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update

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This commit is contained in:
Sergey Sklyarov
2025-04-06 20:56:02 +03:00
parent da7f5a8404
commit 21b60b7f4c
9 changed files with 498 additions and 147 deletions
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180
DroneClient/Drone.cs
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@ -1,21 +1,17 @@
using System.Runtime.InteropServices;
using System.Drawing;
using System.Runtime.InteropServices;
namespace DroneClient
{
internal class Drone
{
public struct DataOut
{
public float AccX, AccY, AccZ;
public float GyrX, GyrY, GyrZ;
public float PosX, PosY;
public float LaserRange;
}
public struct DataIn
{
public float MotorUL, MotorUR, MotorDL, MotorDR;
}
public float AccX, AccY, AccZ;
public float GyrX, GyrY, GyrZ;
public float PosX, PosY;
public float LaserRange;
public float MotorUL, MotorUR, MotorDL, MotorDR;
public static byte[] getBytes(object data)
{
@ -58,5 +54,165 @@ namespace DroneClient
return mem;
}
private byte[] SendDataMotor4()
{
DroneData.DataMotor4 mot4 = new DroneData.DataMotor4();
mot4.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMotor4));
mot4.Head.Mode = DroneData.DataMode.Response;
mot4.Head.Type = DroneData.DataType.DataMotor4;
mot4.UL = MotorUL;
mot4.UR = MotorUR;
mot4.DL = MotorDL;
mot4.DR = MotorDR;
return getBytes(mot4);
}
private byte[]? RecvDataIMU(byte[] data)
{
DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU));
AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
return new byte[0];
}
private byte[]? RecvDataPos(byte[] data)
{
DroneData.DataPos pos = (DroneData.DataPos)fromBytes(data, typeof(DroneData.DataPos));
PosX = pos.Local.X; PosY = pos.Local.Y;
LaserRange = pos.LiDAR;
return new byte[0];
}
private byte[]? ClientRequestResponse(DroneData.DataHead head, byte[] body)
{
byte[] zero = new byte[0];
switch (head.Type)
{
case DroneData.DataType.DataIMU:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
// ... //
//
return zero;
}
else
{
// Пришли данные
return RecvDataIMU(body);
}
}
case DroneData.DataType.DataPos:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
// ... //
//
return zero;
}
else
{
// Пришли данные
return RecvDataPos(body);
}
}
case DroneData.DataType.DataMotor4:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
return SendDataMotor4();
}
else
{
// Пришли данные
// ... //
//
return zero;
}
}
}
return zero;
}
private const int DroneStreamCount = 512;
private byte[] DroneStreamData = new byte[DroneStreamCount];
private int DroneStreamIndex = 0;
private DroneData.DataHead DroneStreamHead = new DroneData.DataHead() { Mode = DroneData.DataMode.None, Size = 0, Type = DroneData.DataType.None };
public List<byte[]?>? DataStream(byte[]? data, int size)
{
List<byte[]?> ret = new List<byte[]?>();
if (data == null) return ret; // Последовательность не сформирована, ждать данных
if (size + DroneStreamIndex > DroneStreamCount) return null; // Ошибка переполнения, поток сломан (конец)
Array.Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
DroneStreamIndex += size;
while (true)
{
if (DroneStreamHead.Size == 0) // Заголовок ещё не получен
{
if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать
DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead));
}
if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный
byte[] body = new byte[DroneStreamHead.Size];
Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
int shift = DroneStreamHead.Size;
DroneStreamIndex -= shift;
Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные
DroneStreamHead.Size = 0; // Отменяем прошлый заголовок
ret.Add(ClientRequestResponse(DroneStreamHead, body));
}
return ret;
}
public byte[] SendReqest()
{
DroneData.DataHead imu = new DroneData.DataHead();
imu.Size = DroneData.DataHead.StrLen;
imu.Mode = DroneData.DataMode.Request;
imu.Type = DroneData.DataType.DataIMU;
DroneData.DataHead pos = new DroneData.DataHead();
pos.Size = DroneData.DataHead.StrLen;
pos.Mode = DroneData.DataMode.Request;
pos.Type = DroneData.DataType.DataPos;
byte[] si = getBytes(imu);
byte[] sp = getBytes(pos);
byte[] sm = SendDataMotor4();
byte[] send = new byte[si.Length + sp.Length + sm.Length];
si.CopyTo(send, 0);
sp.CopyTo(send, si.Length);
sm.CopyTo(send, si.Length + sp.Length);
return send;
}
}
}

67
DroneClient/DroneData.cs Normal file
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@ -0,0 +1,67 @@
using System.Runtime.InteropServices;
namespace DroneData
{
public enum DataMode : ushort
{
None = 0, Response = 1, Request = 2
};
public enum DataType : ushort
{
None = 0, Head = 1,
// Output
DataIMU = 1001, DataPos = 1002,
// Input
DataMotor4 = 2001, DataMotor6 = 2002
};
public struct DataHead
{
public int Size;
public DataMode Mode;
public DataType Type;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
}
public struct XYZ { public float X, Y, Z; }
public struct DataIMU
{
public DataHead Head;
public XYZ Acc, Gyr, Mag;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
}
public struct DataPos
{
public DataHead Head;
public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public float LiDAR; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
}
public struct DataMotor4
{
public DataHead Head;
public ulong Count;
public float UL, UR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
}
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));
}
}

81
DroneClient/FormMain.cs
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@ -21,34 +21,37 @@ namespace DroneSimulator
if (!data.Connect)
{
Invoke((MethodInvoker)delegate
try
{
button_Connect.Text = "Connect";
button_Connect.BackColor = Color.Transparent;
MessageBox.Show("Connection closed");
});
Invoke((MethodInvoker)delegate
{
button_Connect.Text = "Connect";
button_Connect.BackColor = Color.Transparent;
MessageBox.Show("Connection closed");
});
}
catch { }
return;
}
byte[] send = Drone.getBytes(sendDrone);
data.Server.Send(send);
}
Drone.DataIn sendDrone;
Drone.DataOut recvDrone;
Drone dataDrone = new Drone();
private void ReceiveCallback(object o)
{
ReceiveData data = (ReceiveData)o;
recvDrone = (Drone.DataOut)Drone.fromBytes(data.Buffer, typeof(Drone.DataOut));
List<byte[]?>? send = dataDrone.DataStream(data.Buffer, data.Size);
byte[] send = Drone.getBytes(sendDrone);
try { data.Server.Send(send); }
if (send == null) return;
try
{
foreach (byte[]? b in send)
{
if (b != null) data.Server?.Send(b);
}
}
catch { }
}
@ -88,17 +91,19 @@ namespace DroneSimulator
private void timer_Test_Tick(object sender, EventArgs e)
{
label_Acc_X.Text = recvDrone.AccX.ToString();
label_Acc_Y.Text = recvDrone.AccY.ToString();
label_Acc_Z.Text = recvDrone.AccZ.ToString();
label_Acc_X.Text = dataDrone.AccX.ToString();
label_Acc_Y.Text = dataDrone.AccY.ToString();
label_Acc_Z.Text = dataDrone.AccZ.ToString();
label_Gyr_X.Text = recvDrone.GyrX.ToString();
label_Gyr_Y.Text = recvDrone.GyrY.ToString();
label_Gyr_Z.Text = recvDrone.GyrZ.ToString();
label_Gyr_X.Text = dataDrone.GyrX.ToString();
label_Gyr_Y.Text = dataDrone.GyrY.ToString();
label_Gyr_Z.Text = dataDrone.GyrZ.ToString();
label_Pos_X.Text = recvDrone.PosX.ToString();
label_Pos_Y.Text = recvDrone.PosY.ToString();
label_Pos_L.Text = recvDrone.LaserRange.ToString();
label_Pos_X.Text = dataDrone.PosX.ToString();
label_Pos_Y.Text = dataDrone.PosY.ToString();
label_Pos_L.Text = dataDrone.LaserRange.ToString();
netClient.SendData(dataDrone.SendReqest());
}
private void trackBar_Power_Scroll(object sender, EventArgs e)
@ -107,7 +112,7 @@ namespace DroneSimulator
label_Pow.Text = pow.ToString();
sendDrone.MotorUL = sendDrone.MotorUR = sendDrone.MotorDL = sendDrone.MotorDR = pow;
dataDrone.MotorUL = dataDrone.MotorUR = dataDrone.MotorDL = dataDrone.MotorDR = pow;
}
private void button_UU_MouseDown(object sender, MouseEventArgs e)
@ -116,35 +121,35 @@ namespace DroneSimulator
if (sender == button_UU)
{
sendDrone.MotorUL -= pow; sendDrone.MotorUR -= pow;
sendDrone.MotorDL += pow; sendDrone.MotorDR += pow;
dataDrone.MotorUL -= pow; dataDrone.MotorUR -= pow;
dataDrone.MotorDL += pow; dataDrone.MotorDR += pow;
}
if (sender == button_DD)
{
sendDrone.MotorUL += pow; sendDrone.MotorUR += pow;
sendDrone.MotorDL -= pow; sendDrone.MotorDR -= pow;
dataDrone.MotorUL += pow; dataDrone.MotorUR += pow;
dataDrone.MotorDL -= pow; dataDrone.MotorDR -= pow;
}
if (sender == button_LL)
{
sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow;
sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow;
dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
}
if (sender == button_RR)
{
sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow;
sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow;
dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
}
if (sender == button_ML)
{
sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow;
sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow;
dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
}
if (sender == button_MR)
{
sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow;
sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow;
dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
}
}

5
DroneClient/NetClient.cs
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@ -97,5 +97,10 @@ namespace DroneSimulator
try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }
catch { }
}
public void SendData(byte[] data)
{
try { ServerSocket?.Send(data); } catch { }
}
}
}