Physics

DroneClient/Drone.cs

@@ -1,4 +1,7 @@
-using System.Drawing;
+using DroneData;
+using System.Diagnostics.Metrics;
+using System.Drawing;
+using System.Numerics;
 using System.Runtime.InteropServices;
 
 namespace DroneClient
@@ -8,8 +11,13 @@ namespace DroneClient
 
     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;
 
@@ -70,22 +78,54 @@ namespace DroneClient
       return getBytes(mot4);
     }
 
-    private byte[]? RecvDataIMU(byte[] data)
+    private byte[]? RecvDataAcc(byte[] data)
     {
-      DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU));
+      DroneData.DataAcc imu = (DroneData.DataAcc)fromBytes(data, typeof(DroneData.DataAcc));
 
       AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
-      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+
+      TimeAcc= imu.Time;
 
       return new byte[0];
     }
 
-    private byte[]? RecvDataPos(byte[] data)
+    private byte[]? RecvDataGyr(byte[] data)
     {
-      DroneData.DataPos pos = (DroneData.DataPos)fromBytes(data, typeof(DroneData.DataPos));
+      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;
-      LaserRange = pos.LiDAR;
+
+      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];
     }
@@ -96,7 +136,7 @@ namespace DroneClient
 
       switch (head.Type)
       {
-        case DroneData.DataType.DataIMU:
+        case DroneData.DataType.DataAcc:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
@@ -108,11 +148,11 @@ namespace DroneClient
             else
             {
               // Пришли данные
-              return RecvDataIMU(body);
+              return RecvDataAcc(body);
             }
           }
 
-        case DroneData.DataType.DataPos:
+        case DroneData.DataType.DataGyr:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
@@ -124,7 +164,55 @@ namespace DroneClient
             else
             {
               // Пришли данные
-              return RecvDataPos(body);
+              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);
             }
           }
 
@@ -193,24 +281,52 @@ namespace DroneClient
 
     public byte[] SendReqest()
     {
-      DroneData.DataHead imu = new DroneData.DataHead();
+      DroneData.DataHead acc = new DroneData.DataHead();
-      imu.Size = DroneData.DataHead.StrLen;
+      acc.Size = DroneData.DataHead.StrLen;
-      imu.Mode = DroneData.DataMode.Request;
+      acc.Mode = DroneData.DataMode.Request;
-      imu.Type = DroneData.DataType.DataIMU;
+      acc.Type = DroneData.DataType.DataAcc;
 
-      DroneData.DataHead pos = new DroneData.DataHead();
+      DroneData.DataHead gyr = new DroneData.DataHead();
-      pos.Size = DroneData.DataHead.StrLen;
+      gyr.Size = DroneData.DataHead.StrLen;
-      pos.Mode = DroneData.DataMode.Request;
+      gyr.Mode = DroneData.DataMode.Request;
-      pos.Type = DroneData.DataType.DataPos;
+      gyr.Type = DroneData.DataType.DataGyr;
 
-      byte[] si = getBytes(imu);
+      DroneData.DataHead range = new DroneData.DataHead();
-      byte[] sp = getBytes(pos);
+      range.Size = DroneData.DataHead.StrLen;
-      byte[] sm = SendDataMotor4();
+      range.Mode = DroneData.DataMode.Request;
+      range.Type = DroneData.DataType.DataRange;
 
-      byte[] send = new byte[si.Length + sp.Length + sm.Length];
+      DroneData.DataHead local = new DroneData.DataHead();
-      si.CopyTo(send, 0);
+      local.Size = DroneData.DataHead.StrLen;
-      sp.CopyTo(send, si.Length);
+      local.Mode = DroneData.DataMode.Request;
-      sm.CopyTo(send, si.Length + sp.Length);
+      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/DroneData.cs

@@ -1,4 +1,4 @@
-using System.Runtime.InteropServices;
+using System.Runtime.InteropServices;
 
 namespace DroneData
 {
@@ -8,14 +8,17 @@ namespace DroneData
   };
 
   public enum DataType : ushort
-  { 
+  {
     None = 0, Head = 1,
 
     // Output
-    DataIMU = 1001, DataPos = 1002, 
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006, DataOF = 1007,
 
     // Input
-    DataMotor4 = 2001, DataMotor6 = 2002
+    DataMotor4 = 2001, DataMotor6 = 2002,
+
+    // State
+    DataQuat = 3001,
   };
 
   public struct DataHead
@@ -25,32 +28,86 @@ namespace DroneData
     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 DataIMU
+  public struct DataAcc
   {
     public DataHead Head;
-    public XYZ Acc, Gyr, Mag;
+    public XYZ Acc;
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
 
-  public struct DataPos
+  public struct DataGyr
   {
     public DataHead Head;
-    public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public XYZ Gyr;
-    public float LiDAR; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
+    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 ulong Count;
     public float UL, UR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
@@ -59,7 +116,6 @@ namespace DroneData
   public struct DataMotor6
   {
     public DataHead Head;
-    public ulong Count;
     public float UL, UR, LL, RR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));

DroneClient/FormMain.Designer.cs

@@ -38,12 +38,14 @@
       label3 = new Label();
       label1 = new Label();
       groupBox2 = new GroupBox();
+      label_time_acc = new Label();
       label_Acc_Z = new Label();
       label7 = new Label();
       label_Acc_Y = new Label();
       label5 = new Label();
       label_Acc_X = new Label();
       groupBox3 = new GroupBox();
+      label_time_gyr = new Label();
       label_Gyr_Z = new Label();
       label9 = new Label();
       label_Gyr_Y = new Label();
@@ -51,6 +53,7 @@
       label_Gyr_X = new Label();
       label13 = new Label();
       groupBox4 = new GroupBox();
+      label_time_range = new Label();
       label_Pos_L = new Label();
       label6 = new Label();
       label_Pos_Y = new Label();
@@ -65,12 +68,22 @@
       label_Pow = new Label();
       button_ML = new Button();
       button_MR = new Button();
+      groupBox5 = new GroupBox();
+      label_time_of = new Label();
+      label_OF_Y = new Label();
+      label17 = new Label();
+      label_OF_X = new Label();
+      label19 = new Label();
+      trackBar_Value = new TrackBar();
+      label4 = new Label();
       groupBox1.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit();
       groupBox2.SuspendLayout();
       groupBox3.SuspendLayout();
       groupBox4.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)trackBar_Power).BeginInit();
+      groupBox5.SuspendLayout();
+      ((System.ComponentModel.ISupportInitialize)trackBar_Value).BeginInit();
       SuspendLayout();
       // 
       // timer_Test
@@ -89,7 +102,7 @@
       groupBox1.Dock = DockStyle.Top;
       groupBox1.Location = new Point(0, 0);
       groupBox1.Name = "groupBox1";
-      groupBox1.Size = new Size(275, 80);
+      groupBox1.Size = new Size(446, 80);
       groupBox1.TabIndex = 3;
       groupBox1.TabStop = false;
       groupBox1.Tag = "";
@@ -156,6 +169,7 @@
       // 
       // groupBox2
       // 
+      groupBox2.Controls.Add(label_time_acc);
       groupBox2.Controls.Add(label_Acc_Z);
       groupBox2.Controls.Add(label7);
       groupBox2.Controls.Add(label_Acc_Y);
@@ -164,11 +178,20 @@
       groupBox2.Controls.Add(label1);
       groupBox2.Location = new Point(6, 86);
       groupBox2.Name = "groupBox2";
-      groupBox2.Size = new Size(78, 100);
+      groupBox2.Size = new Size(100, 118);
       groupBox2.TabIndex = 5;
       groupBox2.TabStop = false;
       groupBox2.Text = "Acc";
       // 
+      // label_time_acc
+      // 
+      label_time_acc.AutoSize = true;
+      label_time_acc.Location = new Point(6, 100);
+      label_time_acc.Name = "label_time_acc";
+      label_time_acc.Size = new Size(13, 15);
+      label_time_acc.TabIndex = 25;
+      label_time_acc.Text = "0";
+      // 
       // label_Acc_Z
       // 
       label_Acc_Z.AutoSize = true;
@@ -216,19 +239,29 @@
       // 
       // groupBox3
       // 
+      groupBox3.Controls.Add(label_time_gyr);
       groupBox3.Controls.Add(label_Gyr_Z);
       groupBox3.Controls.Add(label9);
       groupBox3.Controls.Add(label_Gyr_Y);
       groupBox3.Controls.Add(label11);
       groupBox3.Controls.Add(label_Gyr_X);
       groupBox3.Controls.Add(label13);
-      groupBox3.Location = new Point(95, 86);
+      groupBox3.Location = new Point(112, 86);
       groupBox3.Name = "groupBox3";
-      groupBox3.Size = new Size(78, 100);
+      groupBox3.Size = new Size(103, 118);
       groupBox3.TabIndex = 6;
       groupBox3.TabStop = false;
       groupBox3.Text = "Gyr";
       // 
+      // label_time_gyr
+      // 
+      label_time_gyr.AutoSize = true;
+      label_time_gyr.Location = new Point(3, 100);
+      label_time_gyr.Name = "label_time_gyr";
+      label_time_gyr.Size = new Size(13, 15);
+      label_time_gyr.TabIndex = 26;
+      label_time_gyr.Text = "0";
+      // 
       // label_Gyr_Z
       // 
       label_Gyr_Z.AutoSize = true;
@@ -285,19 +318,29 @@
       // 
       // groupBox4
       // 
+      groupBox4.Controls.Add(label_time_range);
       groupBox4.Controls.Add(label_Pos_L);
       groupBox4.Controls.Add(label6);
       groupBox4.Controls.Add(label_Pos_Y);
       groupBox4.Controls.Add(label10);
       groupBox4.Controls.Add(label_Pos_X);
       groupBox4.Controls.Add(label14);
-      groupBox4.Location = new Point(188, 86);
+      groupBox4.Location = new Point(221, 86);
       groupBox4.Name = "groupBox4";
-      groupBox4.Size = new Size(78, 100);
+      groupBox4.Size = new Size(103, 118);
       groupBox4.TabIndex = 7;
       groupBox4.TabStop = false;
       groupBox4.Text = "Pos";
       // 
+      // label_time_range
+      // 
+      label_time_range.AutoSize = true;
+      label_time_range.Location = new Point(6, 100);
+      label_time_range.Name = "label_time_range";
+      label_time_range.Size = new Size(13, 15);
+      label_time_range.TabIndex = 27;
+      label_time_range.Text = "0";
+      // 
       // label_Pos_L
       // 
       label_Pos_L.AutoSize = true;
@@ -437,11 +480,93 @@
       button_MR.MouseDown += button_UU_MouseDown;
       button_MR.MouseUp += button_UU_MouseUp;
       // 
+      // groupBox5
+      // 
+      groupBox5.Controls.Add(label_time_of);
+      groupBox5.Controls.Add(label_OF_Y);
+      groupBox5.Controls.Add(label17);
+      groupBox5.Controls.Add(label_OF_X);
+      groupBox5.Controls.Add(label19);
+      groupBox5.Location = new Point(330, 86);
+      groupBox5.Name = "groupBox5";
+      groupBox5.Size = new Size(104, 118);
+      groupBox5.TabIndex = 24;
+      groupBox5.TabStop = false;
+      groupBox5.Text = "OF";
+      // 
+      // label_time_of
+      // 
+      label_time_of.AutoSize = true;
+      label_time_of.Location = new Point(6, 100);
+      label_time_of.Name = "label_time_of";
+      label_time_of.Size = new Size(13, 15);
+      label_time_of.TabIndex = 27;
+      label_time_of.Text = "0";
+      // 
+      // label_OF_Y
+      // 
+      label_OF_Y.AutoSize = true;
+      label_OF_Y.Location = new Point(19, 45);
+      label_OF_Y.Name = "label_OF_Y";
+      label_OF_Y.Size = new Size(13, 15);
+      label_OF_Y.TabIndex = 7;
+      label_OF_Y.Text = "0";
+      // 
+      // label17
+      // 
+      label17.AutoSize = true;
+      label17.Location = new Point(6, 45);
+      label17.Name = "label17";
+      label17.Size = new Size(17, 15);
+      label17.TabIndex = 6;
+      label17.Text = "Y:";
+      // 
+      // label_OF_X
+      // 
+      label_OF_X.AutoSize = true;
+      label_OF_X.Location = new Point(19, 19);
+      label_OF_X.Name = "label_OF_X";
+      label_OF_X.Size = new Size(13, 15);
+      label_OF_X.TabIndex = 5;
+      label_OF_X.Text = "0";
+      // 
+      // label19
+      // 
+      label19.AutoSize = true;
+      label19.Location = new Point(6, 19);
+      label19.Name = "label19";
+      label19.Size = new Size(17, 15);
+      label19.TabIndex = 4;
+      label19.Text = "X:";
+      // 
+      // trackBar_Value
+      // 
+      trackBar_Value.Location = new Point(349, 240);
+      trackBar_Value.Maximum = 100;
+      trackBar_Value.Minimum = 1;
+      trackBar_Value.Name = "trackBar_Value";
+      trackBar_Value.Orientation = Orientation.Vertical;
+      trackBar_Value.Size = new Size(45, 195);
+      trackBar_Value.TabIndex = 25;
+      trackBar_Value.Value = 1;
+      // 
+      // label4
+      // 
+      label4.AutoSize = true;
+      label4.Location = new Point(347, 219);
+      label4.Name = "label4";
+      label4.Size = new Size(47, 15);
+      label4.TabIndex = 26;
+      label4.Text = "POWER";
+      // 
       // Form_Main
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
       AutoScaleMode = AutoScaleMode.Font;
-      ClientSize = new Size(275, 447);
+      ClientSize = new Size(446, 447);
+      Controls.Add(label4);
+      Controls.Add(trackBar_Value);
+      Controls.Add(groupBox5);
       Controls.Add(button_MR);
       Controls.Add(button_ML);
       Controls.Add(label_Pow);
@@ -468,6 +593,9 @@
       groupBox4.ResumeLayout(false);
       groupBox4.PerformLayout();
       ((System.ComponentModel.ISupportInitialize)trackBar_Power).EndInit();
+      groupBox5.ResumeLayout(false);
+      groupBox5.PerformLayout();
+      ((System.ComponentModel.ISupportInitialize)trackBar_Value).EndInit();
       ResumeLayout(false);
       PerformLayout();
     }
@@ -509,5 +637,16 @@
     private Label label_Pow;
     private Button button_ML;
     private Button button_MR;
+    private Label label4;
+    private Label label_time_acc;
+    private Label label_time_range;
+    private Label label_time_gyr;
+    private GroupBox groupBox5;
+    private Label label_time_of;
+    private Label label_OF_Y;
+    private Label label17;
+    private Label label_OF_X;
+    private Label label19;
+    private TrackBar trackBar_Value;
   }
 }

DroneClient/FormMain.cs

@@ -1,4 +1,4 @@
-using System.Text;
+using System.Text;
 using System.Numerics;
 using System.Windows.Forms;
 using static DroneSimulator.NetClient;
@@ -95,14 +95,25 @@ namespace DroneSimulator
       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();
+
       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();
+
+      label_OF_X.Text = dataDrone.OF.X.ToString();
+      label_OF_Y.Text = dataDrone.OF.Y.ToString();
+
+      label_time_of.Text = dataDrone.TimeRange.ToString();
+
       netClient.SendData(dataDrone.SendReqest());
     }
 
@@ -117,7 +128,7 @@ namespace DroneSimulator
 
     private void button_UU_MouseDown(object sender, MouseEventArgs e)
     {
-      const float pow = 0.1f;
+      float pow = ((float)trackBar_Value.Value) / 10.0f;
 
       if (sender == button_UU)
       {

DroneClientCpp/Drone.cpp

@@ -59,55 +59,91 @@ namespace DroneClient {
         return GetBytes(mot4);
     }
 
-    // Реализация приватного метода RecvDataIMU
+    array<Byte>^ Drone::RecvDataAcc(array<Byte>^ data)
-    array<Byte>^ Drone::RecvDataIMU(array<Byte>^ data)
     {
-        DroneData::DataIMU imu = (DroneData::DataIMU)FromBytes(data, DroneData::DataIMU::typeid);
+        DroneData::DataAcc imu = (DroneData::DataAcc)FromBytes(data, DroneData::DataAcc::typeid);
 
         AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
-        GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+        TimeAcc = imu.Time;
 
         return gcnew array<Byte>(0);
     }
 
-    // Реализация приватного метода RecvDataPos
+    array<Byte>^ Drone::RecvDataGyr(array<Byte>^ data)
-    array<Byte>^ Drone::RecvDataPos(array<Byte>^ data)
     {
-        DroneData::DataPos pos = (DroneData::DataPos)FromBytes(data, DroneData::DataPos::typeid);
+      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;
-        LaserRange = pos.LiDAR;
 
         return gcnew array<Byte>(0);
     }
 
-    // Реализация приватного метода ClientRequestResponse
     array<Byte>^ Drone::ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body)
     {
         array<Byte>^ zero = gcnew array<Byte>(0);
 
         switch (head.Type)
         {
-        case DroneData::DataType::DataIMU:
+        case DroneData::DataType::DataAcc:
             if (head.Mode == DroneData::DataMode::Request)
             {
                 return zero; // Запрос данных (не реализовано)
             }
             else
             {
-                return RecvDataIMU(body); // Пришли данные
+                return RecvDataAcc(body); // Пришли данные
             }
 
-        case DroneData::DataType::DataPos:
+        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 RecvDataPos(body); // Пришли данные
+                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)
             {
@@ -133,7 +169,7 @@ namespace DroneClient {
     }
 
     // Реализация метода DataStream
-    System::Collections::Generic::List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
+    List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
     {
         System::Collections::Generic::List<array<Byte>^>^ ret = gcnew System::Collections::Generic::List<array<Byte>^>();
 
@@ -173,25 +209,47 @@ namespace DroneClient {
     // Реализация метода SendRequest
     array<Byte>^ Drone::SendRequest()
     {
-        DroneData::DataHead imu;
+      DroneData::DataHead^ acc = gcnew DroneData::DataHead();
-        imu.Size = DroneData::DataHead::StrLen;
+      acc->Size = DroneData::DataHead::StrLen;
-        imu.Mode = DroneData::DataMode::Request;
+      acc->Mode = DroneData::DataMode::Request;
-        imu.Type = DroneData::DataType::DataIMU;
+      acc->Type = DroneData::DataType::DataAcc;
 
-        DroneData::DataHead pos;
+      DroneData::DataHead^ gyr = gcnew DroneData::DataHead();
-        pos.Size = DroneData::DataHead::StrLen;
+      gyr->Size = DroneData::DataHead::StrLen;
-        pos.Mode = DroneData::DataMode::Request;
+      gyr->Mode = DroneData::DataMode::Request;
-        pos.Type = DroneData::DataType::DataPos;
+      gyr->Type = DroneData::DataType::DataGyr;
 
-        array<Byte>^ si = GetBytes(imu);
+      DroneData::DataHead^ range = gcnew DroneData::DataHead();
-        array<Byte>^ sp = GetBytes(pos);
+      range->Size = DroneData::DataHead::StrLen;
-        array<Byte>^ sm = SendDataMotor4();
+      range->Mode = DroneData::DataMode::Request;
+      range->Type = DroneData::DataType::DataRange;
 
-        array<Byte>^ send = gcnew array<Byte>(si->Length + sp->Length + sm->Length);
+      DroneData::DataHead^ local = gcnew DroneData::DataHead();
-        Array::Copy(si, 0, send, 0, si->Length);
+      local->Size = DroneData::DataHead::StrLen;
-        Array::Copy(sp, 0, send, si->Length, sp->Length);
+      local->Mode = DroneData::DataMode::Request;
-        Array::Copy(sm, 0, send, si->Length + sp->Length, sm->Length);
+      local->Type = DroneData::DataType::DataLocal;
 
-        return send;
+      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

@@ -18,8 +18,11 @@ namespace DroneClient {
     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;
 
@@ -28,8 +31,10 @@ namespace DroneClient {
 
     private:
         array<Byte>^ SendDataMotor4();
-        array<Byte>^ RecvDataIMU(array<Byte>^ data);
+        array<Byte>^ RecvDataAcc(array<Byte>^ data);
-        array<Byte>^ RecvDataPos(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;

DroneClientCpp/DroneData.h

@@ -15,18 +15,24 @@ namespace DroneData {
 
     public enum class DataType : unsigned short
     {
-        None = 0, Head = 1,
+      None = 0, Head = 1,
-        DataIMU = 1001, DataPos = 1002,
+
-        DataMotor4 = 2001, DataMotor6 = 2002
+      // Output
+      DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
+
+      // Input
+      DataMotor4 = 2001, DataMotor6 = 2002
     };
 
     public value struct DataHead
     {
     public:
-        int Size;
+      long Size;
         DataMode Mode;
         DataType Type;
 
+        unsigned long Time;
+
         static const int StrLen = sizeof(DataHead);
     };
 
@@ -36,30 +42,65 @@ namespace DroneData {
         float X, Y, Z;
     };
 
-    public value struct DataIMU
+    public value struct DataAcc
     {
     public:
         DataHead Head;
-        XYZ Acc, Gyr, Mag;
+        XYZ Acc;
 
-        static const int StrLen = sizeof(DataIMU);
+        unsigned long Time;
+
+        static const int StrLen = sizeof(DataAcc);
     };
 
-    public value struct DataPos
+    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;
-        XYZ Local;
         float LiDAR;
 
-        static const int StrLen = sizeof(DataPos);
+        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;
-        unsigned long long Count;
         float UL, UR, DL, DR;
 
         static const int StrLen = sizeof(DataMotor4);
@@ -69,7 +110,6 @@ namespace DroneData {
     {
     public:
         DataHead Head;
-        unsigned long long Count;
         float UL, UR, LL, RR, DL, DR;
 
         static const int StrLen = sizeof(DataMotor6);

DroneClientCpp/NetClient.cpp

@@ -40,7 +40,7 @@ namespace DroneSimulator {
         IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port);
         ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
 
-        try { ServerSocket->Connect(ep); }
+        try { if (ServerSocket) ServerSocket->Connect(ep); }
         catch (...) { ServerSocket->Close(); return ClientState::Error; }
 
         Connected = true;
@@ -49,7 +49,7 @@ namespace DroneSimulator {
 
         ReceiveData^ receiveData = gcnew ReceiveData(DataServer->buffer, ServerData::size, ServerSocket);
 
-        try { ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
+        try { if (ServerSocket) ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
         catch (...) {}
 
         return ClientState::Connected;
@@ -58,9 +58,9 @@ namespace DroneSimulator {
     // Реализация метода Close
     void NetClient::Close()
     {
-        try { ServerSocket->Shutdown(SocketShutdown::Both); }
+        try { if(ServerSocket) ServerSocket->Shutdown(SocketShutdown::Both); }
         catch (...) {}
-        ServerSocket->Close();
+        if(ServerSocket) ServerSocket->Close();
         Connected = false;
     }
 
@@ -69,7 +69,7 @@ namespace DroneSimulator {
     {
         if (ServerSocket != nullptr && Connected)
         {
-            try { ServerSocket->Send(data); }
+            try { if (ServerSocket) ServerSocket->Send(data); }
             catch (...) {}
         }
     }
@@ -86,7 +86,7 @@ namespace DroneSimulator {
 
         if (bytes == 0)
         {
-            ServerSocket->Close();
+          if (ServerSocket) ServerSocket->Close();
             Connected = false;
 
             if (ServerSocket != nullptr)
@@ -99,7 +99,7 @@ namespace DroneSimulator {
 
         ReceiveCallback(gcnew ReceiveData(cd->Buffer, bytes, ServerSocket));
 
-        try { ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
+        try { if (ServerSocket) ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
         catch (...) {}
     }
 }

DroneSimulator/Area.cs

@@ -0,0 +1,27 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DroneSimulator
+{
+  internal class Area
+  {
+    public struct Poisition
+    {
+      public struct Freeze{ public static bool X, Y, Z; }
+    }
+
+    public struct Wind
+    {
+      public static bool Enable;
+      public struct Speed { public static float From, To; }
+      public static float Direction;
+      public static float Density;
+      public static float PosResist;
+      public static float RotResist;
+    }
+  }
+}

DroneSimulator/Drone.cs

@@ -1,26 +1,28 @@
-using System.CodeDom;
+using System.Numerics;
-using System.Numerics;
 using System.Runtime.InteropServices;
-using System.Security.Cryptography;
+using static System.Net.Mime.MediaTypeNames;
 
 namespace DroneSimulator
 {
   internal class Drone
   {
     public int ID;
-    public float Mass; // Масса
+
     public bool Active; // Живой?
-    public float Length; // Длинна лучей
     public const float Dynamic = 10; // Динамика вращения
     public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
     public Quaternion Quat; // Основной кватернион
     public float Power = 0; // Тяга всех двигателей (0-1)
-    public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
+    
     public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
 
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
     public float LaserRange; // Имитация: Дальномер
 
+    public Vector4 Orientation;
+
+    private uint DataTimer;
+
     private const float Gravity = 9.8f;
 
     private const float TO_GRAD = 180 / MathF.PI;
@@ -29,7 +31,21 @@ namespace DroneSimulator
     private Thread DroneThread;
     private int Timer;
 
-    private static int CounterID = 0;
+    private Vector2 MoveOF = Vector2.Zero;
+
+    public struct Physics
+    {
+      static public float Mass; // Масса
+      static public float Length; // Длинна лучей
+      static public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
+    }
+
+    private RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
+    private RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
+    private RealMode.Position RealPos = new RealMode.Position();
+    private RealMode.Barometer RealBar = new RealMode.Barometer();
+    private RealMode.Range RealRange = new RealMode.Range();
+    private RealMode.OpticalFlow RealOF = new RealMode.OpticalFlow();
 
     public static byte[] getBytes(object data)
     {
@@ -72,43 +88,28 @@ namespace DroneSimulator
       return mem;
     }
 
-    /*public struct DataOut
+    public VisualData.VisualDrone GetVisual(int count, int index)
     {
-      public float AccX, AccY, AccZ;
+      VisualData.VisualDrone drone = new VisualData.VisualDrone();
-      public float GyrX, GyrY, GyrZ;
-      public float PosX, PosY;
-      public float LaserRange;
-    }
 
-    public DataOut GetDataOut()
+      drone.Head.Size = Marshal.SizeOf(typeof(VisualData.VisualDrone));
-    {
+      drone.Head.Type = VisualData.VisualHead.VisualType.Drone;
-      DataOut data = new DataOut();
 
-      data.AccX = Acc.X; data.AccY = Acc.Y; data.AccZ = Acc.Z;
+      drone.Count = count;
-      data.GyrX = Gyr.X; data.GyrY = Gyr.Y; data.GyrZ = Gyr.Z;
+      drone.Index = index;
 
-      data.PosX = PosXYZ.X; data.PosY = PosXYZ.Y;
+      drone.ID = ID;
+      drone.Color.A = 255; drone.Color.R = 255; drone.Color.G = 0; drone.Color.B = 0;
 
-      data.LaserRange = LaserRange;
+      drone.Rotate.X = Quat.X; drone.Rotate.Y = Quat.Y; drone.Rotate.Z = Quat.Z; drone.Rotate.W = Quat.W;
+      drone.Position.X = PosXYZ.X; drone.Position.Y = PosXYZ.Y; drone.Position.Z = PosXYZ.Z;
+      drone.Scale = 1.0f;
 
-      return data;
+      drone.State = VisualData.VisualDrone.DroneState.Active;
-    }
 
-    public struct DataIn
+      drone.Power = Power;
-    {
-      public float MotorUL, MotorUR, MotorDL, MotorDR;
-    }*/
 
-    public struct DataVisual
+      return drone;
-    {
-      public int ID; // Идентификатор
-      public float W, X, Y, Z; // Кватернион вращения
-      public float PosX, PosY, PosZ; // Координаты в пространстве
-    }
-
-    public DataVisual GetVisual()
-    {
-      return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z };
     }
 
     private void ThreadFunction()
@@ -134,12 +135,8 @@ namespace DroneSimulator
       DroneThread.Start();
     }
 
-    public int Create(float power, float mass, float len)
+    public int Create()
     {
-      Mass = mass;
-      Length = len;
-      MaxPower = power;
-
       Active = true;
 
       return ID;
@@ -183,7 +180,7 @@ namespace DroneSimulator
     {
       Quaternion grav = new Quaternion(0, 0, 1, 0);
 
-      grav = (Quat * grav) * Quaternion.Inverse(Quat);
+      grav = Quat * grav * Quaternion.Inverse(Quat);
 
       float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD;
       if (yaw < 0.0f) yaw = 360.0f + yaw;
@@ -205,16 +202,45 @@ namespace DroneSimulator
         flow += flow * 0.1f; // Воздушная подушка
       }
 
-      SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
+      
+
+      float wind_x = 0, wind_y = 0, wind_z = 0;
+      float wind_p = 0, wind_r = 0, wind_w = 0;
+
+      if (Area.Wind.Enable)
+      {
+        Quaternion dir = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), Area.Wind.Direction * TO_RADI * 2);
+
+        Quaternion spd = new Quaternion(0, Area.Wind.Speed.From, 0, 0) * dir;
+
+        float spd_x = spd.X - SpdXYZ.X;
+        float spd_y = spd.Y - SpdXYZ.Y;
+        float spd_z = spd.Z - SpdXYZ.Z;
+
+        wind_x = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_x * MathF.Abs(spd_x));
+        wind_y = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_y * MathF.Abs(spd_y));
+        wind_z = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_z * MathF.Abs(spd_z));
+
+        wind_p = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.X * MathF.Abs(SpdPRY.X));
+        wind_r = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.Y * MathF.Abs(SpdPRY.Y));
+        wind_w = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.Z * MathF.Abs(SpdPRY.Z));
+
+        AccPRY.X -= wind_p; AccPRY.Y -= wind_r; AccPRY.Z -= wind_w;
+      }
+
+      SpdPRY += AccPRY * (Dynamic * time / (Physics.Mass * Physics.Length));
 
       Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
-      AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass);
+      AccXYZ = new Vector3(pow.X + wind_x, pow.Y + wind_y, pow.Z + wind_z) * (Gravity / Physics.Mass);
-
       SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
       PosXYZ += SpdXYZ * time;
 
       AccXYZ /= Gravity; // Вернуть измерения в G
 
+      if (Area.Poisition.Freeze.X) { SpdXYZ.X = 0; PosXYZ.X = 0; }
+      if (Area.Poisition.Freeze.Y) { SpdXYZ.Y = 0; PosXYZ.Y = 0; }
+      if (Area.Poisition.Freeze.Z) { SpdXYZ.Z = 0; PosXYZ.Z = 5; }
+
       if (PosXYZ.Z < 0)
       {
         SpdPRY = Vector3.Zero;
@@ -226,6 +252,8 @@ namespace DroneSimulator
 
       Vector4 ori = GetOrientation();
 
+      Orientation = ori;
+
       if (PosXYZ.Z < 0)
       {
         PosXYZ.Z = 0;
@@ -253,17 +281,28 @@ namespace DroneSimulator
           //Active = false; // Перевернулся вверх ногами
         }
 
-        Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
+        Quaternion grav = Quat * new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0) * Quaternion.Inverse(Quat);
-        //grav = (Quat * grav) * Quaternion.Inverse(Quat); // Инерциальный акселерометр (тест)
         Acc = new Vector3(grav.X, grav.Y, grav.Z);
 
         Gyr = SpdPRY;
 
-        float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
+        float tilt = MathF.Sqrt((ori.X * ori.X) + (ori.Y * ori.Y)) * TO_RADI;
 
         if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
         else LaserRange = float.MaxValue;
       }
+
+      MoveOF.X += SpdXYZ.X - Gyr.Y;
+      MoveOF.Y += SpdXYZ.Y + Gyr.X;
+
+      RealAcc.Update(Acc, (uint)tick);
+      RealGyr.Update(Gyr, (uint)tick);
+      RealRange.Update(LaserRange, (uint)tick);
+      RealBar.Update(PosXYZ.Z * 11, (uint)tick);
+      RealPos.Update(PosXYZ, (uint)tick);
+      RealOF.Update(MoveOF, LaserRange, (uint)tick);
+
+      DataTimer = (uint)tick;
     }
 
     private float Range(float pow)
@@ -271,7 +310,7 @@ namespace DroneSimulator
       if (pow > 1) pow = 1;
       if (pow < 0) pow = 0;
 
-      return pow * MaxPower;
+      return pow * Physics.MaxPower;
     }
 
     public void SetQadroPow(float ul, float ur, float dl, float dr)
@@ -292,47 +331,176 @@ namespace DroneSimulator
       SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR);
     }
 
-    private byte[] SendDataIMU()
+    private byte[] SendDataAcc()
     {
-      DroneData.DataIMU imu = new DroneData.DataIMU();
+      DroneData.DataAcc acc = new DroneData.DataAcc();
 
-      imu.Head.Size = Marshal.SizeOf(typeof(DroneData.DataIMU));
+      acc.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
-      imu.Head.Mode = DroneData.DataMode.Response;
+      acc.Head.Mode = DroneData.DataMode.Response;
-      imu.Head.Type = DroneData.DataType.DataIMU;
+      acc.Head.Type = DroneData.DataType.DataAcc;
+      acc.Head.Time = (uint)Environment.TickCount;
 
-      imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z;
+      acc.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
-      imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z;
+      acc.Time = RealAcc.timer;
-      imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0;
 
-      return getBytes(imu);
+      return getBytes(acc);
     }
 
-    private byte[] SendDataPos()
+    private byte[] SendDataGyr()
     {
-      DroneData.DataPos pos = new DroneData.DataPos();
+      DroneData.DataGyr gyr = new DroneData.DataGyr();
 
-      pos.Head.Size = Marshal.SizeOf(typeof(DroneData.DataPos));
+      gyr.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGyr));
-      pos.Head.Mode = DroneData.DataMode.Response;
+      gyr.Head.Mode = DroneData.DataMode.Response;
-      pos.Head.Type = DroneData.DataType.DataPos;
+      gyr.Head.Type = DroneData.DataType.DataGyr;
+      gyr.Head.Time = (uint)Environment.TickCount;
 
-      pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z;
+      gyr.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
-      pos.LiDAR = LaserRange;
+      gyr.Time = RealGyr.timer;
 
-      return getBytes(pos);
+      return getBytes(gyr);
+    }
+
+    private byte[] SendDataMag()
+    {
+      DroneData.DataMag mag = new DroneData.DataMag();
+
+      mag.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMag));
+      mag.Head.Mode = DroneData.DataMode.Response;
+      mag.Head.Type = DroneData.DataType.DataMag;
+      mag.Head.Time = (uint)Environment.TickCount;
+
+      mag.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0;
+      mag.Time = DataTimer;
+
+      return getBytes(mag);
+    }
+
+    private byte[] SendDataRange()
+    {
+      DroneData.DataRange range = new DroneData.DataRange();
+
+      range.Head.Size = Marshal.SizeOf(typeof(DroneData.DataRange));
+      range.Head.Mode = DroneData.DataMode.Response;
+      range.Head.Type = DroneData.DataType.DataRange;
+      range.Head.Time = (uint)Environment.TickCount;
+
+      range.LiDAR = RealRange.result;
+      range.Time = RealRange.timer;
+
+      return getBytes(range);
+    }
+
+    private byte[] SendDataLocal()
+    {
+      DroneData.DataLocal local = new DroneData.DataLocal();
+
+      local.Head.Size = Marshal.SizeOf(typeof(DroneData.DataLocal));
+      local.Head.Mode = DroneData.DataMode.Response;
+      local.Head.Type = DroneData.DataType.DataLocal;
+      local.Head.Time = (uint)Environment.TickCount;
+
+      local.Local.X = RealPos.result.X; local.Local.Y = RealPos.result.Y; local.Local.Z = RealPos.result.Z;
+      local.Time = RealPos.timer;
+
+      return getBytes(local);
+    }
+
+    private byte[] SendDataBarometer()
+    {
+      DroneData.DataBar bar = new DroneData.DataBar();
+
+      bar.Head.Size = Marshal.SizeOf(typeof(DroneData.DataBar));
+      bar.Head.Mode = DroneData.DataMode.Response;
+      bar.Head.Type = DroneData.DataType.DataBar;
+      bar.Head.Time = (uint)Environment.TickCount;
+
+      bar.Pressure = RealBar.result;
+      bar.Time = RealBar.timer;
+
+      return getBytes(bar);
+    }
+
+    private byte[] SendDataOF()
+    {
+      DroneData.DataOF of = new DroneData.DataOF();
+
+      of.Head.Size = Marshal.SizeOf(typeof(DroneData.DataOF));
+      of.Head.Mode = DroneData.DataMode.Response;
+      of.Head.Type = DroneData.DataType.DataOF;
+      of.Head.Time = (uint)Environment.TickCount;
+
+      of.X = RealOF.result.X;
+      of.Y = RealOF.result.Y;
+      of.Time = RealBar.timer;
+
+      MoveOF = Vector2.Zero;
+
+      return getBytes(of);
+    }
+
+    private byte[] SendDataGPS()
+    {
+      DroneData.DataGPS gps = new DroneData.DataGPS();
+
+      gps.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGPS));
+      gps.Head.Mode = DroneData.DataMode.Response;
+      gps.Head.Type = DroneData.DataType.DataGPS;
+      gps.Head.Time = (uint)Environment.TickCount;
+
+      GPS.Point p = new GPS.Point();
+      p.x = PosXYZ.Y; p.y= PosXYZ.X;
+
+      GPS.GlobalCoords g = new GPS.GlobalCoords();
+      g.latitude=GPS.Home.Lat; g.longitude=GPS.Home.Lon;
+
+      g=GPS.localToGlobal(p, g);
+
+      gps.Lat = g.latitude; gps.Lon = g.longitude;
+
+      gps.Speed = MathF.Sqrt(SpdXYZ.X * SpdXYZ.X + SpdXYZ.Y * SpdXYZ.Y + SpdXYZ.Z * SpdXYZ.Z);
+      gps.Alt = GPS.Home.Alt + PosXYZ.Z;
+
+      DateTime tim = DateTime.Now;
+      gps.UTC = tim.Second + tim.Minute * 100 + tim.Hour * 10000;
+
+      gps.Fix = GPS.State.Fix;
+      gps.SatVisible = GPS.State.SatVisible;
+      gps.SatUsed = GPS.State.SatUsed;
+      gps.Noise = GPS.State.Noise;
+      gps.Hdop = GPS.State.Hdop;
+      gps.Vdop = GPS.State.Vdop;
+      gps.Pdop = GPS.State.Pdop;
+
+      return getBytes(gps);
+    }
+
+    private byte[] SendDataQuaternion()
+    {
+      DroneData.DataQuat quat = new DroneData.DataQuat();
+
+      quat.Head.Size = Marshal.SizeOf(typeof(DroneData.DataQuat));
+      quat.Head.Mode = DroneData.DataMode.Response;
+      quat.Head.Type = DroneData.DataType.DataQuat;
+      quat.Head.Time = (uint)Environment.TickCount;
+
+      quat.X = Quat.X; quat.Y = Quat.Y; quat.Z = Quat.Z; quat.W = Quat.W;
+
+      return getBytes(quat);
     }
 
     private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
     {
-      byte[] zero = new byte[0];
+      byte[] zero = Array.Empty<byte>();
 
       switch (head.Type)
       {
-        case DroneData.DataType.DataIMU:
+        case DroneData.DataType.DataAcc:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
               // Запрос данных
-              return SendDataIMU();
+              return SendDataAcc();
             }
             else
             {
@@ -343,38 +511,23 @@ namespace DroneSimulator
             }
           }
 
-        case DroneData.DataType.DataPos:
+        case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataPos();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
 
-        case DroneData.DataType.DataMotor4:
+        case DroneData.DataType.DataMag: if (head.Mode == DroneData.DataMode.Request) return SendDataMag(); else return zero;
-          {
+
-            if (head.Mode == DroneData.DataMode.Request)
+        case DroneData.DataType.DataRange: if (head.Mode == DroneData.DataMode.Request) return SendDataRange(); else return zero;
-            {
+
-              // Запрос данных
+        case DroneData.DataType.DataLocal: if (head.Mode == DroneData.DataMode.Request) return SendDataLocal(); else return zero;
-              // ... //
+
-              //
+        case DroneData.DataType.DataBar: if (head.Mode == DroneData.DataMode.Request) return SendDataBarometer(); else return zero;
-              return zero;
+
-            }
+        case DroneData.DataType.DataOF: if (head.Mode == DroneData.DataMode.Request) return SendDataOF(); else return zero;
-            else
+
-            {
+        case DroneData.DataType.DataGPS: if (head.Mode == DroneData.DataMode.Request) return SendDataGPS(); else return zero;
-              // Пришли данные
+
-              RecvDataMotor4(body);
+        case DroneData.DataType.DataQuat: if (head.Mode == DroneData.DataMode.Request) return SendDataQuaternion(); else return zero;
-              return zero;
+
-            }
+        case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
-          }
       }
 
       return zero;

DroneSimulator/DroneData.cs

@@ -1,3 +1,4 @@
+using System.Net;
 using System.Runtime.InteropServices;
 
 namespace DroneData
@@ -12,10 +13,13 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataIMU = 1001, DataPos = 1002, 
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006, DataOF = 1007, DataGPS = 1008,
 
     // Input
-    DataMotor4 = 2001, DataMotor6 = 2002
+    DataMotor4 = 2001, DataMotor6 = 2002,
+
+    // State
+    DataQuat = 3001,
   };
 
   public struct DataHead
@@ -25,32 +29,106 @@ namespace DroneData
     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 DataIMU
+  public struct DataAcc
   {
     public DataHead Head;
-    public XYZ Acc, Gyr, Mag;
+    public XYZ Acc;
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
 
-  public struct DataPos
+  public struct DataGyr
   {
     public DataHead Head;
-    public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public XYZ Gyr;
-    public float LiDAR; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
+    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 DataGPS
+  {
+    public DataHead Head;
+
+    public double Lat, Lon; // Координаты (градусы)
+    public float Alt; // Высота (метры)
+    public float Speed; // Скорость (м/с)
+    public int UTC; // Время UTC hhmmss
+
+    public byte Fix; // Тип решения 0-8 (NMEA Fix type)
+    public byte SatVisible; // Количество видимых спутников
+    public byte SatUsed; // Количество используемых спутников
+    public float Hdop, Vdop, Pdop; // Геометрический фактор
+    public float Noise; // Шум (db)
+
+    public uint Time; // Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
   }
 
   public struct DataMotor4
   {
     public DataHead Head;
-    public ulong Count;
     public float UL, UR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
@@ -59,9 +137,16 @@ namespace DroneData
   public struct DataMotor6
   {
     public DataHead Head;
-    public ulong Count;
     public float UL, UR, LL, RR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
   }
-}
+
+  public struct DataQuat
+  {
+    public DataHead Head;
+    public float X, Y, Z, W;
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataQuat));
+  }
+}

DroneSimulator/FormMain.cs

@@ -1,4 +1,4 @@
-using System.Text;
+using System.Text;
 using System.Numerics;
 using System.Windows.Forms;
 using static System.Net.Mime.MediaTypeNames;
@@ -22,6 +22,17 @@ namespace DroneSimulator
     public Form_Main()
     {
       InitializeComponent();
+
+      numericUpDown_Acc_Update(null, null);
+      numericUpDown_Gyr_Update(null, null);
+      numericUpDown_Pos_Update(null, null);
+      numericUpDown_Bar_Update(null, null);
+      numericUpDown_Range_Update(null, null);
+      numericUpDown_OF_Update(null, null);
+      checkBox_Area_Freeze_CheckedChanged(null, null);
+      numericUpDown_Area_Wind_Update(null, null);
+      numericUpDown_GPS_ValueChanged(null, null);
+      numericUpDown_Physics_ValueChanged(null, null);
     }
 
     private void ClientConnectionCallback(object o)
@@ -36,7 +47,7 @@ namespace DroneSimulator
       if (data.Connect)
       {
         Drone drone = new Drone(data.ID);
-        drone.Create(1.0f, 0.5f, 1.0f);
+        drone.Create();
 
         screen2D.CreateDrone(Color.Red, data.ID);
 
@@ -75,7 +86,7 @@ namespace DroneSimulator
       List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
 
       if (send == null) return;
-      try 
+      try
       {
         foreach (byte[]? b in send)
         {
@@ -133,12 +144,27 @@ namespace DroneSimulator
 
     private void timer_Test_Tick(object sender, EventArgs e)
     {
+      DateTime test = DateTime.Now;
+
+      int tim = test.Second + test.Minute * 100 + test.Hour * 10000;
+
+
       if (screen2D == null) return;
 
-      foreach (Drone d in AllDrones)
+      listBox_Drones.Items.Clear();
+
+      try
       {
-        screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
+        foreach (Drone d in AllDrones)
+        {
+          screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
+
+          string line = "ID:" + d.ID.ToString() + " Pitch:" + ((int)d.Orientation.X).ToString() + " Roll:" + ((int)d.Orientation.Y).ToString() + " Yaw:" + ((int)d.Orientation.Z).ToString();
+
+          listBox_Drones.Items.Add(line);
+        }
       }
+      catch { }
 
       screen2D.DrawScene();
     }
@@ -153,7 +179,7 @@ namespace DroneSimulator
 
       Invoke((MethodInvoker)delegate
       {
-        label_Clients_Num.Text = data.Count.ToString();
+        label_Visual_Num.Text = data.Count.ToString();
       });
 
       if (data.Connect)
@@ -170,9 +196,11 @@ namespace DroneSimulator
     {
       NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
 
+      int index = 0;
+
       foreach (Drone d in AllDrones)
       {
-        Drone.DataVisual v = d.GetVisual();
+        VisualData.VisualDrone v = d.GetVisual(AllDrones.Count, index++);
 
         try { data.Client.Send(Drone.getBytes(v)); }
         catch { }
@@ -204,5 +232,125 @@ namespace DroneSimulator
           }
       }
     }
+
+    private void numericUpDown_Bar_Update(object sender, EventArgs e)
+    {
+      RealMode.Barometer.RealSimulation = checkBox_Model_Bar_Real.Checked;
+
+      try { RealMode.Barometer.Pressure = uint.Parse(textBox_Bar_Pressure.Text); }
+      catch
+      {
+        RealMode.Barometer.Pressure = 102258;
+        MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+      }
+
+      RealMode.Barometer.Freq = (uint)numericUpDown_Bar_Freq.Value;
+      RealMode.Barometer.Noise = (float)numericUpDown_Bar_Noise.Value;
+      RealMode.Barometer.Lateness = (float)numericUpDown_Bar_Laten.Value;
+      RealMode.Barometer.Enable = checkBox_Bar_Enable.Checked;
+    }
+
+    private void numericUpDown_Acc_Update(object sender, EventArgs e)
+    {
+      RealMode.Accelerometer.RealSimulation = checkBox_Model_Acc_Real.Checked;
+
+      RealMode.Accelerometer.Freq = (uint)numericUpDown_Acc_Freq.Value;
+      RealMode.Accelerometer.Noise = (float)numericUpDown_Acc_Noise.Value;
+      RealMode.Accelerometer.Lateness = (float)numericUpDown_Acc_Laten.Value;
+
+      RealMode.Accelerometer.ScaleLeft = (float)numericUpDown_Acc_Scale_Left.Value;
+      RealMode.Accelerometer.ScaleRight = (float)numericUpDown_Acc_Scale_Rigth.Value;
+    }
+
+    private void numericUpDown_Gyr_Update(object sender, EventArgs e)
+    {
+      RealMode.Gyroscope.RealSimulation = checkBox_Model_Gyr_Real.Checked;
+
+      RealMode.Gyroscope.Freq = (uint)numericUpDown_Gyr_Freq.Value;
+      RealMode.Gyroscope.Noise = (float)numericUpDown_Gyr_Noise.Value;
+      RealMode.Gyroscope.Lateness = (float)numericUpDown_Gyr_Laten.Value;
+
+      RealMode.Gyroscope.Shift.X = (float)numericUpDown_Gyr_Shift_X.Value;
+      RealMode.Gyroscope.Shift.Y = (float)numericUpDown_Gyr_Shift_Y.Value;
+      RealMode.Gyroscope.Shift.Z = (float)numericUpDown_Gyr_Shift_Z.Value;
+    }
+
+    private void numericUpDown_Pos_Update(object sender, EventArgs e)
+    {
+      RealMode.Position.RealSimulation = checkBox_Model_Pos_Real.Checked;
+
+      RealMode.Position.Freq = (uint)numericUpDown_Pos_Freq.Value;
+      RealMode.Position.Noise = (float)numericUpDown_Pos_Noise.Value;
+      RealMode.Position.Lateness = (float)numericUpDown_Pos_Laten.Value;
+      RealMode.Position.Enable = checkBox_Pos_Enable.Checked;
+    }
+
+    private void numericUpDown_Range_Update(object sender, EventArgs e)
+    {
+      RealMode.Range.RealSimulation = checkBox_Model_Range_Real.Checked;
+
+      RealMode.Range.Freq = (uint)numericUpDown_Range_Freq.Value;
+      RealMode.Range.Noise = (float)numericUpDown_Range_Noise.Value;
+      RealMode.Range.Lateness = (float)numericUpDown_Range_Laten.Value;
+      RealMode.Range.Enable = checkBox_Range_Enable.Checked;
+
+      RealMode.Range.MaxHeight = (float)numericUpDown_Range_Max.Value;
+    }
+
+    private void numericUpDown_OF_Update(object sender, EventArgs e)
+    {
+      RealMode.OpticalFlow.RealSimulation = checkBox_Model_OF_Real.Checked;
+
+      RealMode.OpticalFlow.Freq = (uint)numericUpDown_OF_Freq.Value;
+      RealMode.OpticalFlow.Noise = (float)numericUpDown_OF_Noise.Value;
+      RealMode.OpticalFlow.Lateness = (float)numericUpDown_OF_Laten.Value;
+      RealMode.OpticalFlow.Enable = checkBox_OF_Enable.Checked;
+
+      RealMode.OpticalFlow.Lens = (uint)numericUpDown_OF_Lens.Value * 10;
+      RealMode.OpticalFlow.MaxHeight = (float)numericUpDown_OF_Len.Value;
+
+      RealMode.OpticalFlow.Error = (float)numericUpDown_OF_Error.Value * 10;
+      RealMode.OpticalFlow.Wait = (uint)numericUpDown_OF_Wait.Value * 1000;
+    }
+
+    private void checkBox_Area_Freeze_CheckedChanged(object sender, EventArgs e)
+    {
+      Area.Poisition.Freeze.X = checkBox_Area_Freeze_X.Checked;
+      Area.Poisition.Freeze.Y = checkBox_Area_Freeze_Y.Checked;
+      Area.Poisition.Freeze.Z = checkBox_Area_Freeze_Z.Checked;
+    }
+
+    private void numericUpDown_Area_Wind_Update(object sender, EventArgs e)
+    {
+      Area.Wind.Enable = checkBox_Area_Wind_Enable.Checked;
+      Area.Wind.Speed.From = (float)numericUpDown_Area_Wind_Speed_From.Value;
+      Area.Wind.Speed.To = (float)numericUpDown_Area_Wind_Speed_To.Value;
+      Area.Wind.Direction = (float)numericUpDown_Area_Wind_Direction.Value;
+      Area.Wind.Density = (float)numericUpDown_Area_Wind_Density.Value;
+      Area.Wind.PosResist = ((float)numericUpDown_Area_Wind_PosResist.Value) / 1000.0f;
+      Area.Wind.RotResist = ((float)numericUpDown_Area_Wind_RotResist.Value) / 1000.0f;
+    }
+
+    private void numericUpDown_GPS_ValueChanged(object sender, EventArgs e)
+    {
+      GPS.Home.Lat = (double)numericUpDown_GPS_Lat.Value;
+      GPS.Home.Lon = (double)numericUpDown_GPS_Lon.Value;
+      GPS.Home.Alt = (float)numericUpDown_GPS_Alt.Value;
+
+      GPS.State.Fix = (byte)numericUpDown_GPS_Fix.Value;
+      GPS.State.SatVisible = (byte)numericUpDown_GPS_Vis.Value;
+      GPS.State.SatUsed = (byte)numericUpDown_GPS_Use.Value;
+      GPS.State.Noise = (float)numericUpDown_GPS_Noise.Value;
+      GPS.State.Hdop = (float)numericUpDown_GPS_HDOP.Value;
+      GPS.State.Vdop = (float)numericUpDown_GPS_VDOP.Value;
+      GPS.State.Pdop = (float)numericUpDown_GPS_PDOP.Value;
+    }
+
+    private void numericUpDown_Physics_ValueChanged(object sender, EventArgs e)
+    {
+      Drone.Physics.Mass = (float)numericUpDown_Physics_Mass.Value;
+      Drone.Physics.Length = (float)numericUpDown_Physics_Length.Value;
+      Drone.Physics.MaxPower = (float)numericUpDown_Physics_Power.Value;
+    }
   }
 }

DroneSimulator/FormMain.resx

@@ -117,14 +117,11 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <metadata name="menuStrip_Menu.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>17, 17</value>
-  </metadata>
   <metadata name="timer_Test.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>162, 5</value>
   </metadata>
   <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>25</value>
+    <value>78</value>
   </metadata>
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">

DroneSimulator/GPS.cs

@@ -0,0 +1,74 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace DroneSimulator
+{
+    internal class GPS
+    {
+        static double PI = 3.14159265358979323846;
+        public struct Home
+        {
+            public static double Lat, Lon;
+            public static float Alt;
+        }
+
+        public struct State
+        {
+            public static byte Fix; // Тип решения 0-8 (NMEA Fix type)
+            public static byte SatVisible; // Количество видимых спутников
+            public static byte SatUsed; // Количество используемых спутников
+            public static float Hdop, Vdop, Pdop; // Геометрический фактор
+            public static float Noise; // Шум (db)
+        }
+
+        public struct GlobalCoords
+        {
+            public double latitude, longitude;
+        }
+
+        public struct Point
+        {
+            public double x, y;
+        }
+
+        // Конвертация градусов в радианы
+        static double deg2rad(double deg)
+        {
+            return deg * PI / 180.0;
+        }
+
+        // Конвертация радиан в градусы
+        static double rad2deg(double rad)
+        {
+            return rad * 180.0 / PI;
+        }
+
+        // Перевод локальных координат в глобальные
+        public static GlobalCoords localToGlobal(Point local, GlobalCoords origin)
+        {
+            const double er = 6371000; // Radius of the earth in m
+
+            // Преобразование приращений координат
+            double dLat = local.x / er; // В радианах
+            double originLatRad = deg2rad(origin.latitude);
+
+            // Вычисление новой широты
+            double newLatRad = originLatRad + dLat;
+            double newLat = rad2deg(newLatRad);
+
+            // Вычисление новой долготы (с использованием средней широты для точности)
+            double avgLatRad = (originLatRad + newLatRad) / 2.0;
+            double dLon = local.y / (er * Math.Cos(avgLatRad)); // В радианах
+            double newLon = origin.longitude + rad2deg(dLon);
+            GlobalCoords coord = new GlobalCoords();
+            coord.latitude = newLat;
+            coord.longitude = newLon;
+            return coord;
+        }
+    }
+}

DroneSimulator/RealMode.cs

@@ -0,0 +1,416 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Numerics;
+using System.Reflection;
+using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
+
+namespace DroneSimulator
+{
+  internal class RealMode
+  {
+    
+
+    internal class Accelerometer
+    {
+      public static uint Freq;
+      public static float Noise;
+      public static float ScaleLeft;
+      public static float ScaleRight;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector3[] laten = new Vector3[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public Vector3 result;
+
+      public void Update(Vector3 value, uint time)
+      {
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        float scale = (ScaleRight - ScaleLeft) / 2;
+        float shift = scale + ScaleLeft;
+
+        value.X = (value.X * scale) + shift;
+        value.Y = (value.Y * scale) + shift;
+        value.Z = (value.Z * scale) + shift;
+
+        int noise = (int)(Noise * 1000);
+        value.X += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Z += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Gyroscope
+    {
+      public static uint Freq;
+      public static float Noise;
+      public static Vector3 Shift;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector3[] laten = new Vector3[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public Vector3 result;
+
+      public void Update(Vector3 value, uint time)
+      {
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        value.X += Shift.X;
+        value.Y += Shift.Y;
+        value.Z += Shift.Z;
+
+        int noise = (int)(Noise * 1000);
+        value.X += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Z += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Magnetometer
+    {
+
+    }
+
+    internal class Position
+    {
+      public static bool Enable;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector3[] laten = new Vector3[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public Vector3 result;
+
+      public void Update(Vector3 value, uint time)
+      {
+        if (!Enable)
+        {
+          result = Vector3.NaN;
+          return;
+        }
+
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        int noise = (int)(Noise * 1000);
+        value.X += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        value.Z += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Barometer
+    {
+      public static bool Enable;
+      public static float Pressure;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private float[] laten = new float[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public float result;
+
+      public void Update(float value, uint time)
+      {
+        value = Pressure - value;
+
+        if (!Enable)
+        {
+          result = float.NaN;
+          return;
+        }
+
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return; 
+        }
+
+        int noise = (int)(Noise * 1000);
+        value += ((float)rand.Next(-noise, noise)) / 1000;
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class OpticalFlow
+    {
+      public static bool Enable;
+      public static float MaxHeight;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+      public static float Error;
+      public static uint Wait;
+      public static float Lens;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private Vector2[] laten = new Vector2[count];
+      private uint index = 0;
+
+      public uint delay = 0;
+
+      public uint timer = 0;
+      public Vector2 result;
+      public void Update(Vector2 value, float Range, uint time)
+      {
+        if (!Enable)
+        {
+          result = Vector2.NaN;
+          return;
+        }
+
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        value *= Lens;
+
+        if (rand.Next(0, 1000) < (Error * 10))
+        {
+          value = Vector2.Zero;
+          delay = time + Wait;
+        }
+        else if (delay > time)
+        {
+          value = Vector2.Zero;
+        }
+
+        if (Range > MaxHeight) value = Vector2.Zero;
+        else
+        {
+          int noise = (int)(Noise * 1000);
+          value.X += ((float)rand.Next(-noise, noise)) / 1000;
+          value.Y += ((float)rand.Next(-noise, noise)) / 1000;
+        }
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+
+    internal class Range
+    {
+      public static bool Enable;
+      public static float MaxHeight;
+      public static uint Freq;
+      public static float Noise;
+      public static float Lateness;
+      public static bool RealSimulation;
+
+      private uint last = 0;
+
+      private Random rand = new Random();
+
+      private const int count = 1000;
+      private float[] laten = new float[count];
+      private uint index = 0;
+
+      public uint timer = 0;
+      public float result;
+
+      public void Update(float value, uint time)
+      {
+        if (!Enable)
+        {
+          result = float.NaN;
+          return;
+        }
+
+        if (!RealSimulation)
+        {
+          result = value;
+          timer = time;
+          return;
+        }
+
+        if (value > MaxHeight) value = MaxHeight;
+        else
+        {
+          int noise = (int)(Noise * 1000);
+          value += ((float)rand.Next(-noise, noise)) / 1000;
+        }
+
+        uint clock = (uint)(Lateness * 1000);
+
+        uint tick = time - last;
+        last = time;
+        while (tick != 0)
+        {
+          tick--;
+          laten[index++] = value;
+          if (index >= clock) index = 0;
+        }
+
+        value = laten[index];
+
+        uint freq = 1000 / Freq;
+
+        if (timer + freq < time)
+        {
+          result = value;
+          timer = time;
+        }
+      }
+    }
+  }
+}

DroneSimulator/Screen2D.cs

@@ -106,51 +106,55 @@ namespace DroneSimulator
 
         foreach (var d in DroneList)
         {
-          if (d.Azimuth >= 360) d.Azimuth -= 360;
+          try
-          var bmp = RotateImage(d.Drone, d.Azimuth);
-
-          g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
-
-          g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
-
-          //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
-
-          float x1 = 0, y1 = 0;
-          float x2 = 130, y2 = 0;
-          float x3 = 0, y3 = 130;
-
-          const float TO_RADI = MathF.PI / 180;
-
-          Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
-          Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
-
-          tilt = tilt * rotate * rotate;
-
-          if (tilt.Y > 0)
           {
-            x1 = (int)(Math.Sin(tilt.Y) * 130);
+            if (d.Azimuth >= 360) d.Azimuth -= 360;
-            x3 = (int)(Math.Sin(tilt.Y) * 130);
+            var bmp = RotateImage(d.Drone, d.Azimuth);
-          }
-          else
-          {
-            x2 = (int)(Math.Cos(tilt.Y) * 130);
-          }
 
-          if (tilt.X > 0)
+            g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
-          {
-            y1 = (int)(Math.Sin(tilt.X) * 130);
-            y2 = (int)(Math.Sin(tilt.X) * 130);
-          }
-          else
-          {
-            y3 = (int)(Math.Cos(tilt.X) * 130);
-          }
 
-          PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
+            g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
-          PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
-          PointF[] dest = { ul, ur, dl };
 
-          g.DrawImage(bmp, dest);
+            //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
+
+            float x1 = 0, y1 = 0;
+            float x2 = 130, y2 = 0;
+            float x3 = 0, y3 = 130;
+
+            const float TO_RADI = MathF.PI / 180;
+
+            Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
+            Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
+
+            tilt = tilt * rotate * rotate;
+
+            if (tilt.Y > 0)
+            {
+              x1 = (int)(Math.Sin(tilt.Y) * 130);
+              x3 = (int)(Math.Sin(tilt.Y) * 130);
+            }
+            else
+            {
+              x2 = (int)(Math.Cos(tilt.Y) * 130);
+            }
+
+            if (tilt.X > 0)
+            {
+              y1 = (int)(Math.Sin(tilt.X) * 130);
+              y2 = (int)(Math.Sin(tilt.X) * 130);
+            }
+            else
+            {
+              y3 = (int)(Math.Cos(tilt.X) * 130);
+            }
+
+            PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
+            PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
+            PointF[] dest = { ul, ur, dl };
+
+            g.DrawImage(bmp, dest);
+          }
+          catch { }
         }
       }
 

DroneSimulator/VisualData.cs

@@ -0,0 +1,39 @@
+using System.Numerics;
+
+namespace VisualData
+{
+  public struct VisualHead
+  {
+    public enum VisualType : int { None = 0, Drone = 1 } // Тип объекта
+
+    public int Size; // Размер данных этой структуры в байтах (проверка для соответствия передачи структуры)
+
+    public VisualType Type; // Тип передоваемого объекта
+  }
+
+  public struct VisualDrone
+  {
+    public VisualHead Head;
+    public enum DroneState : int { Dead = 0, Disabled = 1, Waiting = 2, Active = 3 } // Переключения типа 3D модели
+
+    public int Count; // Всего дронов на полигоне
+    public int Index; // Номер дрона
+
+    public int ID; // Идентификатор (для привязки камеры)
+
+    public struct ARGB { public byte A, R, G, B; }
+    public struct Quat { public float X, Y, Z, W; }
+    public struct Vect3 { public float X, Y, Z; }
+
+    public ARGB Color; // Цвет корпуса
+    public Quat Rotate; // Кватернион вращения
+    public Vect3 Position; // Координаты в пространстве
+
+    public float Scale; // Масштаб модельки (1=оригинальный)
+
+    public DroneState State; // Тип прорисовываемой модели
+
+    public float Power; // Скорость всех двигателей
+  }
+
+}