CPL/Simulator
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Merge branch 'main' into devVlad

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Dizel
2025-04-04 13:13:16 +03:00
parent 16fa3780d9 bf037b0870
commit 099ec402cf
11 changed files with 961 additions and 735 deletions
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26
DroneClient/FormMain.cs
View File

@ -112,37 +112,39 @@ namespace DroneSimulator
private void button_UU_MouseDown(object sender, MouseEventArgs e)
{
const float pow = 0.1f;
if (sender == button_UU)
{
sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR -= 0.1f;
sendDrone.MotorDL += 0.1f; sendDrone.MotorDR += 0.1f;
sendDrone.MotorUL -= pow; sendDrone.MotorUR -= pow;
sendDrone.MotorDL += pow; sendDrone.MotorDR += pow;
}
if (sender == button_DD)
{
sendDrone.MotorUL += 0.1f; sendDrone.MotorUR += 0.1f;
sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR -= 0.1f;
sendDrone.MotorUL += pow; sendDrone.MotorUR += pow;
sendDrone.MotorDL -= pow; sendDrone.MotorDR -= pow;
}
if (sender == button_LL)
{
sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow;
sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow;
}
if (sender == button_RR)
{
sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow;
sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow;
}
if (sender == button_ML)
{
sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow;
sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow;
}
if (sender == button_MR)
{
sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow;
sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow;
}
}

192
DroneClient/NetClient.cs
View File

@ -1,103 +1,103 @@
using System.Net;
using System.Net.Sockets;
using System.Net.Sockets;
using System.Net;
namespace DroneSimulator
{
internal class NetClient
internal class NetClient
{
public class ConnectData
{
public class ConnectData
{
public bool Connect;
public bool Connect;
public Socket? Server;
}
public class ReceiveData
{
public byte[]? Buffer;
public int Size;
public Socket? Server;
}
private class ServerData
{
public const int size = 1024;
public byte[] buffer = new byte[size];
}
private bool Connected = false;
private Socket? ServerSocket = null;
private ServerData DataServer = new ServerData();
public delegate void ClientCallback(object o);
private ClientCallback? ConnectionCallback;
private ClientCallback? ReceiveCallback;
public enum ClientState { Error, Connected, Stop };
public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
{
if (Connected)
{
try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
ServerSocket?.Close();
Connected = false;
return ClientState.Stop;
}
ConnectionCallback = Connection;
ReceiveCallback = Receive;
IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
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 };
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();
Connected = false;
}
public void ReadCallback(IAsyncResult ar)
{
ReceiveData cd = (ReceiveData)ar.AsyncState;
if (cd == null) return;
int bytes = 0;
try { bytes = ServerSocket.EndReceive(ar); } catch { }
if (bytes == 0)
{
ServerSocket?.Close();
Connected = false;
if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
return;
}
ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }
catch { }
}
public Socket? Server;
}
public class ReceiveData
{
public byte[]? Buffer;
public int Size;
public Socket? Server;
}
private class ServerData
{
public const int size = 1024;
public byte[] buffer = new byte[size];
}
private bool Connected = false;
private Socket? ServerSocket = null;
private ServerData DataServer = new ServerData();
public delegate void ClientCallback(object o);
private ClientCallback? ConnectionCallback;
private ClientCallback? ReceiveCallback;
public enum ClientState { Error, Connected, Stop };
public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
{
if (Connected)
{
try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
ServerSocket?.Close();
Connected = false;
return ClientState.Stop;
}
ConnectionCallback = Connection;
ReceiveCallback = Receive;
IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
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 };
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();
Connected = false;
}
public void ReadCallback(IAsyncResult ar)
{
ReceiveData cd = (ReceiveData)ar.AsyncState;
if (cd == null) return;
int bytes = 0;
try { bytes = ServerSocket.EndReceive(ar); } catch { }
if (bytes == 0)
{
ServerSocket?.Close();
Connected = false;
if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
return;
}
ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }
catch { }
}
}
}

3
DroneClient/README.md Normal file
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@ -0,0 +1,3 @@
# Client
Образец клиента для подключения к симулятору.