1,26 +1,25 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
+using DroneData;
+using System.Diagnostics.Metrics;
+using System.Drawing;
+using System.Numerics;
 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 float PosX, PosY;
-      public float LaserRange;
-    }
 
-    public struct DataIn
-    {
-      public float MotorUL, MotorUR, MotorDL, MotorDR;  
-    }
+    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 Vector2 OF = Vector2.Zero;
+
+    public float MotorUL, MotorUR, MotorDL, MotorDR;
 
     public static byte[] getBytes(object data)
     {
@@ -63,5 +62,273 @@ 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[]? RecvDataOF(byte[] data)
+    {
+      DroneData.DataOF of = (DroneData.DataOF)fromBytes(data, typeof(DroneData.DataOF));
+
+      OF.X = of.X;
+      OF.Y = of.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.DataOF:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataOF(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;
+
+      DroneData.DataHead of = new DroneData.DataHead();
+      of.Size = DroneData.DataHead.StrLen;
+      of.Mode = DroneData.DataMode.Request;
+      of.Type = DroneData.DataType.DataOF;
+
+      List<byte[]> list = new List<byte[]>();
+
+      list.Add(getBytes(acc));
+      list.Add(getBytes(gyr));
+      list.Add(getBytes(range));
+      list.Add(getBytes(local));
+      list.Add(getBytes(of));
+      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/DroneClient.csproj

@@ -8,4 +8,28 @@
     <ImplicitUsings>enable</ImplicitUsings>
   </PropertyGroup>
 
+  <ItemGroup>
+    <Compile Update="Properties\Resources.Designer.cs">
+      <DesignTime>True</DesignTime>
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+    </Compile>
+  </ItemGroup>
+
+  <ItemGroup>
+    <EmbeddedResource Update="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+    </EmbeddedResource>
+  </ItemGroup>
+
+  <ItemGroup>
+    <None Update="images\connect.ico">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
+    <None Update="images\disconnect.ico">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
+  </ItemGroup>
+
 </Project>

DroneClient/DroneData.cs

@@ -0,0 +1,123 @@
+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, DataOF = 1007,
+
+    // Input
+    DataMotor4 = 2001, DataMotor6 = 2002,
+
+    // State
+    DataQuat = 3001,
+  };
+
+  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 DataOF
+  {
+    public DataHead Head;
+    public float X, Y; // Угловой сдвиг
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
+  }
+
+  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.cs

@@ -1,154 +1,280 @@
-using System.Text;
+using System.Text;
 using System.Numerics;
 using System.Windows.Forms;
 using static DroneSimulator.NetClient;
 using DroneClient;
+using TelemetryIO.Models;
+using TelemetryIO;
+using DroneClient.Models;
 
 namespace DroneSimulator
 {
-  public partial class Form_Main : Form
-  {
-    private NetClient netClient = new NetClient();
-
-    public Form_Main()
+    public partial class Form_Main : Form
     {
-      InitializeComponent();
-    }
+        private NetClient netClient = new NetClient();
+        private Telemetry telemetry = Telemetry.Instance;
+        private MonitorContainer monitoring = MonitorContainer.Instance;
+        private System.Windows.Forms.Timer copyDataTimer = new System.Windows.Forms.Timer();
+        private System.Windows.Forms.Timer MonitoringTimer = new System.Windows.Forms.Timer();
+        TelemetryServer tele_server;
+        string connectIco = Path.Combine(Application.StartupPath, "Images", "connect.ico");
+        string disconnectIco = Path.Combine(Application.StartupPath, "Images", "disconnect.ico");
 
-    private void ConnectionCallback(object o)
-    {
-      ConnectData data = (ConnectData)o;
-
-      if (!data.Connect)
-      {
-        Invoke((MethodInvoker)delegate
+        public Form_Main()
         {
-          button_Connect.Text = "Connect";
-          button_Connect.BackColor = Color.Transparent;
-          MessageBox.Show("Connection closed");
-        });
+            InitializeComponent();
+            tele_server = new TelemetryServer();
+            if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(disconnectIco);
+        }
 
-        return;
-      }
+        private void Tele_server_OnTeleClientDisconnected(object? sender, EventArgs e)
+        {
+            if (TeleClientStatusPicture.InvokeRequired)
+            {
+                TeleClientStatusPicture.Invoke(new Action(() => { if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(disconnectIco); }));
+            }
+            else
+            {
+                if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(disconnectIco);
+            }
+            monitoring.resetMonitorContainer();
+        }
 
-      byte[] send = Drone.getBytes(sendDrone);
+        private void Tele_server_OnTeleClientСonnected(object? sender, EventArgs e)
+        {
+            if (TeleClientStatusPicture.InvokeRequired)
+            {
+                TeleClientStatusPicture.Invoke(new Action(() => { if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(connectIco); }));
+            }
+            else
+            {
+                if (Path.Exists(connectIco)) TeleClientStatusPicture.Image = Image.FromFile(connectIco);
+            }
+        }
 
-      data.Server.Send(send);
+        private void MonitoringTimer_Tick(object? sender, EventArgs e)
+        {
+            if (monitoring.isMonitor == 1)
+            {
+                byte[] load = new byte[monitoring.monitorFillLevel * sizeof(float)];
+                for (int i = 0; i < monitoring.monitorFillLevel; i++)
+                {
+                    int slot = monitoring.monitorItems[i].slotNo;
+                    int offset = monitoring.monitorItems[i].offset;
+                    int len = monitoring.monitorItems[i].len;
+                    if(len == 0)continue;
+                    Array.Copy(telemetry.getSlot(slot, offset, len), 0, load, i * sizeof(float), sizeof(float));
+                }
+                if (tele_server != null)
+                {
+                    tele_server.putRequest(tele_server.prepareTelegram(BaseCommHandler.TELE_CMD_RD_MON_ON, 0, load, 0, load.Length));
+                }
+            }
+        }
+
+        private void CopyDataTimer_Tick(object? sender, EventArgs e)
+        {
+            /*if (dataDrone != null)
+            {
+                float[] imu = { dataDrone.AccX, dataDrone.AccY, dataDrone.AccZ, dataDrone.GyrX, dataDrone.GyrY, dataDrone.GyrZ };
+                Array.Copy(imu, telemetry.imu, 6);
+            }*/
+
+            if (monitoring.isMonitor == 1) MonitoringTimer.Start();
+            else MonitoringTimer.Stop();
+        }
+
+        private void ConnectionCallback(object o)
+        {
+            ConnectData data = (ConnectData)o;
+
+            if (!data.Connect)
+            {
+                try
+                {
+                    Invoke((MethodInvoker)delegate
+                    {
+                        button_Connect.Text = "Connect";
+                        button_Connect.BackColor = Color.Transparent;
+                        MessageBox.Show("Connection closed");
+                    });
+                }
+                catch { }
+
+                return;
+            }
+        }
+
+        Drone dataDrone = new Drone();
+
+        private void ReceiveCallback(object o)
+        {
+            ReceiveData data = (ReceiveData)o;
+
+            List<byte[]?>? send = dataDrone.DataStream(data.Buffer, data.Size);
+
+            if (send == null) return;
+            try
+            {
+                foreach (byte[]? b in send)
+                {
+                    if (b != null) data.Server?.Send(b);
+                }
+            }
+            catch { }
+        }
+
+        private void button_Connect_Click(object sender, EventArgs e)
+        {
+            var done = netClient.Connect(textBox_Server_Addr.Text, (int)numericUpDown_Server_Port.Value, ConnectionCallback, ReceiveCallback);
+
+            switch (done)
+            {
+                case NetClient.ClientState.Error:
+                    {
+                        MessageBox.Show("Error connecting to server");
+                        break;
+                    }
+                case NetClient.ClientState.Connected:
+                    {
+                        button_Connect.Text = "Disconnect";
+                        button_Connect.BackColor = Color.LimeGreen;
+                        break;
+                    }
+                case NetClient.ClientState.Stop:
+                    {
+                        button_Connect.Text = "Connect";
+                        button_Connect.BackColor = Color.Transparent;
+                        break;
+                    }
+            }
+
+            if (done != NetClient.ClientState.Connected) return;
+
+
+            copyDataTimer.Interval = 10;
+            copyDataTimer.Tick += CopyDataTimer_Tick;
+            tele_server.setCommParams(new TCPCommParams("", (int)TeleServerPortCtrl.Value));
+            var t = Task.Run(() => tele_server.Open());
+            tele_server.OnTeleClientConnected += Tele_server_OnTeleClientСonnected;
+            tele_server.OnTeleClientDisconnected += Tele_server_OnTeleClientDisconnected;
+            MonitoringTimer.Interval = 25;
+            MonitoringTimer.Tick += MonitoringTimer_Tick;
+            copyDataTimer.Start();
+            button1.BackColor = Color.LimeGreen;
+        }
+
+        private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            netClient?.Close();
+            netClient = null;
+        }
+
+        private void timer_Test_Tick(object sender, EventArgs e)
+        {
+            label_Acc_X.Text = dataDrone.AccX.ToString();
+            label_Acc_Y.Text = dataDrone.AccY.ToString();
+            label_Acc_Z.Text = dataDrone.AccZ.ToString();
+
+            label_time_acc.Text = dataDrone.TimeAcc.ToString();
+
+            label_Gyr_X.Text = dataDrone.GyrX.ToString();
+            label_Gyr_Y.Text = dataDrone.GyrY.ToString();
+            label_Gyr_Z.Text = dataDrone.GyrZ.ToString();
+
+            label_time_gyr.Text = dataDrone.TimeGyr.ToString();
+
+            float[] imu = { dataDrone.AccX, dataDrone.AccY, dataDrone.AccZ, dataDrone.GyrX, dataDrone.GyrY, dataDrone.GyrZ };
+            Array.Copy(imu, telemetry.imu, 6);
+
+            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();
+
+            float[] pos = { dataDrone.PosX, dataDrone.PosY, dataDrone.LaserRange };
+            Array.Copy(pos, telemetry.pos, 3);
+
+            label_OF_X.Text = dataDrone.OF.X.ToString();
+            label_OF_Y.Text = dataDrone.OF.Y.ToString();
+
+            label_time_of.Text = dataDrone.TimeRange.ToString();
+
+            float[] of = { dataDrone.OF.X, dataDrone.OF.Y };
+            Array.Copy(of, telemetry.of, 2);
+
+            if (monitoring.isMonitor == 1) MonitoringTimer.Start();
+            else MonitoringTimer.Stop();
+
+            netClient.SendData(dataDrone.SendReqest());
+        }
+
+        private void trackBar_Power_Scroll(object sender, EventArgs e)
+        {
+            float pow = (float)trackBar_Power.Value / 100;
+
+            label_Pow.Text = pow.ToString();
+
+            dataDrone.MotorUL = dataDrone.MotorUR = dataDrone.MotorDL = dataDrone.MotorDR = pow;
+        }
+
+        private void button_UU_MouseDown(object sender, MouseEventArgs e)
+        {
+            float pow = ((float)trackBar_Value.Value) / 10.0f;
+
+            if (sender == button_UU)
+            {
+                dataDrone.MotorUL -= pow; dataDrone.MotorUR -= pow;
+                dataDrone.MotorDL += pow; dataDrone.MotorDR += pow;
+            }
+            if (sender == button_DD)
+            {
+                dataDrone.MotorUL += pow; dataDrone.MotorUR += pow;
+                dataDrone.MotorDL -= pow; dataDrone.MotorDR -= pow;
+            }
+            if (sender == button_LL)
+            {
+                dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
+                dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
+            }
+            if (sender == button_RR)
+            {
+                dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
+                dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
+            }
+
+            if (sender == button_ML)
+            {
+                dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
+                dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
+            }
+
+            if (sender == button_MR)
+            {
+                dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
+                dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
+            }
+        }
+
+        private void button_UU_MouseUp(object sender, MouseEventArgs e)
+        {
+            trackBar_Power_Scroll(null, null);
+        }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+
+            copyDataTimer.Interval = 10;
+            copyDataTimer.Tick += CopyDataTimer_Tick;
+            tele_server.setCommParams(new TCPCommParams("", (int)TeleServerPortCtrl.Value));
+            var t = Task.Run(() => tele_server.Open());
+            tele_server.OnTeleClientConnected += Tele_server_OnTeleClientСonnected;
+            tele_server.OnTeleClientDisconnected += Tele_server_OnTeleClientDisconnected;
+            MonitoringTimer.Interval = 25;
+            MonitoringTimer.Tick += MonitoringTimer_Tick;
+            copyDataTimer.Start();
+            button1.BackColor = Color.LimeGreen;
+        }
     }
-
-    Drone.DataIn sendDrone;
-
-    Drone.DataOut recvDrone;
-
-    private void ReceiveCallback(object o)
-    {
-      ReceiveData data = (ReceiveData)o;
-
-      recvDrone = (Drone.DataOut)Drone.fromBytes(data.Buffer, typeof(Drone.DataOut));
-
-      byte[] send = Drone.getBytes(sendDrone);
-
-      try { data.Server.Send(send); }
-      catch { }
-    }
-
-    private void button_Connect_Click(object sender, EventArgs e)
-    {
-      var done = netClient.Connect(textBox_Server_Addr.Text, (int)numericUpDown_Server_Port.Value, ConnectionCallback, ReceiveCallback);
-
-      switch (done)
-      {
-        case NetClient.ClientState.Error:
-          {
-            MessageBox.Show("Error connecting to server");
-            break;
-          }
-        case NetClient.ClientState.Connected:
-          {
-            button_Connect.Text = "Disconnect";
-            button_Connect.BackColor = Color.LimeGreen;
-            break;
-          }
-        case NetClient.ClientState.Stop:
-          {
-            button_Connect.Text = "Connect";
-            button_Connect.BackColor = Color.Transparent;
-            break;
-          }
-      }
-
-      if (done != NetClient.ClientState.Connected) return;
-    }
-
-    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
-    {
-      netClient?.Close();
-      netClient = null;
-    }
-
-    private void timer_Test_Tick(object sender, EventArgs e)
-    {
-      label_Acc_X.Text = recvDrone.AccX.ToString();
-      label_Acc_Y.Text = recvDrone.AccY.ToString();
-      label_Acc_Z.Text = recvDrone.AccZ.ToString();
-
-      label_Gyr_X.Text = recvDrone.GyrX.ToString();
-      label_Gyr_Y.Text = recvDrone.GyrY.ToString();
-      label_Gyr_Z.Text = recvDrone.GyrZ.ToString();
-
-      label_Pos_X.Text = recvDrone.PosX.ToString();
-      label_Pos_Y.Text = recvDrone.PosY.ToString();
-      label_Pos_L.Text = recvDrone.LaserRange.ToString();
-    }
-
-    private void trackBar_Power_Scroll(object sender, EventArgs e)
-    {
-      float pow = (float)trackBar_Power.Value / 100;
-
-      label_Pow.Text = pow.ToString();
-
-      sendDrone.MotorUL = sendDrone.MotorUR = sendDrone.MotorDL = sendDrone.MotorDR = pow;
-    }
-
-    private void button_UU_MouseDown(object sender, MouseEventArgs e)
-    {
-      if (sender == button_UU)
-      {
-        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR -= 0.1f;
-        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR += 0.1f;
-      }
-      if (sender == button_DD)
-      {
-        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR += 0.1f;
-        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR -= 0.1f;
-      }
-      if (sender == button_LL)
-      {
-        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
-        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
-      }
-      if (sender == button_RR)
-      {
-        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
-        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
-      }
-
-      if (sender == button_ML)
-      {
-        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
-        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
-      }
-
-      if (sender == button_MR)
-      {
-        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
-        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
-      }
-    }
-
-    private void button_UU_MouseUp(object sender, MouseEventArgs e)
-    {
-      trackBar_Power_Scroll(null, null);
-    }
-  }
 }

DroneClient/Models/MonitorContainer.cs

@@ -0,0 +1,126 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using TelemetryIO;
+
+namespace DroneClient.Models
+{
+    public class monitorItem
+    {
+        public int slotNo = 0;
+        public int offset = 0;
+        public int len = 0;
+        public int id = 0;
+
+        public monitorItem()
+        {
+            
+        }
+        public monitorItem(int slotNo, int offset, int len, int id)
+        {
+            this.slotNo = slotNo;
+            this.offset = offset;
+            this.len = len;
+            this.id = id;
+        }
+    }
+
+    public class MonitorContainer
+    {
+        public const int monitorMaxFill = 32;
+        public int monitorFillLevel = 0;
+        public monitorItem[] monitorItems = new monitorItem[monitorMaxFill];
+        public int isMonitor = 0;
+        private static volatile MonitorContainer instance;
+        private static readonly object _lock = new object();
+
+        public static MonitorContainer Instance
+        {
+            get
+            {
+                if (instance == null)
+                {
+                    lock (_lock)
+                    {
+                        if (instance == null)
+                        {
+                            instance = new MonitorContainer();
+                        }
+                    }
+                }
+                return instance;
+            }
+
+        }
+
+        private MonitorContainer()
+        {
+            for (int i = 0; i < monitorMaxFill; i++)
+            {
+                monitorItems[i] = new monitorItem();
+            }
+        }
+
+        public void resetMonitorContainer()
+        {
+            for (int i = 0; i < monitorMaxFill; i++)
+            {
+                monitorItems[i] = new monitorItem();
+            }
+        }
+
+        public int monitorPut(int slot, int offset, int len)
+        {
+            int ret_id = 0;
+            if (monitorFillLevel < monitorMaxFill)
+            {
+                monitorItems[monitorFillLevel].slotNo = slot;
+                monitorItems[monitorFillLevel].offset = offset;
+                monitorItems[monitorFillLevel].len = len;
+                monitorItems[monitorFillLevel].id = (slot << 8) + offset;
+                ret_id = monitorItems[monitorFillLevel].id;
+                monitorFillLevel++;
+                isMonitor = 1;
+            }
+
+            return ret_id;
+        }
+
+        public int monitorRemove(int id)
+        {
+            int match = 0;
+            int ret_id = 0;
+            for (int i = 0; i < monitorMaxFill; i++)
+            {
+                if (monitorItems[i].id == id)
+                {
+                    match = 1;
+                    if (monitorFillLevel > 0) monitorFillLevel--;
+                    ret_id = id;
+                }
+
+                if (match > 0)
+                {
+                    if (monitorItems[i].len == 0) return ret_id;
+                    if (i < 31)
+                    {
+                        monitorItems[i].id = monitorItems[i + 1].id;
+                        monitorItems[i].offset = monitorItems[i + 1].offset;
+                        monitorItems[i].slotNo = monitorItems[i + 1].slotNo;
+                        monitorItems[i].len = monitorItems[i + 1].len;
+                    }
+                    else
+                    {
+                        monitorItems[i].id = 0;
+                        monitorItems[i].offset = 0;
+                        monitorItems[i].slotNo = 0;
+                        monitorItems[i].len = 0;
+                    }
+                }
+            }
+            return ret_id;
+        }
+    }
+}

DroneClient/Models/Telemetry.cs

@@ -0,0 +1,340 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace TelemetryIO.Models
+{
+    public sealed class Telemetry
+    {
+        //Класс синглтон для хранения данных телеметрии
+        private static volatile Telemetry instance;
+        private static readonly object _lock = new object();
+        private Dictionary<string, VarAddress> dictMonitor = new Dictionary<string, VarAddress>();//Словарь адресов, для целей мониторинга
+        public string name = "_150";
+        public float[] raw_imu = new float[6];
+        public float[] imu = new float[6];
+        public float[] filtered_imu = new float[6];
+        public float[] g_integration = new float[3];
+        public float[] euler = new float[3];
+        public float[] quaternion = new float[4];
+        public float[] battery = new float[4];
+        public float[] motor_act = new float[8];
+        public float[] motor_sp = new float[8];
+        public float[] pid0 = new float[9];
+        public float[] pid1 = new float[9];
+        public float[] pid2 = new float[9];
+        public float[] pid3 = new float[9];
+        public float[] pos = new float[3];
+        public float[] of = new float[2];
+
+        private object _lockRW = new object();
+
+        private Telemetry() {
+            dictMonitor.Add("rawAx", new VarAddress(RAW_IMU_ADDRESS, 0));
+            dictMonitor.Add("rawAy", new VarAddress(RAW_IMU_ADDRESS, 1));
+            dictMonitor.Add("rawAz", new VarAddress(RAW_IMU_ADDRESS, 2));
+            dictMonitor.Add("rawGx", new VarAddress(RAW_IMU_ADDRESS, 3));
+            dictMonitor.Add("rawGy", new VarAddress(RAW_IMU_ADDRESS, 4));
+            dictMonitor.Add("rawGz", new VarAddress(RAW_IMU_ADDRESS, 5));
+
+            dictMonitor.Add("Ax", new VarAddress(IMU_ADDRESS, 0));
+            dictMonitor.Add("Ay", new VarAddress(IMU_ADDRESS, 1));
+            dictMonitor.Add("Az", new VarAddress(IMU_ADDRESS, 2));
+            dictMonitor.Add("Gx", new VarAddress(IMU_ADDRESS, 3));
+            dictMonitor.Add("Gy", new VarAddress(IMU_ADDRESS, 4));
+            dictMonitor.Add("Gz", new VarAddress(IMU_ADDRESS, 5));
+
+            dictMonitor.Add("filtered_Ax", new VarAddress(FILTERED_IMU_ADDRESS, 0));
+            dictMonitor.Add("filtered_Ay", new VarAddress(FILTERED_IMU_ADDRESS, 1));
+            dictMonitor.Add("filtered_Az", new VarAddress(FILTERED_IMU_ADDRESS, 2));
+            dictMonitor.Add("filtered_Gx", new VarAddress(FILTERED_IMU_ADDRESS, 3));
+            dictMonitor.Add("filtered_Gy", new VarAddress(FILTERED_IMU_ADDRESS, 4));
+            dictMonitor.Add("filtered_Gz", new VarAddress(FILTERED_IMU_ADDRESS, 5));
+
+            dictMonitor.Add("Gx_int", new VarAddress(G_INTEGRATION_ADDRESS, 0));
+            dictMonitor.Add("Gy_int", new VarAddress(G_INTEGRATION_ADDRESS, 1));
+            dictMonitor.Add("Gz_int", new VarAddress(G_INTEGRATION_ADDRESS, 2));
+
+            dictMonitor.Add("Euler.Phi", new VarAddress(EULER_ADDRESS, 0));
+            dictMonitor.Add("Euler.Theta", new VarAddress(EULER_ADDRESS, 1));
+            dictMonitor.Add("Euler.Psi", new VarAddress(EULER_ADDRESS, 2));
+
+            dictMonitor.Add("Qw", new VarAddress(Q_ADDRESS, 0));
+            dictMonitor.Add("Qx", new VarAddress(Q_ADDRESS, 1));
+            dictMonitor.Add("Qy", new VarAddress(Q_ADDRESS, 2));
+            dictMonitor.Add("Qz", new VarAddress(Q_ADDRESS, 3));
+
+            dictMonitor.Add("Battery[V]", new VarAddress(BAT_ADDRESS, 0));
+
+            dictMonitor.Add("motor0_Act", new VarAddress(MOTORS_ACT_ADDRESS, 0));
+            dictMonitor.Add("motor1_Act", new VarAddress(MOTORS_ACT_ADDRESS, 1));
+            dictMonitor.Add("motor2_Act", new VarAddress(MOTORS_ACT_ADDRESS, 2));
+            dictMonitor.Add("motor3_Act", new VarAddress(MOTORS_ACT_ADDRESS, 3));
+            dictMonitor.Add("motor4_Act", new VarAddress(MOTORS_ACT_ADDRESS, 4));
+            dictMonitor.Add("motor5_Act", new VarAddress(MOTORS_ACT_ADDRESS, 5));
+            dictMonitor.Add("motor6_Act", new VarAddress(MOTORS_ACT_ADDRESS, 6));
+            dictMonitor.Add("motor7_Act", new VarAddress(MOTORS_ACT_ADDRESS, 7));
+
+            dictMonitor.Add("Pos_X", new VarAddress(POS_ADDRESS, 0));
+            dictMonitor.Add("Pos_Y", new VarAddress(POS_ADDRESS, 1));
+            dictMonitor.Add("Pos_L", new VarAddress(POS_ADDRESS, 2));
+
+            dictMonitor.Add("OF_X", new VarAddress(OF_ADDRESS, 0));
+            dictMonitor.Add("OF_Y", new VarAddress(OF_ADDRESS, 1));
+        }
+
+        public int getId(string name)
+        {
+            VarAddress var = dictMonitor[name];
+            if (var == null) return -1;
+            return (var.slot << 8) | var.offset;
+        }
+
+        public string getName(int id)
+        {
+            int slot = id >> 8;
+            int offset = id & 0xFF;
+            foreach(var element in dictMonitor)
+            {
+                if ((element.Value.slot == slot) && (element.Value.offset == offset)) return element.Key;
+            }
+            return null;
+        }
+
+        public VarAddress getVarAdress(string name)
+        {
+            VarAddress ret;
+            dictMonitor.TryGetValue(name, out ret);
+            return ret;
+        }
+
+        public string[] getKeys()
+        {
+            return dictMonitor.Keys.ToArray();
+        }
+        
+        public static Telemetry Instance
+        {
+            get
+            {
+                if(instance == null)
+                {
+                    lock(_lock)
+                    {
+                        if (instance == null)
+                        {
+                            instance = new Telemetry();
+                        }
+                    }
+                }
+                return instance;
+            }
+        }
+
+        public void setSlot(int slot, byte[] data, int offset, int len)
+        {
+            switch (slot)
+            {
+                case RAW_IMU_ADDRESS://RAW IMU
+                    set_float(raw_imu, data, offset, len);
+                    break;
+
+                case IMU_ADDRESS://IMU
+                    set_float(imu, data, offset, len);
+                    break;
+
+                case Q_ADDRESS://quaternion
+                    set_float(quaternion, data, offset, len);
+                    break;
+
+                case G_INTEGRATION_ADDRESS://quaternion
+                    set_float(g_integration, data, offset, len);
+                    break;
+
+                case EULER_ADDRESS://quaternion
+                    set_float(euler, data, offset, len);
+                    break;
+
+                case FILTERED_IMU_ADDRESS://IMU
+                    set_float(filtered_imu, data, offset, len);
+                    break;
+
+                case BAT_ADDRESS://battery
+                    set_float(battery, data, offset, len);
+                    break;
+
+                case MOTORS_ACT_ADDRESS://motors act
+                    set_float(motor_act, data, offset, len);
+                    break;
+
+                case MOTORS_SP_ADDRESS://motors act
+                    set_float(motor_sp, data, offset, len);
+                    break;
+
+                case PID0_ADDRESS:
+                    set_float(pid0, data, offset, len);
+                    break;
+
+                case PID1_ADDRESS:
+                    set_float(pid1, data, offset, len);
+                    break;
+
+                case PID2_ADDRESS:
+                    set_float(pid2, data, offset, len);
+                    break;
+
+                case PID3_ADDRESS:
+                    set_float(pid3, data, offset, len);
+                    break;
+
+                case POS_ADDRESS:
+                    set_float(pos, data, offset, len);
+                    break;
+
+                case OF_ADDRESS:
+                    set_float(of, data, offset, len);
+                    break;
+
+                case NAME_ADDRESS:
+                    set_name(data);
+                    break;
+            }
+        }
+
+        public byte[] getSlot(int slot, int offset, int len)
+        {
+            switch (slot)
+            {
+                case RAW_IMU_ADDRESS://RAW IMU
+                    return get_float(raw_imu, offset, len);
+
+                case IMU_ADDRESS://IMU
+                    return get_float(imu, offset, len);
+
+                case Q_ADDRESS://quaternion
+                    return get_float(quaternion, offset, len);
+
+                case G_INTEGRATION_ADDRESS://quaternion
+                    return get_float(g_integration, offset, len);
+
+                case EULER_ADDRESS://quaternion
+                    return get_float(euler, offset, len);
+
+                case FILTERED_IMU_ADDRESS://IMU
+                    return get_float(filtered_imu, offset, len);
+
+                case BAT_ADDRESS://battery
+                    return get_float(battery, offset, len);
+
+                case MOTORS_ACT_ADDRESS://motors act
+                    return get_float(motor_act, offset, len);
+
+                case MOTORS_SP_ADDRESS://motors act
+                    return get_float(motor_sp, offset, len);
+
+                case PID0_ADDRESS:
+                    return get_float(pid0, offset, len);
+
+                case PID1_ADDRESS:
+                    return get_float(pid1, offset, len);
+
+                case PID2_ADDRESS:
+                    return get_float(pid2, offset, len);
+
+                case PID3_ADDRESS:
+                    return get_float(pid3, offset, len);
+
+                case POS_ADDRESS:
+                    return get_float(pos, offset, len);
+                    break;
+
+                case OF_ADDRESS:
+                    return get_float(of, offset, len);
+
+                case NAME_ADDRESS:
+                    return Encoding.ASCII.GetBytes(name);
+
+                default:
+                    byte[] data = new byte[0];
+                    return data;
+            }
+        }
+
+
+        private void set_float(float[] dest, byte[] data, int offset, int len)
+        {
+            lock (_lockRW)
+            {
+                for (int i = 0; i < (int)(len / 4); i++)
+                {
+                    byte[] bs = new byte[4];
+                    Array.Copy(data, i * 4, bs, 0, 4);
+                    float f = BitConverter.ToSingle(bs, 0);
+                    dest[offset + i] = f;
+                }
+            }
+        }
+
+        private byte[] get_float(float[] source, int offset, int len)
+        {
+            lock (_lockRW)
+            {
+                byte[] bs = new byte[len];
+                Buffer.BlockCopy(source, offset * sizeof(float), bs, 0, len);
+                return bs;
+            }
+        }
+
+        private void set_name(byte[] data)
+        {
+            int len = data.Length;
+            if (len > 16) len = 16;
+            name = Encoding.ASCII.GetString(data, 0, len);
+        }
+
+        public const int RAW_IMU_ADDRESS = 0;
+        public const int IMU_ADDRESS = 1;
+        public const int Q_ADDRESS = 2;
+        public const int G_INTEGRATION_ADDRESS = 3;
+        public const int EULER_ADDRESS = 4;
+        public const int FILTERED_IMU_ADDRESS = 5;
+        public const int POS_ADDRESS = 6;
+        public const int OF_ADDRESS = 7;
+
+        public const int BAT_ADDRESS = 50;
+
+        public const int MOTORS_ACT_ADDRESS = 100;
+        public const int MOTORS_SP_ADDRESS = 101;
+
+        public const int PID0_ADDRESS = 1000;
+        public const int PID1_ADDRESS = 1001;
+        public const int PID2_ADDRESS = 1002;
+        public const int PID3_ADDRESS = 1003;
+
+        public const int NAME_ADDRESS = 9999;
+    }
+
+    public class VarAddress
+    {
+        public int slot = 0;
+        public int offset = 0;
+        public int length = 0;
+
+        public VarAddress()
+        {
+            slot = offset = 0;
+            length = 4;
+        }
+
+        public VarAddress(int slot, int offset, int length = 4)
+        {
+            this.slot = slot;
+            this.offset = offset;
+            this.length = length;
+        }
+    }
+}

DroneClient/NetClient.cs

@@ -1,9 +1,4 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Net.Sockets;
+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();
-        ServerSocket = null;
+        Close();
         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
-      {
-        ServerSocket.Connect(ep);
-      }
-      catch { ServerSocket.Close(); ServerSocket = null; return ClientState.Error; }
+      try { ServerSocket.Connect(ep); }
+      catch { ServerSocket.Close(); return ClientState.Error; }
+
+      Connected = true;
 
       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); }
-      catch {  }
+      try { bytes = ServerSocket.EndReceive(ar); } 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/Properties/Resources.Designer.cs

@@ -0,0 +1,63 @@
+//------------------------------------------------------------------------------
+// <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>
+//------------------------------------------------------------------------------
+
+namespace DroneClient.Properties {
+    using System;
+    
+    
+    /// <summary>
+    ///   Класс ресурса со строгой типизацией для поиска локализованных строк и т.д.
+    /// </summary>
+    // Этот класс создан автоматически классом StronglyTypedResourceBuilder
+    // с помощью такого средства, как ResGen или Visual Studio.
+    // Чтобы добавить или удалить член, измените файл .ResX и снова запустите ResGen
+    // с параметром /str или перестройте свой проект VS.
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources {
+        
+        private static global::System.Resources.ResourceManager resourceMan;
+        
+        private static global::System.Globalization.CultureInfo resourceCulture;
+        
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources() {
+        }
+        
+        /// <summary>
+        ///   Возвращает кэшированный экземпляр ResourceManager, использованный этим классом.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("DroneClient.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+        
+        /// <summary>
+        ///   Перезаписывает свойство CurrentUICulture текущего потока для всех
+        ///   обращений к ресурсу с помощью этого класса ресурса со строгой типизацией.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
+                return resourceCulture;
+            }
+            set {
+                resourceCulture = value;
+            }
+        }
+    }
+}

DroneClient/Properties/Resources.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>

DroneClient/README.md

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

DroneClient/TelemetryServer.cs

@@ -0,0 +1,258 @@
+using DroneClient.Models;
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
+using System.Linq;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using TelemetryIO;
+using TelemetryIO.Models;
+
+namespace TelemetryIO
+{
+    internal class TelemetryServer : TelemetryIO.BaseCommHandler
+    {
+        ConcurrentQueue<byte[]> sendQueue = new ConcurrentQueue<byte[]>();
+        Telemetry telemetry = Telemetry.Instance;
+        MonitorContainer monitoring = MonitorContainer.Instance;
+        private bool isClientConnected = false;
+
+        public event EventHandler OnTeleClientConnected = delegate { };
+        public event EventHandler OnTeleClientDisconnected = delegate { };
+
+        public bool isClientAvailable { get { return isClientConnected; } }
+
+        public TelemetryServer()
+        {
+
+        }
+        public override void Close()
+        {
+            throw new NotImplementedException();
+        }
+
+        public override void CloseConnection()
+        {
+            throw new NotImplementedException();
+        }
+
+        public override bool IsOpen()
+        {
+            return true;
+        }
+
+        public async override Task Open()
+        {
+            await StartServerAsync();
+            //Console.ReadLine();
+        }
+
+        public async Task StartServerAsync()
+        {
+            var listener = new TcpListener(IPAddress.Any, Port);
+            listener.Start();
+            Console.WriteLine("Server is running");
+            try
+            {
+                while (true)
+                {
+                    //if (isClientConnected) await Task.Delay(25);
+                    var client = await listener.AcceptTcpClientAsync();
+                    StrikeOnTeleClientConnected();
+                    isClientConnected = true;
+                    Debug.WriteLine("Client is connected");
+                    //this.client = client;
+                    var readTask = StartReadingAsync(client);
+                    var writeTask = SendMessageAsync(client);
+                    await readTask;
+                    await writeTask;
+                }
+            }
+            catch (IOException ex) when (IsNetworkError(ex))
+            {
+                // Специальная обработка сетевых ошибок
+                Debug.WriteLine($"Ошибка при запуске сервера: {ex.Message}");
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine("An error occurred: " + ex.Message);
+            }
+            finally
+            {
+                listener.Stop();
+            }
+        }
+
+        public async Task SendMessageAsync(TcpClient c)
+        {
+            if (c.GetStream() == null || !c.Connected)
+            {
+                Console.WriteLine("Not connected to server");
+                return;
+            }
+
+            while (c.Connected)
+            {
+                if (sendQueue.TryDequeue(out byte[] buffer))
+                {
+                    try
+                    {
+                        await c.GetStream().WriteAsync(buffer, 0, buffer.Length);
+                        Debug.WriteLine($"Sent");
+                    }
+                    catch (IOException ex) when (IsNetworkError(ex))
+                    {
+                        // Специальная обработка сетевых ошибок
+                        Debug.WriteLine($"Клиент отключился: {ex.Message}");
+                        HandleDisconnectedClient(c);
+                    }
+                    catch (Exception ex)
+                    {
+                        Debug.WriteLine($"Error sending message: {ex.Message}");
+                    }
+                }
+            }
+        }
+
+        public async override Task StartReadingAsync(object C)
+        {
+            TcpClient client;
+            if (C is TcpClient) client = (TcpClient)C;
+            else
+            {
+                return;
+            }
+            try
+            {
+                using NetworkStream stream = client.GetStream();
+
+                while (client.Connected)
+                {
+                    byte[] buffer = new byte[1024];
+                    int bytesRead = await stream.ReadAsync(buffer, 0, buffer.Length);
+                    //string response = await reader.ReadLineAsync();
+                    if (bytesRead > 0)
+                    {
+                        EnqueueData(buffer, bytesRead);
+                    }
+                    data_extract();
+                }
+            }
+            catch (IOException ex) when (IsNetworkError(ex))
+            {
+                // Специальная обработка сетевых ошибок
+                Debug.WriteLine($"Клиент отключился: {ex.Message}");
+                HandleDisconnectedClient(client);
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"Error sending message: {ex.Message}");
+            }
+        }
+
+        protected override void ProcessCommand(int cmd, int slot, byte[] data, int offset, int len)
+        {
+            Debug.WriteLine(@"server cmd = " + cmd);
+
+            switch (cmd)
+            {
+                case TELE_CMD_HELLO:
+                    byte[] load = telemetry.getSlot(cmd, offset, len);
+                    putRequest(prepareTelegram(cmd, 0, load, 0, load.Length));
+                    break;
+
+                case TELE_CMD_RD_ONCE:
+                    byte[] load1 = telemetry.getSlot(slot, offset, len);
+                    putRequest(prepareTelegram(cmd, slot, load1, offset, load1.Length));
+                    break;
+
+                case TELE_CMD_WR:
+                    setData(data, slot, offset, len);
+                    sendVoidAnswer(TELE_CMD_WR);
+                    break;
+
+                case TELE_CMD_RD_MON_ON:
+                    monitoring.isMonitor = 1;
+                    sendVoidAnswer(TELE_CMD_RD_MON_ON);
+                    break;
+
+                case TELE_CMD_RD_MON_OFF:
+                    monitoring.isMonitor = 0;
+                    sendVoidAnswer(TELE_CMD_RD_MON_OFF);
+                    break;
+
+                case TELE_CMD_RD_MON_ADD:
+                    int id = monitoring.monitorPut(slot, offset, 4);
+                    sendIntAnswer(TELE_CMD_RD_MON_ADD, id);
+                    monitoring.isMonitor = 1;
+                    break;
+
+                case TELE_CMD_RD_MON_REMOVE:
+                    id = monitoring.monitorRemove(offset);//in this case offset == id
+                    if(monitoring.monitorFillLevel == 0)monitoring.isMonitor = 0;//if monitor_fill_level == 0 there is no item to monitor
+                    if (monitoring.isMonitor > 0) sendIntAnswer(TELE_CMD_RD_MON_REMOVE, id);
+                    else sendVoidAnswer(TELE_CMD_RD_MON_REMOVEALL);
+                    break;
+            }
+        }
+
+        private void setData(byte[] load, int slot, int offset, int len)
+        {
+            telemetry.setSlot(slot, load, offset, len);
+        }
+
+        private void sendVoidAnswer(int command)
+        {
+            putRequest(prepareTelegram(command, 0, new byte[0], 0));
+        }
+
+        private void sendIntAnswer(int command, int param)
+        {
+            putRequest(prepareTelegram(command, 0, new byte[0], param));
+        }
+
+        protected override void sendData(byte[] data)
+        {
+            sendQueue.Enqueue(data);
+        }
+
+        public override void setCommParams(iCommParams commParams)
+        {
+            if (commParams.GetType() == typeof(TCPCommParams))
+            {
+                var comm = (TCPCommParams)commParams;
+                IP = comm.IP;
+                Port = comm.Port;
+            }
+        }
+
+        private void HandleDisconnectedClient(TcpClient client)
+        {
+            isClientConnected = false;
+            StrikeOnTeleClientDisconnected();
+        }
+
+        private bool IsNetworkError(Exception ex)
+        {
+            // Проверяем типичные сетевые ошибки при разрыве соединения
+            return ex is IOException
+                   || ex is SocketException
+                   || ex.InnerException is SocketException;
+        }
+
+        public void StrikeOnTeleClientConnected()
+        {
+            OnTeleClientConnected?.Invoke(this, EventArgs.Empty);
+        }
+
+        public void StrikeOnTeleClientDisconnected()
+        {
+            OnTeleClientDisconnected?.Invoke(this, EventArgs.Empty);
+        }
+    }
+}

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 @@
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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": ""
-            }
-          ]
-        }
-      ]
-    }
-  ]
-}