CPL/Simulator
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Merge branch 'main' into devVlad

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Dizel 2025-04-04 13:13:16 +03:00
commit 099ec402cf
11 changed files with 961 additions and 735 deletions
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59
.gitignore vendored
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@ -1,58 +1,3 @@
# Файлы и папки Visual Studio
*.obj
*.exe
*.pdb
*.user
*.aps
*.pch
*.vspscc
*.vssscc
*_i.c
*_p.c
*.ncb
*.suo
*.tlb
*.tlh
*.bak
*.cache
*.ilk
*.log
*.sbr
*.scc
*.idb
*.tlog
*.ipch
*.db
# Папки сборки
bin/
obj/
[Bb]in/
[Oo]bj/
Debug/
Release/
x64/
x86/
[Any CPU]/
# Файлы кэша и настройки VS
.vscode/
*.code-workspace
.vs/
*.sln.docstates
# NuGet
packages/
*.nupkg
*.snupkg
# Дополнительные временные файлы
Thumbs.db
*.DS_Store
# Игнорировать файлы резервирования
~$*
# Опционально: игнорировать файлы конфигурации пользователя
appsettings.json
*.config.user
obj/
bin/

26
DroneClient/FormMain.cs
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@ -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;
}
}

4
DroneClient/NetClient.cs
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@ -1,5 +1,5 @@
using System.Net;
using System.Net.Sockets;
using System.Net.Sockets;
using System.Net;
namespace DroneSimulator
{

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

105
DroneSimulator/Drone.cs
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@ -9,15 +9,17 @@ namespace DroneSimulator
public float Mass; // Масса
public bool Active; // Живой?
public float Length; // Длинна лучей
public const float Dynamic = 10; // Динамика вращения
public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
public Quaternion Quat; // Основной кватернион
public float Power = 0; // Тяга всех двигателей
public float MaxPower; // Тяга всех двигателей
public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
public float LaserRange; // Имитация: Дальномер
private const float Gravity = 1.0f;
private const float Gravity = 9.8f;
private const float TO_GRAD = 180 / MathF.PI;
private const float TO_RADI = MathF.PI / 180;
@ -27,25 +29,16 @@ namespace DroneSimulator
private static int CounterID = 0;
public struct DataOut
public static byte[] getBytes(object data)
{
public float AccX, AccY, AccZ;
public float GyrX, GyrY, GyrZ;
public float PosX, PosY;
public float LaserRange;
public byte[] getBytes()
{
int size = Marshal.SizeOf(this);
int size = Marshal.SizeOf(data);
byte[] arr = new byte[size];
IntPtr ptr = IntPtr.Zero;
try
{
ptr = Marshal.AllocHGlobal(size);
Marshal.StructureToPtr(this, ptr, true);
Marshal.StructureToPtr(data, ptr, true);
Marshal.Copy(ptr, arr, 0, size);
}
finally
@ -54,17 +47,12 @@ namespace DroneSimulator
}
return arr;
}
}
public struct DataIn
public static object fromBytes(byte[] arr, Type type)
{
public float MotorUL, MotorUR, MotorDL, MotorDR;
object mem = new object();
public void fromBytes(byte[] arr)
{
DataIn mem = new DataIn();
int size = Marshal.SizeOf(mem);
int size = Marshal.SizeOf(type);
IntPtr ptr = IntPtr.Zero;
try
{
@ -72,15 +60,53 @@ namespace DroneSimulator
Marshal.Copy(arr, 0, ptr, size);
mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType());
mem = Marshal.PtrToStructure(ptr, type);
}
finally
{
Marshal.FreeHGlobal(ptr);
}
this = mem;
return mem;
}
public struct DataOut
{
public float AccX, AccY, AccZ;
public float GyrX, GyrY, GyrZ;
public float PosX, PosY;
public float LaserRange;
}
public DataOut GetDataOut()
{
DataOut data = new DataOut();
data.AccX = Acc.X; data.AccY = Acc.Y; data.AccZ = Acc.Z;
data.GyrX = Gyr.X; data.GyrY = Gyr.Y; data.GyrZ = Gyr.Z;
data.PosX = PosXYZ.X; data.PosY = PosXYZ.Y;
data.LaserRange = LaserRange;
return data;
}
public struct DataIn
{
public float MotorUL, MotorUR, MotorDL, MotorDR;
}
public struct DataVisual
{
public int ID; // Идентификатор
public float W, X, Y, Z; // Кватернион вращения
public float PosX, PosY, PosZ; // Координаты в пространстве
}
public DataVisual GetVisual()
{
return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z };
}
private void ThreadFunction()
@ -89,7 +115,7 @@ namespace DroneSimulator
{
float time = Environment.TickCount - Timer;
Timer = Environment.TickCount;
Action(time / 100);
Action(time / 1000);
Thread.Sleep(1);
}
}
@ -98,7 +124,7 @@ namespace DroneSimulator
{
ID = id;
Active = false;
PosXYZ = new Vector3(2000, 1000, 0);
PosXYZ = Vector3.Zero;
SpdXYZ = Vector3.Zero;
AccXYZ = Vector3.Zero;
Quat = Quaternion.Identity;
@ -108,10 +134,11 @@ namespace DroneSimulator
DroneThread.Start();
}
public int Create(float mass, float len)
public int Create(float power, float mass, float len)
{
Mass = Range(mass);
Mass = mass;
Length = len;
MaxPower = power;
Active = true;
@ -170,19 +197,21 @@ namespace DroneSimulator
float flow = Power;
if (PosXYZ.Z < 100)
if (PosXYZ.Z < 0.3f)
{
flow += flow * 0.1f; // Воздушная подушка
}
Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass;
SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
SpdPRY += AccPRY * time / (Mass * Length);
Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass);
SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
PosXYZ += SpdXYZ * time;
AccXYZ /= Gravity; // Вернуть измерения в G
if (PosXYZ.Z < 0)
{
SpdPRY = Vector3.Zero;
@ -190,7 +219,7 @@ namespace DroneSimulator
SpdXYZ.Y = 0;
Quat = Quaternion.Identity;
}
else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
Vector4 ori = GetOrientation();
@ -203,7 +232,7 @@ namespace DroneSimulator
Active = false; // Сильно ударился о землю
}*/
/*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
/*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
{
Active = false; // Повредил винты при посадке
}*/
@ -216,13 +245,13 @@ namespace DroneSimulator
}
else
{
/*if (ori.W < 0)
if (ori.W < 0)
{
Active = false; // Перевернулся вверх ногами
}*/
//Active = false; // Перевернулся вверх ногами
}
Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
grav = (Quat * grav) * Quaternion.Inverse(Quat);
//grav = (Quat * grav) * Quaternion.Inverse(Quat); // Инерциальный акселерометр (тест)
Acc = new Vector3(grav.X, grav.Y, grav.Z);
Gyr = SpdPRY;
@ -239,7 +268,7 @@ namespace DroneSimulator
if (pow > 1) pow = 1;
if (pow < 0) pow = 0;
return pow;
return pow * MaxPower;
}
public void SetQadroPow(float ul, float ur, float dl, float dr)

56
DroneSimulator/FormMain.Designer.cs generated
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@ -38,6 +38,10 @@
tabControl_Menu = new TabControl();
tabPage_Main = new TabPage();
groupBox_Visual = new GroupBox();
numericUpDown_Visual_Limit = new NumericUpDown();
label1 = new Label();
label_Visual_Num = new Label();
label3 = new Label();
button_Visual_Start = new Button();
numericUpDown_Visual_Port = new NumericUpDown();
label_Visual_Port = new Label();
@ -63,6 +67,7 @@
tabControl_Menu.SuspendLayout();
tabPage_Main.SuspendLayout();
groupBox_Visual.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit();
groupBox_Clients.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit();
@ -144,18 +149,61 @@
//
// groupBox_Visual
//
groupBox_Visual.Controls.Add(numericUpDown_Visual_Limit);
groupBox_Visual.Controls.Add(label1);
groupBox_Visual.Controls.Add(label_Visual_Num);
groupBox_Visual.Controls.Add(label3);
groupBox_Visual.Controls.Add(button_Visual_Start);
groupBox_Visual.Controls.Add(numericUpDown_Visual_Port);
groupBox_Visual.Controls.Add(label_Visual_Port);
groupBox_Visual.Dock = DockStyle.Top;
groupBox_Visual.Location = new Point(3, 83);
groupBox_Visual.Name = "groupBox_Visual";
groupBox_Visual.Size = new Size(204, 62);
groupBox_Visual.Size = new Size(204, 91);
groupBox_Visual.TabIndex = 2;
groupBox_Visual.TabStop = false;
groupBox_Visual.Tag = "#visual";
groupBox_Visual.Text = "Visual";
//
// numericUpDown_Visual_Limit
//
numericUpDown_Visual_Limit.Location = new Point(44, 57);
numericUpDown_Visual_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
numericUpDown_Visual_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Visual_Limit.Name = "numericUpDown_Visual_Limit";
numericUpDown_Visual_Limit.Size = new Size(42, 23);
numericUpDown_Visual_Limit.TabIndex = 13;
numericUpDown_Visual_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 });
//
// label1
//
label1.AutoSize = true;
label1.Location = new Point(6, 59);
label1.Name = "label1";
label1.Size = new Size(37, 15);
label1.TabIndex = 12;
label1.Tag = "#clients_limit";
label1.Text = "Limit:";
//
// label_Visual_Num
//
label_Visual_Num.AutoSize = true;
label_Visual_Num.Location = new Point(161, 59);
label_Visual_Num.Name = "label_Visual_Num";
label_Visual_Num.Size = new Size(13, 15);
label_Visual_Num.TabIndex = 11;
label_Visual_Num.Text = "0";
//
// label3
//
label3.AutoSize = true;
label3.Location = new Point(112, 59);
label3.Name = "label3";
label3.Size = new Size(43, 15);
label3.TabIndex = 10;
label3.Tag = "#clients_count";
label3.Text = "Count:";
//
// button_Visual_Start
//
button_Visual_Start.Location = new Point(112, 22);
@ -165,6 +213,7 @@
button_Visual_Start.Tag = "#visual_start";
button_Visual_Start.Text = "Start";
button_Visual_Start.UseVisualStyleBackColor = true;
button_Visual_Start.Click += button_Visual_Start_Click;
//
// numericUpDown_Visual_Port
//
@ -376,6 +425,7 @@
tabPage_Main.ResumeLayout(false);
groupBox_Visual.ResumeLayout(false);
groupBox_Visual.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).EndInit();
groupBox_Clients.ResumeLayout(false);
groupBox_Clients.PerformLayout();
@ -416,5 +466,9 @@
private Panel panel1;
private ToolStripMenuItem exitToolStripMenuItem;
private System.Windows.Forms.Timer timer_Test;
private NumericUpDown numericUpDown_Visual_Limit;
private Label label1;
private Label label_Visual_Num;
private Label label3;
}
}

82
DroneSimulator/FormMain.cs
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@ -12,6 +12,7 @@ namespace DroneSimulator
Screen2D screen2D = null;
NetServerClients netServerClient = new NetServerClients();
NetServerVisual netServerVisual = new NetServerVisual();
List<Drone> AllDrones = new List<Drone>();
@ -20,7 +21,7 @@ namespace DroneSimulator
InitializeComponent();
}
private void ConnectionCallback(object o)
private void ClientConnectionCallback(object o)
{
NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
@ -32,7 +33,7 @@ namespace DroneSimulator
if (data.Connect)
{
Drone drone = new Drone(data.ID);
drone.Create(0.5f, 10.0f);
drone.Create(1.0f, 0.5f, 1.0f);
screen2D.CreateDrone(Color.Red, data.ID);
@ -53,7 +54,7 @@ namespace DroneSimulator
}
}
private void ReceiveCallback(object o)
private void ClientReceiveCallback(object o)
{
NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
@ -68,31 +69,24 @@ namespace DroneSimulator
if (drone == null) return;
Drone.DataIn id = new Drone.DataIn();
id.fromBytes(data.Buffer);
Drone.DataIn id = (Drone.DataIn)Drone.fromBytes(data.Buffer, typeof(Drone.DataIn));
drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR);
Drone.DataOut od = new Drone.DataOut();
Drone.DataOut od = drone.GetDataOut();
od.AccX= drone.Acc.X; od.AccY= drone.Acc.Y; od.AccZ= drone.Acc.Z;
od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z;
od.PosX= drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y;
od.LaserRange = drone.LaserRange;
try { data.Client.Send(od.getBytes()); }
try { data.Client.Send(Drone.getBytes(od)); }
catch { }
}
private void button_Client_Start_Click(object sender, EventArgs e)
{
var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ConnectionCallback, ReceiveCallback);
var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
switch (done)
{
case NetServerClients.ServerState.Error:
{
MessageBox.Show("Error to start server");
MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
case NetServerClients.ServerState.Start:
@ -146,5 +140,63 @@ namespace DroneSimulator
{
foreach (Drone d in AllDrones) d.Close();
}
private void VisualConnectionCallback(object o)
{
NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;
Invoke((MethodInvoker)delegate
{
label_Clients_Num.Text = data.Count.ToString();
});
if (data.Connect)
{
//---
}
else
{
//---
}
}
private void VisualReceiveCallback(object o)
{
NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
foreach (Drone d in AllDrones)
{
Drone.DataVisual v = d.GetVisual();
try { data.Client.Send(Drone.getBytes(v)); }
catch { }
}
}
private void button_Visual_Start_Click(object sender, EventArgs e)
{
var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
switch (done)
{
case NetServerVisual.ServerState.Error:
{
MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
case NetServerVisual.ServerState.Start:
{
button_Visual_Start.Text = "Stop";
button_Visual_Start.BackColor = Color.LimeGreen;
break;
}
case NetServerVisual.ServerState.Stop:
{
label_Visual_Num.Text = "0";
button_Visual_Start.Text = "Start";
button_Visual_Start.BackColor = Color.Transparent;
break;
}
}
}
}
}

6
DroneSimulator/NetServerClients.cs
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@ -1,5 +1,5 @@
using System.Net;
using System.Net.Sockets;
using System.Net.Sockets;
using System.Net;
namespace DroneSimulator
{
@ -87,7 +87,7 @@ namespace DroneSimulator
Socket handler;
try { handler = listener.EndAccept(ar); }
catch { ServerSocket?.Close(); Active = false; return; }
catch{ ServerSocket?.Close(); Active = false; return; }
if (SocketLimit > ClientSockets.Count)
{

134
DroneSimulator/NetServerVisual.cs Normal file
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@ -0,0 +1,134 @@
using System.Net.Sockets;
using System.Net;
namespace DroneSimulator
{
internal class NetServerVisual
{
public class ConnectData
{
public bool Connect;
public int Count;
public Socket? Client;
}
public class ReceiveData
{
public byte[]? Buffer;
public int Size;
public Socket? Client;
}
private class ClientData
{
public Socket? workSocket = null;
public const int BufferSize = 1024;
public byte[] buffer = new byte[BufferSize];
}
private int SocketLimit;
private Socket? ServerSocket;
private List<ClientData> ClientSockets = new List<ClientData>();
public delegate void ServerCallback(object o);
private ServerCallback? ConnectionCallback;
private ServerCallback? ReceiveCallback;
private bool Active = false;
public enum ServerState { Error, Start, Stop };
public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive)
{
if (Active)
{
ServerSocket?.Close();
foreach (ClientData c in ClientSockets)
{
try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { }
c.workSocket?.Close();
}
ClientSockets.Clear();
return ServerState.Stop;
}
ConnectionCallback = Connection;
ReceiveCallback = Receive;
SocketLimit = Limit;
IPEndPoint ip = new(IPAddress.Any, Port);
ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
try
{
ServerSocket.Bind(ip);
ServerSocket.Listen(10);
ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket);
Active = true;
}
catch { ServerSocket.Close(); return ServerState.Error; }
return ServerState.Start;
}
public void AcceptCallback(IAsyncResult ar)
{
Socket listener = (Socket)ar.AsyncState;
if (listener == null) return;
Socket handler;
try { handler = listener.EndAccept(ar); }
catch{ ServerSocket?.Close(); Active = false; return; }
if (SocketLimit > ClientSockets.Count)
{
ClientData clientData = new ClientData();
clientData.workSocket = handler;
ClientSockets.Add(clientData);
ConnectionCallback(new ConnectData { Connect = true, Count = ClientSockets.Count, Client = handler });
handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData);
}
else handler.Close();
listener.BeginAccept(new AsyncCallback(AcceptCallback), listener);
}
public void ReadCallback(IAsyncResult ar)
{
ClientData cd = (ClientData)ar.AsyncState;
if (cd == null) return;
int bytes = 0;
try { bytes = cd.workSocket.EndReceive(ar); }
catch { }
if (bytes == 0)
{
cd.workSocket?.Close();
ClientSockets.Remove(cd);
ConnectionCallback(new ConnectData { Connect = false, Count = ClientSockets.Count, Client = null });
return;
}
ReceiveCallback(new ReceiveData { Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
try
{
cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
}
catch { }
}
}
}

6
DroneSimulator/Screen2D.cs
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@ -24,6 +24,7 @@ namespace DroneSimulator
public int Azimuth = 0;
}
private float Scale = 100;
private DrawCallback drawCallback;
private Bitmap MainArea = new Bitmap(4096, 2560);
private List<DroneInfo> DroneList = new List<DroneInfo>();
@ -161,6 +162,11 @@ namespace DroneSimulator
const float TO_GRAD = 180 / MathF.PI;
const float TO_RADI = MathF.PI / 180;
pos *= Scale;
pos.X += MainArea.Width / 2;
pos.Y += MainArea.Height / 2;
foreach (var d in DroneList)
{
if (d.ID != id) continue;

1
www.txt Normal file
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@ -0,0 +1 @@
Hi!!!