ненуна тут
This commit is contained in:
parent
215236fa15
commit
2c08331bbe
3
DroneSimulator/.gitignore
vendored
3
DroneSimulator/.gitignore
vendored
@ -1,3 +0,0 @@
|
||||
.vs/
|
||||
obj/
|
||||
bin/
|
||||
@ -1,262 +0,0 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Numerics;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using static System.Windows.Forms.AxHost;
|
||||
|
||||
namespace DroneSimulator
|
||||
{
|
||||
internal class Drone
|
||||
{
|
||||
public int ID;
|
||||
public float Mass; // Масса
|
||||
public bool Active; // Живой?
|
||||
public float Length; // Длинна лучей
|
||||
public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
|
||||
public Quaternion Quat; // Основной кватернион
|
||||
public float Power = 0; // 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 TO_GRAD = 180 / MathF.PI;
|
||||
private const float TO_RADI = MathF.PI / 180;
|
||||
|
||||
private Thread DroneThread;
|
||||
private int Timer;
|
||||
|
||||
private static int CounterID = 0;
|
||||
|
||||
|
||||
|
||||
public struct DataOut
|
||||
{
|
||||
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);
|
||||
byte[] arr = new byte[size];
|
||||
|
||||
IntPtr ptr = IntPtr.Zero;
|
||||
try
|
||||
{
|
||||
ptr = Marshal.AllocHGlobal(size);
|
||||
Marshal.StructureToPtr(this, ptr, true);
|
||||
Marshal.Copy(ptr, arr, 0, size);
|
||||
}
|
||||
finally
|
||||
{
|
||||
Marshal.FreeHGlobal(ptr);
|
||||
}
|
||||
return arr;
|
||||
}
|
||||
}
|
||||
|
||||
public struct DataIn
|
||||
{
|
||||
public float MotorUL, MotorUR, MotorDL, MotorDR;
|
||||
|
||||
public void fromBytes(byte[] arr)
|
||||
{
|
||||
DataIn mem = new DataIn();
|
||||
|
||||
int size = Marshal.SizeOf(mem);
|
||||
IntPtr ptr = IntPtr.Zero;
|
||||
try
|
||||
{
|
||||
ptr = Marshal.AllocHGlobal(size);
|
||||
|
||||
Marshal.Copy(arr, 0, ptr, size);
|
||||
|
||||
mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType());
|
||||
}
|
||||
finally
|
||||
{
|
||||
Marshal.FreeHGlobal(ptr);
|
||||
}
|
||||
|
||||
this = mem;
|
||||
}
|
||||
}
|
||||
|
||||
private void ThreadFunction()
|
||||
{
|
||||
while (DroneThread != null)
|
||||
{
|
||||
float time = Environment.TickCount - Timer;
|
||||
Timer = Environment.TickCount;
|
||||
Action(time / 100);
|
||||
Thread.Sleep(1);
|
||||
}
|
||||
}
|
||||
|
||||
public Drone(int id)
|
||||
{
|
||||
ID = id;
|
||||
Active = false;
|
||||
PosXYZ = new Vector3(2000, 1000, 0);
|
||||
SpdXYZ = Vector3.Zero;
|
||||
AccXYZ = Vector3.Zero;
|
||||
Quat = Quaternion.Identity;
|
||||
|
||||
DroneThread = new Thread(new ThreadStart(ThreadFunction));
|
||||
Timer = Environment.TickCount;
|
||||
DroneThread.Start();
|
||||
}
|
||||
|
||||
public int Create(float mass, float len)
|
||||
{
|
||||
Mass = Range(mass);
|
||||
Length = len;
|
||||
|
||||
Active = true;
|
||||
|
||||
return ID;
|
||||
}
|
||||
|
||||
public void Close()
|
||||
{
|
||||
DroneThread = null;
|
||||
}
|
||||
|
||||
private float GetAngle(float a1, float a2, float az)
|
||||
{
|
||||
if (a2 == 0.0f && az == 0.0f)
|
||||
{
|
||||
if (a1 > 0) return 90;
|
||||
if (a1 < 0) return -90;
|
||||
return 0;
|
||||
}
|
||||
return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD;
|
||||
}
|
||||
|
||||
public void Rotate(float x, float y, float z)
|
||||
{
|
||||
x = x * MathF.PI / 180;
|
||||
y = y * MathF.PI / 180;
|
||||
z = -z * MathF.PI / 180;
|
||||
|
||||
Quaternion map = Quat;
|
||||
Quaternion spd = new Quaternion(x, y, z, 0);
|
||||
Quaternion aq = spd * map;
|
||||
|
||||
map.W -= 0.5f * aq.W;
|
||||
map.X -= 0.5f * aq.X;
|
||||
map.Y -= 0.5f * aq.Y;
|
||||
map.Z -= 0.5f * aq.Z;
|
||||
|
||||
Quat = Quaternion.Normalize(map);
|
||||
}
|
||||
|
||||
public Vector4 GetOrientation()
|
||||
{
|
||||
Quaternion grav = new Quaternion(0, 0, 1, 0);
|
||||
|
||||
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;
|
||||
|
||||
return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
|
||||
}
|
||||
|
||||
public void Action(float time)
|
||||
{
|
||||
if (!Active) return;
|
||||
|
||||
float flow = Power;
|
||||
|
||||
if (PosXYZ.Z < 100)
|
||||
{
|
||||
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 * time / (Mass * Length);
|
||||
|
||||
SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
|
||||
PosXYZ += SpdXYZ * time;
|
||||
|
||||
if (PosXYZ.Z < 0)
|
||||
{
|
||||
SpdPRY = Vector3.Zero;
|
||||
SpdXYZ.X = 0;
|
||||
SpdXYZ.Y = 0;
|
||||
Quat = Quaternion.Identity;
|
||||
}
|
||||
else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
|
||||
|
||||
Vector4 ori = GetOrientation();
|
||||
|
||||
if (PosXYZ.Z < 0)
|
||||
{
|
||||
PosXYZ.Z = 0;
|
||||
|
||||
/*if (SpdXYZ.Z < -5)
|
||||
{
|
||||
Active = false; // Сильно ударился о землю
|
||||
}*/
|
||||
|
||||
/*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
|
||||
{
|
||||
Active = false; // Повредил винты при посадке
|
||||
}*/
|
||||
|
||||
SpdXYZ.Z = 0;
|
||||
|
||||
Acc = new Vector3(0, 0, 1);
|
||||
Gyr = Vector3.Zero;
|
||||
LaserRange = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
/*if (ori.W < 0)
|
||||
{
|
||||
Active = false; // Перевернулся вверх ногами
|
||||
}*/
|
||||
|
||||
Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
|
||||
grav = (Quat * grav) * Quaternion.Inverse(Quat);
|
||||
Acc = new Vector3(grav.X, grav.Y, grav.Z);
|
||||
|
||||
Gyr = SpdPRY;
|
||||
|
||||
float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
|
||||
|
||||
if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
|
||||
else LaserRange = float.MaxValue;
|
||||
}
|
||||
}
|
||||
|
||||
private float Range(float pow)
|
||||
{
|
||||
if (pow > 1) pow = 1;
|
||||
if (pow < 0) pow = 0;
|
||||
|
||||
return pow;
|
||||
}
|
||||
|
||||
public void SetQadroPow(float ul, float ur, float dl, float dr)
|
||||
{
|
||||
ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr);
|
||||
|
||||
Power = (ul + ur + dl + dr) / 4;
|
||||
|
||||
AccPRY.Y = ((ul + dl) - (ur + dr));
|
||||
AccPRY.X = ((ul + ur) - (dl + dr));
|
||||
AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,16 +0,0 @@
|
||||
<Project Sdk="Microsoft.NET.Sdk">
|
||||
|
||||
<PropertyGroup>
|
||||
<OutputType>WinExe</OutputType>
|
||||
<TargetFramework>net9.0-windows</TargetFramework>
|
||||
<Nullable>enable</Nullable>
|
||||
<UseWindowsForms>true</UseWindowsForms>
|
||||
<ImplicitUsings>enable</ImplicitUsings>
|
||||
<ApplicationIcon>icon.ico</ApplicationIcon>
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<Content Include="icon.ico" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
@ -1,8 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup>
|
||||
<Compile Update="FormMain.cs">
|
||||
<SubType>Form</SubType>
|
||||
</Compile>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@ -1,25 +0,0 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio Version 17
|
||||
VisualStudioVersion = 17.13.35913.81 d17.13
|
||||
MinimumVisualStudioVersion = 10.0.40219.1
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DroneSimulator", "DroneSimulator.csproj", "{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Any CPU = Debug|Any CPU
|
||||
Release|Any CPU = Release|Any CPU
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
SolutionGuid = {F4724E16-C228-4B38-BB06-B90A7A057219}
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
420
DroneSimulator/FormMain.Designer.cs
generated
420
DroneSimulator/FormMain.Designer.cs
generated
@ -1,420 +0,0 @@
|
||||
namespace DroneSimulator
|
||||
{
|
||||
partial class Form_Main
|
||||
{
|
||||
/// <summary>
|
||||
/// Required designer variable.
|
||||
/// </summary>
|
||||
private System.ComponentModel.IContainer components = null;
|
||||
|
||||
/// <summary>
|
||||
/// Clean up any resources being used.
|
||||
/// </summary>
|
||||
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
|
||||
protected override void Dispose(bool disposing)
|
||||
{
|
||||
if (disposing && (components != null))
|
||||
{
|
||||
components.Dispose();
|
||||
}
|
||||
base.Dispose(disposing);
|
||||
}
|
||||
|
||||
#region Windows Form Designer generated code
|
||||
|
||||
/// <summary>
|
||||
/// Required method for Designer support - do not modify
|
||||
/// the contents of this method with the code editor.
|
||||
/// </summary>
|
||||
private void InitializeComponent()
|
||||
{
|
||||
components = new System.ComponentModel.Container();
|
||||
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form_Main));
|
||||
menuStrip_Menu = new MenuStrip();
|
||||
fileToolStripMenuItem = new ToolStripMenuItem();
|
||||
exitToolStripMenuItem = new ToolStripMenuItem();
|
||||
groupBox_Screen = new GroupBox();
|
||||
pictureBox_2D = new PictureBox();
|
||||
tabControl_Menu = new TabControl();
|
||||
tabPage_Main = new TabPage();
|
||||
groupBox_Visual = new GroupBox();
|
||||
button_Visual_Start = new Button();
|
||||
numericUpDown_Visual_Port = new NumericUpDown();
|
||||
label_Visual_Port = new Label();
|
||||
groupBox_Clients = new GroupBox();
|
||||
numericUpDown_Clients_Limit = new NumericUpDown();
|
||||
label_Clients_Limit = new Label();
|
||||
label_Clients_Num = new Label();
|
||||
label_Clients_Count = new Label();
|
||||
button_Client_Start = new Button();
|
||||
numericUpDown_Clients_Port = new NumericUpDown();
|
||||
label_Clients_Port = new Label();
|
||||
tabPage_Model = new TabPage();
|
||||
tabPage_Area = new TabPage();
|
||||
groupBox_Navi = new GroupBox();
|
||||
panel1 = new Panel();
|
||||
button_Drone_Color = new Button();
|
||||
comboBox_Drone_Rotor = new ComboBox();
|
||||
comboBox_Drone = new ComboBox();
|
||||
timer_Test = new System.Windows.Forms.Timer(components);
|
||||
menuStrip_Menu.SuspendLayout();
|
||||
groupBox_Screen.SuspendLayout();
|
||||
((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit();
|
||||
tabControl_Menu.SuspendLayout();
|
||||
tabPage_Main.SuspendLayout();
|
||||
groupBox_Visual.SuspendLayout();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit();
|
||||
groupBox_Clients.SuspendLayout();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit();
|
||||
groupBox_Navi.SuspendLayout();
|
||||
panel1.SuspendLayout();
|
||||
SuspendLayout();
|
||||
//
|
||||
// menuStrip_Menu
|
||||
//
|
||||
menuStrip_Menu.Items.AddRange(new ToolStripItem[] { fileToolStripMenuItem });
|
||||
menuStrip_Menu.Location = new Point(0, 0);
|
||||
menuStrip_Menu.Name = "menuStrip_Menu";
|
||||
menuStrip_Menu.Size = new Size(884, 24);
|
||||
menuStrip_Menu.TabIndex = 0;
|
||||
menuStrip_Menu.Text = "menuStrip1";
|
||||
//
|
||||
// fileToolStripMenuItem
|
||||
//
|
||||
fileToolStripMenuItem.DropDownItems.AddRange(new ToolStripItem[] { exitToolStripMenuItem });
|
||||
fileToolStripMenuItem.Name = "fileToolStripMenuItem";
|
||||
fileToolStripMenuItem.Size = new Size(37, 20);
|
||||
fileToolStripMenuItem.Tag = "#file";
|
||||
fileToolStripMenuItem.Text = "File";
|
||||
//
|
||||
// exitToolStripMenuItem
|
||||
//
|
||||
exitToolStripMenuItem.Name = "exitToolStripMenuItem";
|
||||
exitToolStripMenuItem.Size = new Size(93, 22);
|
||||
exitToolStripMenuItem.Tag = "#exit";
|
||||
exitToolStripMenuItem.Text = "Exit";
|
||||
exitToolStripMenuItem.Click += exitToolStripMenuItem_Click;
|
||||
//
|
||||
// groupBox_Screen
|
||||
//
|
||||
groupBox_Screen.Controls.Add(pictureBox_2D);
|
||||
groupBox_Screen.Dock = DockStyle.Fill;
|
||||
groupBox_Screen.Location = new Point(218, 24);
|
||||
groupBox_Screen.Name = "groupBox_Screen";
|
||||
groupBox_Screen.Size = new Size(466, 437);
|
||||
groupBox_Screen.TabIndex = 1;
|
||||
groupBox_Screen.TabStop = false;
|
||||
//
|
||||
// pictureBox_2D
|
||||
//
|
||||
pictureBox_2D.BackColor = Color.Gainsboro;
|
||||
pictureBox_2D.Dock = DockStyle.Fill;
|
||||
pictureBox_2D.Location = new Point(3, 19);
|
||||
pictureBox_2D.Name = "pictureBox_2D";
|
||||
pictureBox_2D.Size = new Size(460, 415);
|
||||
pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom;
|
||||
pictureBox_2D.TabIndex = 0;
|
||||
pictureBox_2D.TabStop = false;
|
||||
//
|
||||
// tabControl_Menu
|
||||
//
|
||||
tabControl_Menu.Controls.Add(tabPage_Main);
|
||||
tabControl_Menu.Controls.Add(tabPage_Model);
|
||||
tabControl_Menu.Controls.Add(tabPage_Area);
|
||||
tabControl_Menu.Dock = DockStyle.Left;
|
||||
tabControl_Menu.Location = new Point(0, 24);
|
||||
tabControl_Menu.Name = "tabControl_Menu";
|
||||
tabControl_Menu.SelectedIndex = 0;
|
||||
tabControl_Menu.Size = new Size(218, 437);
|
||||
tabControl_Menu.TabIndex = 2;
|
||||
//
|
||||
// tabPage_Main
|
||||
//
|
||||
tabPage_Main.Controls.Add(groupBox_Visual);
|
||||
tabPage_Main.Controls.Add(groupBox_Clients);
|
||||
tabPage_Main.Location = new Point(4, 24);
|
||||
tabPage_Main.Name = "tabPage_Main";
|
||||
tabPage_Main.Padding = new Padding(3);
|
||||
tabPage_Main.Size = new Size(210, 409);
|
||||
tabPage_Main.TabIndex = 0;
|
||||
tabPage_Main.Tag = "#main";
|
||||
tabPage_Main.Text = "Main";
|
||||
tabPage_Main.UseVisualStyleBackColor = true;
|
||||
//
|
||||
// groupBox_Visual
|
||||
//
|
||||
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.TabIndex = 2;
|
||||
groupBox_Visual.TabStop = false;
|
||||
groupBox_Visual.Tag = "#visual";
|
||||
groupBox_Visual.Text = "Visual";
|
||||
//
|
||||
// button_Visual_Start
|
||||
//
|
||||
button_Visual_Start.Location = new Point(112, 22);
|
||||
button_Visual_Start.Name = "button_Visual_Start";
|
||||
button_Visual_Start.Size = new Size(86, 23);
|
||||
button_Visual_Start.TabIndex = 9;
|
||||
button_Visual_Start.Tag = "#visual_start";
|
||||
button_Visual_Start.Text = "Start";
|
||||
button_Visual_Start.UseVisualStyleBackColor = true;
|
||||
//
|
||||
// numericUpDown_Visual_Port
|
||||
//
|
||||
numericUpDown_Visual_Port.Location = new Point(44, 24);
|
||||
numericUpDown_Visual_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 });
|
||||
numericUpDown_Visual_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
numericUpDown_Visual_Port.Name = "numericUpDown_Visual_Port";
|
||||
numericUpDown_Visual_Port.Size = new Size(62, 23);
|
||||
numericUpDown_Visual_Port.TabIndex = 8;
|
||||
numericUpDown_Visual_Port.Value = new decimal(new int[] { 1002, 0, 0, 0 });
|
||||
//
|
||||
// label_Visual_Port
|
||||
//
|
||||
label_Visual_Port.AutoSize = true;
|
||||
label_Visual_Port.Location = new Point(6, 26);
|
||||
label_Visual_Port.Name = "label_Visual_Port";
|
||||
label_Visual_Port.Size = new Size(32, 15);
|
||||
label_Visual_Port.TabIndex = 7;
|
||||
label_Visual_Port.Tag = "#visual_port";
|
||||
label_Visual_Port.Text = "Port:";
|
||||
//
|
||||
// groupBox_Clients
|
||||
//
|
||||
groupBox_Clients.Controls.Add(numericUpDown_Clients_Limit);
|
||||
groupBox_Clients.Controls.Add(label_Clients_Limit);
|
||||
groupBox_Clients.Controls.Add(label_Clients_Num);
|
||||
groupBox_Clients.Controls.Add(label_Clients_Count);
|
||||
groupBox_Clients.Controls.Add(button_Client_Start);
|
||||
groupBox_Clients.Controls.Add(numericUpDown_Clients_Port);
|
||||
groupBox_Clients.Controls.Add(label_Clients_Port);
|
||||
groupBox_Clients.Dock = DockStyle.Top;
|
||||
groupBox_Clients.Location = new Point(3, 3);
|
||||
groupBox_Clients.Name = "groupBox_Clients";
|
||||
groupBox_Clients.Size = new Size(204, 80);
|
||||
groupBox_Clients.TabIndex = 1;
|
||||
groupBox_Clients.TabStop = false;
|
||||
groupBox_Clients.Tag = "#clients";
|
||||
groupBox_Clients.Text = "Clients";
|
||||
//
|
||||
// numericUpDown_Clients_Limit
|
||||
//
|
||||
numericUpDown_Clients_Limit.Location = new Point(44, 48);
|
||||
numericUpDown_Clients_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
|
||||
numericUpDown_Clients_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
numericUpDown_Clients_Limit.Name = "numericUpDown_Clients_Limit";
|
||||
numericUpDown_Clients_Limit.Size = new Size(42, 23);
|
||||
numericUpDown_Clients_Limit.TabIndex = 6;
|
||||
numericUpDown_Clients_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
//
|
||||
// label_Clients_Limit
|
||||
//
|
||||
label_Clients_Limit.AutoSize = true;
|
||||
label_Clients_Limit.Location = new Point(6, 50);
|
||||
label_Clients_Limit.Name = "label_Clients_Limit";
|
||||
label_Clients_Limit.Size = new Size(37, 15);
|
||||
label_Clients_Limit.TabIndex = 5;
|
||||
label_Clients_Limit.Tag = "#clients_limit";
|
||||
label_Clients_Limit.Text = "Limit:";
|
||||
//
|
||||
// label_Clients_Num
|
||||
//
|
||||
label_Clients_Num.AutoSize = true;
|
||||
label_Clients_Num.Location = new Point(161, 50);
|
||||
label_Clients_Num.Name = "label_Clients_Num";
|
||||
label_Clients_Num.Size = new Size(13, 15);
|
||||
label_Clients_Num.TabIndex = 4;
|
||||
label_Clients_Num.Text = "0";
|
||||
//
|
||||
// label_Clients_Count
|
||||
//
|
||||
label_Clients_Count.AutoSize = true;
|
||||
label_Clients_Count.Location = new Point(112, 50);
|
||||
label_Clients_Count.Name = "label_Clients_Count";
|
||||
label_Clients_Count.Size = new Size(43, 15);
|
||||
label_Clients_Count.TabIndex = 3;
|
||||
label_Clients_Count.Tag = "#clients_count";
|
||||
label_Clients_Count.Text = "Count:";
|
||||
//
|
||||
// button_Client_Start
|
||||
//
|
||||
button_Client_Start.BackColor = Color.Transparent;
|
||||
button_Client_Start.Location = new Point(112, 15);
|
||||
button_Client_Start.Name = "button_Client_Start";
|
||||
button_Client_Start.Size = new Size(86, 23);
|
||||
button_Client_Start.TabIndex = 2;
|
||||
button_Client_Start.Tag = "";
|
||||
button_Client_Start.Text = "Start";
|
||||
button_Client_Start.UseVisualStyleBackColor = false;
|
||||
button_Client_Start.Click += button_Client_Start_Click;
|
||||
//
|
||||
// numericUpDown_Clients_Port
|
||||
//
|
||||
numericUpDown_Clients_Port.Location = new Point(44, 17);
|
||||
numericUpDown_Clients_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 });
|
||||
numericUpDown_Clients_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
|
||||
numericUpDown_Clients_Port.Name = "numericUpDown_Clients_Port";
|
||||
numericUpDown_Clients_Port.Size = new Size(62, 23);
|
||||
numericUpDown_Clients_Port.TabIndex = 1;
|
||||
numericUpDown_Clients_Port.Value = new decimal(new int[] { 1001, 0, 0, 0 });
|
||||
//
|
||||
// label_Clients_Port
|
||||
//
|
||||
label_Clients_Port.AutoSize = true;
|
||||
label_Clients_Port.Location = new Point(6, 19);
|
||||
label_Clients_Port.Name = "label_Clients_Port";
|
||||
label_Clients_Port.Size = new Size(32, 15);
|
||||
label_Clients_Port.TabIndex = 0;
|
||||
label_Clients_Port.Tag = "#clients_port";
|
||||
label_Clients_Port.Text = "Port:";
|
||||
//
|
||||
// tabPage_Model
|
||||
//
|
||||
tabPage_Model.Location = new Point(4, 24);
|
||||
tabPage_Model.Name = "tabPage_Model";
|
||||
tabPage_Model.Padding = new Padding(3);
|
||||
tabPage_Model.Size = new Size(210, 409);
|
||||
tabPage_Model.TabIndex = 1;
|
||||
tabPage_Model.Tag = "#model";
|
||||
tabPage_Model.Text = "Model";
|
||||
tabPage_Model.UseVisualStyleBackColor = true;
|
||||
//
|
||||
// tabPage_Area
|
||||
//
|
||||
tabPage_Area.Location = new Point(4, 24);
|
||||
tabPage_Area.Name = "tabPage_Area";
|
||||
tabPage_Area.Size = new Size(210, 409);
|
||||
tabPage_Area.TabIndex = 2;
|
||||
tabPage_Area.Tag = "#area";
|
||||
tabPage_Area.Text = "Area";
|
||||
tabPage_Area.UseVisualStyleBackColor = true;
|
||||
//
|
||||
// groupBox_Navi
|
||||
//
|
||||
groupBox_Navi.Controls.Add(panel1);
|
||||
groupBox_Navi.Controls.Add(comboBox_Drone);
|
||||
groupBox_Navi.Dock = DockStyle.Right;
|
||||
groupBox_Navi.Location = new Point(684, 24);
|
||||
groupBox_Navi.Name = "groupBox_Navi";
|
||||
groupBox_Navi.Size = new Size(200, 437);
|
||||
groupBox_Navi.TabIndex = 3;
|
||||
groupBox_Navi.TabStop = false;
|
||||
groupBox_Navi.Tag = "#navigation";
|
||||
groupBox_Navi.Text = "Navigation";
|
||||
//
|
||||
// panel1
|
||||
//
|
||||
panel1.Controls.Add(button_Drone_Color);
|
||||
panel1.Controls.Add(comboBox_Drone_Rotor);
|
||||
panel1.Dock = DockStyle.Fill;
|
||||
panel1.Location = new Point(3, 42);
|
||||
panel1.Name = "panel1";
|
||||
panel1.Size = new Size(194, 392);
|
||||
panel1.TabIndex = 3;
|
||||
//
|
||||
// button_Drone_Color
|
||||
//
|
||||
button_Drone_Color.BackColor = Color.Tomato;
|
||||
button_Drone_Color.Location = new Point(13, 6);
|
||||
button_Drone_Color.Name = "button_Drone_Color";
|
||||
button_Drone_Color.Size = new Size(45, 23);
|
||||
button_Drone_Color.TabIndex = 1;
|
||||
button_Drone_Color.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// comboBox_Drone_Rotor
|
||||
//
|
||||
comboBox_Drone_Rotor.FormattingEnabled = true;
|
||||
comboBox_Drone_Rotor.Items.AddRange(new object[] { "4-Rotor", "6-Rotor", "8-Rotor" });
|
||||
comboBox_Drone_Rotor.Location = new Point(114, 6);
|
||||
comboBox_Drone_Rotor.Name = "comboBox_Drone_Rotor";
|
||||
comboBox_Drone_Rotor.Size = new Size(71, 23);
|
||||
comboBox_Drone_Rotor.TabIndex = 2;
|
||||
comboBox_Drone_Rotor.Text = "4-Rotor";
|
||||
//
|
||||
// comboBox_Drone
|
||||
//
|
||||
comboBox_Drone.Dock = DockStyle.Top;
|
||||
comboBox_Drone.FormattingEnabled = true;
|
||||
comboBox_Drone.Location = new Point(3, 19);
|
||||
comboBox_Drone.Name = "comboBox_Drone";
|
||||
comboBox_Drone.Size = new Size(194, 23);
|
||||
comboBox_Drone.TabIndex = 0;
|
||||
//
|
||||
// timer_Test
|
||||
//
|
||||
timer_Test.Enabled = true;
|
||||
timer_Test.Interval = 10;
|
||||
timer_Test.Tick += timer_Test_Tick;
|
||||
//
|
||||
// Form_Main
|
||||
//
|
||||
AutoScaleDimensions = new SizeF(7F, 15F);
|
||||
AutoScaleMode = AutoScaleMode.Font;
|
||||
ClientSize = new Size(884, 461);
|
||||
Controls.Add(groupBox_Screen);
|
||||
Controls.Add(groupBox_Navi);
|
||||
Controls.Add(tabControl_Menu);
|
||||
Controls.Add(menuStrip_Menu);
|
||||
Icon = (Icon)resources.GetObject("$this.Icon");
|
||||
MainMenuStrip = menuStrip_Menu;
|
||||
MinimumSize = new Size(900, 500);
|
||||
Name = "Form_Main";
|
||||
Text = "Drone Simulator V1.0";
|
||||
FormClosing += Form_Main_FormClosing;
|
||||
menuStrip_Menu.ResumeLayout(false);
|
||||
menuStrip_Menu.PerformLayout();
|
||||
groupBox_Screen.ResumeLayout(false);
|
||||
((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit();
|
||||
tabControl_Menu.ResumeLayout(false);
|
||||
tabPage_Main.ResumeLayout(false);
|
||||
groupBox_Visual.ResumeLayout(false);
|
||||
groupBox_Visual.PerformLayout();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).EndInit();
|
||||
groupBox_Clients.ResumeLayout(false);
|
||||
groupBox_Clients.PerformLayout();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit();
|
||||
groupBox_Navi.ResumeLayout(false);
|
||||
panel1.ResumeLayout(false);
|
||||
ResumeLayout(false);
|
||||
PerformLayout();
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
private MenuStrip menuStrip_Menu;
|
||||
private ToolStripMenuItem fileToolStripMenuItem;
|
||||
private GroupBox groupBox_Screen;
|
||||
private TabControl tabControl_Menu;
|
||||
private TabPage tabPage_Main;
|
||||
private TabPage tabPage_Model;
|
||||
private Label label_Clients_Port;
|
||||
private GroupBox groupBox_Clients;
|
||||
private NumericUpDown numericUpDown_Clients_Port;
|
||||
private Label label_Clients_Num;
|
||||
private Label label_Clients_Count;
|
||||
private Button button_Client_Start;
|
||||
private NumericUpDown numericUpDown_Clients_Limit;
|
||||
private Label label_Clients_Limit;
|
||||
private GroupBox groupBox_Visual;
|
||||
private Button button_Visual_Start;
|
||||
private NumericUpDown numericUpDown_Visual_Port;
|
||||
private Label label_Visual_Port;
|
||||
private PictureBox pictureBox_2D;
|
||||
private GroupBox groupBox_Navi;
|
||||
private ComboBox comboBox_Drone;
|
||||
private TabPage tabPage_Area;
|
||||
private Button button_Drone_Color;
|
||||
private ComboBox comboBox_Drone_Rotor;
|
||||
private Panel panel1;
|
||||
private ToolStripMenuItem exitToolStripMenuItem;
|
||||
private System.Windows.Forms.Timer timer_Test;
|
||||
}
|
||||
}
|
||||
@ -1,150 +0,0 @@
|
||||
using System.Text;
|
||||
using System.Numerics;
|
||||
using System.Windows.Forms;
|
||||
using static System.Net.Mime.MediaTypeNames;
|
||||
using static System.Runtime.InteropServices.JavaScript.JSType;
|
||||
using System.Security.Policy;
|
||||
|
||||
namespace DroneSimulator
|
||||
{
|
||||
public partial class Form_Main : Form
|
||||
{
|
||||
Screen2D screen2D = null;
|
||||
|
||||
NetServerClients netServerClient = new NetServerClients();
|
||||
|
||||
List<Drone> AllDrones = new List<Drone>();
|
||||
|
||||
public Form_Main()
|
||||
{
|
||||
InitializeComponent();
|
||||
}
|
||||
|
||||
private void ConnectionCallback(object o)
|
||||
{
|
||||
NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
|
||||
|
||||
Invoke((MethodInvoker)delegate
|
||||
{
|
||||
label_Clients_Num.Text = data.Count.ToString();
|
||||
});
|
||||
|
||||
if (data.Connect)
|
||||
{
|
||||
Drone drone = new Drone(data.ID);
|
||||
drone.Create(0.5f, 10.0f);
|
||||
|
||||
screen2D.CreateDrone(Color.Red, data.ID);
|
||||
|
||||
AllDrones.Add(drone);
|
||||
}
|
||||
else
|
||||
{
|
||||
foreach (Drone drone in AllDrones)
|
||||
{
|
||||
if (drone.ID != data.ID) continue;
|
||||
drone.Close();
|
||||
|
||||
screen2D.RemoveDrone(data.ID);
|
||||
|
||||
AllDrones.Remove(drone);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private void ReceiveCallback(object o)
|
||||
{
|
||||
NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
|
||||
|
||||
Drone? drone = null;
|
||||
|
||||
foreach (Drone d in AllDrones)
|
||||
{
|
||||
if (d.ID != data.ID) continue;
|
||||
drone = d;
|
||||
break;
|
||||
}
|
||||
|
||||
if (drone == null) return;
|
||||
|
||||
Drone.DataIn id = new Drone.DataIn();
|
||||
|
||||
id.fromBytes(data.Buffer);
|
||||
|
||||
drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR);
|
||||
|
||||
Drone.DataOut od = new Drone.DataOut();
|
||||
|
||||
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()); }
|
||||
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);
|
||||
switch (done)
|
||||
{
|
||||
case NetServerClients.ServerState.Error:
|
||||
{
|
||||
MessageBox.Show("Error to start server");
|
||||
break;
|
||||
}
|
||||
case NetServerClients.ServerState.Start:
|
||||
{
|
||||
button_Client_Start.Text = "Stop";
|
||||
button_Client_Start.BackColor = Color.LimeGreen;
|
||||
break;
|
||||
}
|
||||
case NetServerClients.ServerState.Stop:
|
||||
{
|
||||
label_Clients_Num.Text = "0";
|
||||
button_Client_Start.Text = "Start";
|
||||
button_Client_Start.BackColor = Color.Transparent;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (done != NetServerClients.ServerState.Start) return;
|
||||
|
||||
pictureBox_2D.Image = null;
|
||||
|
||||
screen2D = new Screen2D(DrawCallback);
|
||||
}
|
||||
|
||||
private void exitToolStripMenuItem_Click(object sender, EventArgs e)
|
||||
{
|
||||
Close();
|
||||
}
|
||||
|
||||
private void DrawCallback(Bitmap bmp)
|
||||
{
|
||||
Invoke((MethodInvoker)delegate
|
||||
{
|
||||
if (pictureBox_2D.Image == null) pictureBox_2D.Image = bmp;
|
||||
pictureBox_2D.Refresh();
|
||||
});
|
||||
}
|
||||
|
||||
private void timer_Test_Tick(object sender, EventArgs e)
|
||||
{
|
||||
if (screen2D == null) return;
|
||||
|
||||
foreach (Drone d in AllDrones)
|
||||
{
|
||||
screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
|
||||
}
|
||||
|
||||
screen2D.DrawScene();
|
||||
}
|
||||
private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
|
||||
{
|
||||
foreach (Drone d in AllDrones) d.Close();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,383 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<root>
|
||||
<!--
|
||||
Microsoft ResX Schema
|
||||
|
||||
Version 2.0
|
||||
|
||||
The primary goals of this format is to allow a simple XML format
|
||||
that is mostly human readable. The generation and parsing of the
|
||||
various data types are done through the TypeConverter classes
|
||||
associated with the data types.
|
||||
|
||||
Example:
|
||||
|
||||
... ado.net/XML headers & schema ...
|
||||
<resheader name="resmimetype">text/microsoft-resx</resheader>
|
||||
<resheader name="version">2.0</resheader>
|
||||
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
|
||||
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
|
||||
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
|
||||
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
|
||||
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
|
||||
<value>[base64 mime encoded serialized .NET Framework object]</value>
|
||||
</data>
|
||||
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
|
||||
<comment>This is a comment</comment>
|
||||
</data>
|
||||
|
||||
There are any number of "resheader" rows that contain simple
|
||||
name/value pairs.
|
||||
|
||||
Each data row contains a name, and value. The row also contains a
|
||||
type or mimetype. Type corresponds to a .NET class that support
|
||||
text/value conversion through the TypeConverter architecture.
|
||||
Classes that don't support this are serialized and stored with the
|
||||
mimetype set.
|
||||
|
||||
The mimetype is used for serialized objects, and tells the
|
||||
ResXResourceReader how to depersist the object. This is currently not
|
||||
extensible. For a given mimetype the value must be set accordingly:
|
||||
|
||||
Note - application/x-microsoft.net.object.binary.base64 is the format
|
||||
that the ResXResourceWriter will generate, however the reader can
|
||||
read any of the formats listed below.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.binary.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.soap.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.bytearray.base64
|
||||
value : The object must be serialized into a byte array
|
||||
: using a System.ComponentModel.TypeConverter
|
||||
: and then encoded with base64 encoding.
|
||||
-->
|
||||
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
|
||||
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
|
||||
<xsd:element name="root" msdata:IsDataSet="true">
|
||||
<xsd:complexType>
|
||||
<xsd:choice maxOccurs="unbounded">
|
||||
<xsd:element name="metadata">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" use="required" type="xsd:string" />
|
||||
<xsd:attribute name="type" type="xsd:string" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" />
|
||||
<xsd:attribute ref="xml:space" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="assembly">
|
||||
<xsd:complexType>
|
||||
<xsd:attribute name="alias" type="xsd:string" />
|
||||
<xsd:attribute name="name" type="xsd:string" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="data">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
|
||||
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
|
||||
<xsd:attribute ref="xml:space" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="resheader">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" use="required" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:choice>
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:schema>
|
||||
<resheader name="resmimetype">
|
||||
<value>text/microsoft-resx</value>
|
||||
</resheader>
|
||||
<resheader name="version">
|
||||
<value>2.0</value>
|
||||
</resheader>
|
||||
<resheader name="reader">
|
||||
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</resheader>
|
||||
<resheader name="writer">
|
||||
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</resheader>
|
||||
<metadata name="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>
|
||||
</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">
|
||||
<value>
|
||||
AAABAAEAAAAAAAEAIAAcOgAAFgAAAIlQTkcNChoKAAAADUlIRFIAAAEAAAABAAgGAAAAXHKoZgAAAAFv
|
||||
ck5UAc+id5oAADnWSURBVHja7V0HeJRV1v4I6QkpQIDQQgm999576ASpoQUCgiAg0nsHUVCkKh1FpRcF
|
||||
FQHpvYp0FRXLuquuu6v+6rrnv++dOzjJzPdNycxkkpz3ec5DSGa+cu855957qqYxGAwGg8FgMBgMBoPB
|
||||
YDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgM
|
||||
BoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8Fg
|
||||
MBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDkd2RQ1CQ
|
||||
oFyC8ggqIKiYoEqC6glqLaizoB6C+gsaKmiUoPGCJguaImimoFmCpqnfTRQ0RtCTggYK6i2oq6C2ghoJ
|
||||
qiYoXlBBQXkFRQoKEZSTpyPbIqfigUjFEwUVj1RTPNNW8VBvxVNPKh6bqHhumuLBmYonJyseHaV4tr/i
|
||||
4c6Kp8HbFRWvF1C8n0vJQo6sNrjBgqIFFRFUS1AnQSmCpgp6SdDrgg4KOivojqBHgv4m6HtBPwn6j6Bf
|
||||
BP0m6A9B/xNEDtB/Bf0u6FdBPwv6l6AfBH0n6GtBnwi6JOiwoO2CVguaI+gpQU+oiS+pGCIsK05MNlto
|
||||
wtRcllRzC4EcqeZ8jaAdgj4QdFnxxteKV35QvPOz4qXfFW85woP/Uzz7m+Lh/yie/l7x+CPF82eVDLyu
|
||||
ZGKqkpFOSmaKKBkK9vWBjhBUVFADQQMELRC0TdBJQZ8K+ocahD8cHMCMoD/VZGHiv1RKYo+aGGj9DoLK
|
||||
CcotyJ9ly+fgr+amlFptR6q526Pm8ks1t7+oufZVPvxDyco/lOycVLK0SCmHZmoHEZGRgx2ttjJ9BC0R
|
||||
9L562B+U1qMsSP8W9JWgM4JeUQzWWG3lWCF4HwGC8guqq7bmr6gV9ZFabf/MgjwI5fBPJWuQuefV0aSa
|
||||
kkmPwU9QrKCOgp4TdELQN4L+L4sKu6M7hh8FXRf0qpqI0uo8x/AMgtQYY6zXqbH/3omteVYkHE2+VTK5
|
||||
WMlorLuOrjg/NVWa5pramhCT7kR8JmirOmcWYHl1G/KrMd2qxvh35jdd+o+SVchsE2VkdBr4UjdBu5WG
|
||||
5YF1jnDOPK9sB4VZfl0Gxm60Onb9wnzlNEF29wtKdFQR+ClL6e6MWu1z5sxJgYGBFBISQuHh4RQREUFR
|
||||
UVGUO3duypMnD+XNm5diYmKsCH/DZ6KjoykyMpJy5cpFoaGhFBQURP7+/hk1AdiaXlCG0TCWZ6d2nhiz
|
||||
ixm1vQfPgHfAQ+Al8BR4y8yHtngQvGnmQ/AseBc8DF4GT4O3M9B+tVvtCPz0Bj1c0LPK0OX2hwgICJAD
|
||||
iUEqWrQoVa1alZo3b06JiYk0aNAgGj16NE2fPp0WLVpEy5cvp1dffZVef/112rlzJ+3bt48OHTpEhw8f
|
||||
pqNHj9Lx48dT0bFjx+Tf3nvvPTpw4ADt2rWL3njjDdq4cSOtXLmSlixZQrNnz6Zx48ZRSkoK9ezZk9q0
|
||||
aUO1atWikiVLUr58+eRkYZI8uCNYr6y3DGMUF7RBud/cPhcQaggz5hxzDx4AL4Anhg4dKnkEvAKeAe+A
|
||||
h8BL4CnwFngMvAaeS8uH4E38DbwKnt2xY4fkYfAyeBq8DR4Hr4PnwfuQgSpVqkiZgGyEhYV7csGCi3Oc
|
||||
rcUILoVl7jDqQYigAePj46lp06aUlJREkyZNohdffFEOJAbpypUrdPPmTbp37x49fPiQvvrqK/rb3/5G
|
||||
3333nST8nJa+/fZbhyntd83XBX399df0+eef04MHD+jWrVt07do1OnXqlJisnfTiSy/RM89OoB69+lCj
|
||||
Jk2pVOkyUqMHB4e4awIQe1CWZVwXGJsP3DHWWLkh5JUqVaJ27dpJxT9z5kxavXo17d69W8455h48AF4A
|
||||
T4A3LHnFnTyYlr/B8+B9yABkATJx5MgR2rr1NVq4aDENf2oUderSjWrXqUdF44oJpRUlFlG3LFCQ8Rcs
|
||||
3Yhwp0x31bCCVR3CnpCQQGPHjqUVK1ZIDXj16lX5cl9++eXjl7ccxG+++eYxYeC9SZb3TjthX339Dd2+
|
||||
94BOnDlPBw59QFu2bacFi1+gJ596mtoldKAyZctRpNje+fm5vJ07oIxaDGtD39uuHhux6FSuXJl69OhB
|
||||
06ZNkyv3hx9+SB999BF98sknj4U7rTD7Ih9+K+jLR1/R9Y9u0QcfnqY9B96lVzZsoemz5tKA5CHUuGkz
|
||||
sWOIk7uFdBisp5nd162VS8/hwS5YsKDcNk2ZMoW2b99Oly9floOMF8AgWw6utwfVPRPztZiAR3Trzj06
|
||||
e1HsEC5cpdOCjp48R/sPHZaTMW7CZGrXviPFFSsut5VOug8nsLxbYZIzvvvg4GAqVaqU3LovXrxYLjoQ
|
||||
dqzklkKeUcLtLnr4+Rd0TSiC04oHT52/Qu8fO0W79h2kZS+voqHDR1LDRk0oJl9+Z20MkPlWGPg3HPkC
|
||||
DCCtWrWS5xhoVrPAWw50Zh1kI7r34BM6Iwb+xNlLkk6euywnwawQdu59h+YsWEztO3amArGxlCNHDkcG
|
||||
/wq7CVMBfuur9sYNY1ukSBHq06ePPFdfunTpscBnBWHXo0diN/DRrTuS98w8aOLDvxQCdqrPjJ9E9Rs2
|
||||
kvYsB5UAIgxliKTuh2DN7N27tzSC3L9/P8sLvC3CTsA8+GkJvzcrg82vb6fkIcOocJGi9hQBAogas9w/
|
||||
RhM1JrqCX7x4cXr22Wfl4vPFF19kOz6EErhy/aYuD0IRgN47eoJeWrlWLkgRkZH2FMAXGPzfjCym2OZD
|
||||
y/7973/PVkJvSZ8LhrPcBdgkpQiglZcuX0mx4phkMPA/K98sw4TuRn7+woUL07Zt2x5v7bMjH+JYevfe
|
||||
A92FyFIZnBHHVixIw596mgKNj6eQff1AH2jecuXK0fz58+U5Hw+SHSfg88/1FYCl9j14+ENa8NxSqluv
|
||||
vj2XIrLM2rLcP0Y75avWXYhatGhBmzZtojt37mTLXSgUwB0DBWDmQ/y8c99BGjNuApUsGW9vJwrZl64p
|
||||
u0ERFSpUoDFjxtDevXvlJGDws8tEfHwbR4BLNu0AsNK+/tYuaRSsVbuudD85cPZ6IKgEy/1jlFRjYjhu
|
||||
CKpp0qSJXJDgd//ss8+yDQ8+evSILlscAcx2APAg/sXis/rVjTQwOYXiS5V21CCIhCJtkJH2tWUMbNiw
|
||||
oTyPwa+PnYF5IrKiMQZGQOkJUAJ/7JTJPbhm3SYa/cx4atq8pTT+OWmBfUnjDEJLYCxednT8/Pz8qFCh
|
||||
QtSxY0eaN28evfPOO9KXbnY5ZyWlgJX/0VcwAt6l04oHwYsfHD8tPQHPv/gyDRoylKrXrCXd005GBw40
|
||||
BwFtcsWfCI0MV0ynTp1o4sSJtGHDBqmZMRlQCma3oC2/q+8McGpfrJmBMOjXbnxM7x05Tm/t2iddLhD4
|
||||
Dp26ULnyFWRgBhjRhXG7ppnqCjBSo7xmyu5zajwxB4gBqFatGvXt21cqBLimz507J3eqZoOhJR9mpO/f
|
||||
Hh+mjUuBG/DcxSv09rtHaMu2HTImJWXYCGreopV0QYeGhrkaC7DRMhgIIaoH3RV9hTDfrl270qhRo+i5
|
||||
556T4ZCIckK00+3bt6UL0TJAyFaAhq1ADWfIKDLLfE9EY0FR3b17l65fv04nT56UEYEvLF1KI0aOkpbU
|
||||
qtVqUIECsTLowkEXnxHdV3EXDNto68hRwJ6rEMFpMBzWr19ferAmTJggQ3ERVo45xlxjzjH34AFbkX+e
|
||||
5kPLe0IWIBOISrSMCJw7b77Y0g+hFq3aUNly5SlPnrzuikp9x1ZYOn6xWTOVP3Jrcg92Cohzhiundu3a
|
||||
1L59e+rXr5+MiZ41axYtW7aM1q9fLzX3wYMHpavnwoULMpoQk4UAj48//lgqDxA0OyYQhJ/Nv8dn8Nkb
|
||||
N27IME/4iTHhiN9G+OfmzZvp5ZdflmfI8ePHU3JyMnXp0oUaNWpEZcqUeZwTgLwFD8RhI6OtKcu4XaDi
|
||||
zVl3jz+MsphbzDHmGnOOuR88eLDkBfAEeAM8Al4Bz4B3wEPgJfCUs3wI3gUPg5eROwDeBo+D18Hz4H3I
|
||||
AGQBkbSQjWLFiqmcgDBXd5hG9KuS8Ti9wUfKIIoZ3tS8mK0EgUPGFCYI2zlkVhUoUIDi4uKodOnS0gCJ
|
||||
LV6dOnUkNWjQQE4gCPaIunXryt/XqFFDxn5jgqFsELGICcc1kQCCQQUjuGEld4ZQA+45o0FnWAFjtUSN
|
||||
nVfmCTwB3gCPgFfAM+Ad8BB4CTwF3gKPgdfAc+A9Mx+CJ838CV4Fz+J4DB4GL4OncU3wOHjdQ4uMEUGm
|
||||
UzQH04JRV22GoI+17F1tJT30rTpnNWaDn0tAjkpDzVT551vmJ5fT0VF8dLZmqqTkkntmpHIX/IMH1C79
|
||||
rIx88wXV0bg8mDsQqMYSVXwvOeOxysYE/z6yKlGeHGXO010eDHXTUdN8ioob+FrLusU/nSGUf/5BMeaL
|
||||
mqmGfEGNS4l7CsgYbK+ZUtcvqUXpT+ZDWSz0GyWbM9SuM8pTkwDXASoCo+nBckHHNFM+QXaoF/irOpde
|
||||
Uq7TsZqpglKMZlBpheF2+Kkxr6NWuU1qTr5ztxHbR+k/SuaOqfiJIYKqahlQKtxPaRqcL1CNFNVGVqsj
|
||||
wx01If/WfLsfgK103Z/VNgoFKE8qyylqJvTSTCWY86qtKcN3jgkxam56q1Vwi6BTag4xl77eD8DWqv5v
|
||||
JUN3lExBtp5RslZayZ7PLTw5lSaKVVqpg9JQ05S2QjcelDC+rZlquOMFf1RazZPVXv+rmOCfgv6ujjHw
|
||||
y58TtE8z1ZU3dwhCcgrqzaPZSTQLe6ZVCtFqDuupOcXczlVzjTlH4dYHihfAEz8pHvGk4ft3xes/Kt5/
|
||||
pGThhJKNl5WsDFGyU1XJUoSWBdrY4WwcoiYG57li6gWbaqZ2SAs1naywHDk0qlHIn7pVCKTO5QOoQ9kA
|
||||
ShDUSfzcRVDr0gEU7G/o3kOHGFQ6bimopjKOYGDRny2MLfXZCv5qzvMomw28XmjF1UrxyB49PgKPgdfA
|
||||
c+A98CB4ETwJ3gSPglc1/dqQCxWvN1W8X0zJQrSSjWxtP2qqVmjrhCQ/jV7qGEo/zY6m72dG0T9mmAg/
|
||||
/zgrii6MjKB84YaBE9OZ7xkOYroeH4HHwGvgubR8CN4Ej4JXdb4P3m7Cw6uP5kYKYFWXUPrvwmj6v3mp
|
||||
6fcF0XR9TATlN1YAM3l4GQ5iph4fgcfAa+C5tHwI3gSP2lEAzXl406EA/hAD/+u81PTbfKEARrMCYHhJ
|
||||
AQheA8+l5UPwJisAVgAMVgCsAFgBMFgBsAJwqwJY0zWMaFFuef76RQz4L3NNwv+nOHvdHBvJCoDhFQUA
|
||||
XgPPgffAg78qOxR4EzzKCsADCiCnGNThdYOkhp3UNJieqhck/z++cTC90D6UXuwYSrlDcrACsA0EiyAv
|
||||
Aa4v+JMR2g23Ux5F0ep3Eeoz+GwOVgA2KmIJHgO/LUkIpXGNgiUPjqwfRFOaBdPabqGSL3OyAnC/AgAF
|
||||
+Ws2B1dwKoUE5CC/HFp2VQB+SnjhT0a1oRaaKVQbkZkIfEFwCVprI/jlXUFHNFPgyVlFJ9Tv3lWf2aq+
|
||||
g+8i8qyfumZZdY8ILWuHPusqAPj49eJNsPIH+xvyICuA9CiAdFJWUgAQQDTRRFATsjVXKOFF+vY3agzd
|
||||
maz1m7omrn1T3Qv3RC5EgmYKpInIDgogncQKgBWAS0ARhzKCegharJlSPT/XTKGrGR3fjnh1NJhAJhoK
|
||||
nyAWv4LmYOEJVgAMS7RUTO2JwZ+VycYC53LEsE9SKy6yvzJDphu6zyK+/ZBmSh9vpN4lM2GOBxVACxZz
|
||||
2whX20pPrWhHNVNiiK+PQV2lrJCFmBWKsHyvbAwQqgbqHX0ZOM6c1jyXkIZdUjCLe2ogy2miWj08yYyb
|
||||
ffCs6qfO86jXhtbh32lZN48dGXf7NVPdSTRG8TVPA9K8d2mez+UfoXHRmFRoozlYANIvpz8FR0RTeL5C
|
||||
lKtAEQqJyks5A4KcMWaN8ZF3Rs075K8v0kz53n9o2auCDVJgF2imjDh/H1HEMzQHU4H9A4MpJDovRRQo
|
||||
SuExBSkoVxTlcLyKL+w39VnsTcijOdKeLCiYitRoTA2Hz6YuL+ym3utPUJ8NJynx5Xeo6djnqWitBAoI
|
||||
iXRk8FEDoFIGvm+QOhev0ex0ZnaVUE4aPRpQhRYVaePj46l69erUrFkzateunWzkkpiYSD179pSEn/E7
|
||||
/K1p06bys/gOvotr4FoeKFFt2aF2lWYqAJqRNRRhb/nK3vNiwSnTsju1mPASdV9xSPJg73XHqfOSHVRn
|
||||
0FTKG19LLFIOVfzdmckNpW7DAHtb/8jYOGo8cj7133aJUvY/EHSfUvaB7pl+Fr9LXH6BavV7kaLjqjgy
|
||||
+M9r3vdjg7mRCrrJndt8CGf+/PllKWoIMurML1y4kDZu3EiHDh2SHXJQnx616u/duycbUHz66af08OFD
|
||||
2fUZhJ/xO/wNn8FnUQsf38U1cC1c8+mnn5b3wL1wTwf7IDpKGJMNSjl6uwAL7rfO+PlyUKEq9an9vC2U
|
||||
vPNjSjlg5sN7Jl4UPw/efY8S5h6l8u2fpZDIAo54T7pkd+GHBjTsSBRVJJ46zH/tscAP2XvXmvbdpb6b
|
||||
b1KHBZeo6ZhdFFOqniO7gFJeFvyN6gycLkFBk5USJUpQhw4daPLkyVI40Y4NQgtBNmrH5mpXG3MnG/yM
|
||||
e+BeuCfujWfAs+CZ8GxuUgTrvawIqirPhe5zFa/fVq70WGyG7NXhQ0FPrLoulMB5sRgto9Dogvbe9Y3s
|
||||
bhCsZyQUOFe1mrxSale9ATfTgDdvUYeFF4SGvkiNRm6jXPlK2DuDDvHiiu+y4KNhRZ48eR43ZN22bZvs
|
||||
VoMVOyMastrqo4hnwTPh2caNGyebZOCZ09mA5W8WisDTR4NnNVOFZ5vPElOqMvVYc9g+H4qFqPeGG5Qw
|
||||
74KkKomzxNHVcJeEI2DF7KwAxhgNfLm2veV2a8i+e3YVQPLOO9RpySWpfaEEKnScIA2GBoO/QRni3I1Q
|
||||
zRTPsDk9go/uNGiFPWPGDNlSypdbslsqBPyMZ0XH3unTp1Pjxo3lu6RTEWCu0DIsxEPztcvI2NfsmefV
|
||||
yn/XrgLot/UmtZ8vFMDcC9RmxgkqWLmNvfqAg7Kr8PsbnbuCwiNNW39HBl7Q4N13qOuLlylhjkkBNH/2
|
||||
AOXKX9Jo8C8oA6S7gGQaVGtFYccfXGF29FFEC6onn3xSNrJEzznLbXzmaWn9l6LCO+Bdhg0bJt/N39/f
|
||||
VUWAmIhtgtqpsXYXYpUXxnYJsLLVKGnLOf3jZxoaqHaiciGaf4lqJr1AOQMNG3q+kF0VAPzx7+tuu0pX
|
||||
pqStjg/84D13KPHlK1IBYPDbzT5DRWp0trf9KpnOd0D8QjFBw9S7/MsV5g4KCpKNIRcsWCAbSaJjrXk1
|
||||
zfz97U3KAO+Ed4MxsVatWvKdXVQEP6mxRtxEUTcYc6saGWUrdU52iP/MNGjHbeq46KLaiV6g5uPfpvCY
|
||||
4kbvs8NDOxufB4IuLuoNTIlG7WnQ9hsObf9NCuAudV9x9bECgPYt02qEvaCU6i5ajAsJ6qyZIhdvuerD
|
||||
R5NIuOZWrlwpu8maV/vMLvR6ZH4/vCs68cLliDFwURFg+4zEpOVq5xXrotEQR4sfbdtf/Kj+sJk09MAn
|
||||
jiuAnUIBLDYpANgBWk87Zs8ofcTNO5pMAzRy+EhvYMq07iFXdZPbzxG6T0+shgHmohD+i2IbdpUqdBhP
|
||||
mr4hCiGqde0cUUKVoopX53pkv21Rz+1yJySz4K9du1ael7PKau/srgCttFevXi1tHelQBGaX2g1ldxmt
|
||||
meLtS6ojXqhmHGjURm/n5ucfQE3HLKFh73zmMB/CFdj5+SvyGIpFqO2sUxRbqaXRs6N5SVR2Evycyv0H
|
||||
6+c9vYEpUqMJtZ25Xqzom8R2fqMxzTH92/jpNVR74ApJdZJXUVzdHkYKAEyD8GP08+sjKFkzhWgi+QYZ
|
||||
d2gesVsztZx6pLae/0uPiyu7C74XFIG5X+M/1RHvgjLwrdVMEZeT1BwPUnOOuUfnXJu9KGBErtIthdrP
|
||||
3WKfBwUlCD5sO3MD1R+6ysSHg1ZQzX7LKE/x6kbPe1kz1VnIpWXhGgt4uRqaKQZ8lTrD3dUMOgFB+waG
|
||||
hgvK5SCFU0BIOPkH/0V+/kH2GAUT/7MKRMKzeCQRCQEzzZs3Z8H3riIwav32u5pzzP2vRoodEaiO86Di
|
||||
Qwse9A8KoxzG3qjftL9af61UMoKjaXhWEPw4pXER7IMe755sueRzlCtXLmrZsiW9+uqrLPhOKgIoS4Qm
|
||||
YwyzE89of3X6fVvJTrHMKPgwko1XZ+X/ZrMJlEEwXbp0oddee02G1rLgu6YI7t+/T1u2bKHOnTvLnITs
|
||||
xkdKdm6oo2qhzCD4Aco6fia7CT7826VKlZI+/H379j2O1PNVwbeM5PNVz4NZEWAs9+zZQ8OHD5djnI5Y
|
||||
gsxKOLacVt4On+1hCb/+TGVdzzZCHxsbK7eqzz//PJ0/f54ePXrk04KP54JPHok+mzZtkoTnNv/N12MJ
|
||||
8NxLliyhhIQEma2YzZQBgqFmaD5YfzFGWc1/z8oTEBwcTHnz5qWqVatSUlISvfDCC/Thhx/KLDpfXkkt
|
||||
6YsvvqClS5fKlRTGSVDp0qXppZdeoi+//DJTxBJgrDHmR48elcqgT58+VKVKFXn0whxlcSUAGVvt5ijW
|
||||
dAH13l5NjwUdueYIg/U0YbUICAigwMBAGYkGZoG1GUIQERFB0dHRFBMTI1f1kiVLyog1rO4DBw6kqVOn
|
||||
0iuvvEIffPAB3bx5UwqLL8blGxGeFwk7EJS0cwDF9tZbb2WaQCTL/AMoNQQXvf/++7RmzRqZoThgwABq
|
||||
27Yt1axZU2YqYreAucUcY67DwsLk3IMHwAvgCfAGeMQbvJjO+gqQtTW+ED+ALK0FzkTCITGkUqVK1K1b
|
||||
Nxo5ciTNnDmTFi1aJDW5pwnbdKx0iEKDuwmW5vXr18tt8Pbt22UCC1Z0hKwiH/7WrVtypcG23jLFNiMF
|
||||
3jLO3jIBx9HVHzsXvbmB0Di6C0jPc3haIWCuMGcPHjyQc4i5xJweO3ZMzvGOHTto8+bNtG7dOqkwwAvg
|
||||
CfAGdkfO8tW8eQto4pRpNH7SVIfpmfGT6Kmnx1Lf/gOpVeu2VKp0GQp3zuMBmZujeb92Qir00Ryo4ou0
|
||||
UGwzUVBi9+7ddOPGjVS5694ms/ErLZmZOW0evS+telBIUFijRo2SCnTDhg2S0e09J/4OjwTiEfTmqVWr
|
||||
VtLy7si18DncG8+AZ8Ez4dl8bbws6xpYKis9coWfZNLT/U/p7KXrdPrCVcfp4jU6ef4KHTl+hvYdfJ+W
|
||||
r1pLAwYNoZLxpRzdISDgqWdGCT/CY6/Ze0hsvZAjfvbs2cfbUF8TrMyy5YUADx06VG5fLYOMBg0aJLPu
|
||||
jMbU/H3E3+vNFZQDPmPvOrhXcnJyqopAKAaCZ7P3/axKMFB+fPsenTx3mU6cveQU4TugU+evyv9v332A
|
||||
klOGUR5xLHNACSCSsIS3hd9Pbf0NHw6GGWytMThZOcnFW8YvbFFtZdHh7IrjjdEYO6IAWrRoYXcHgHtg
|
||||
24t72spqxDNm17l+JPj86ke3nFYAaemU2BUcP3ORli1fRWXLlXdECeAo4NUqw4jj/9TooWrUqCENZljx
|
||||
WYDTv/rjyNS9e3fd8UawzGeffaYrvO5QAPg97oEConrXeOKJJ2Sdwey6w3v4+Rd07tK1dCsBsyLYsGUb
|
||||
VahYyZ4CeKDyCbyGyUYPVLRoUdq/fz8LvxsVAAQTYcV6Y474eaNjgLsUAO6Be6XXjpCV6dade25RAGYl
|
||||
sGLNOioQW9BeXst4bwl/bs3Utcbmw2BrOHfuXD7je1kBoPSWtxQA7qV3DTxjdlcAn3/xpdt2AWYaOfoZ
|
||||
e0FPx7zlFmxgFO0H3zms/M6eA81uJVvWeHeR+fqZjTlZAXjPvZpe/jN//+bte3L1tiSz9d9ZQyE+v/ft
|
||||
96h8hYr2CtzU8YYCGKkX9AN3H4pYuiL8CORYsWIFjR07VrqVPEGoqgt3VWZjUFYA3vGwoMw5eMQdvDZ0
|
||||
2JOUNGAQJfU300AakDyEZsyeRwcOfeC8EhAKZNiIkUaVlpF786Q3rP8rjLLg0EjCGQWAz54+fVoyji3L
|
||||
srsJLrR+/frJ2vaZhUlZAXh2bBHZiXBiNzc60T0iN2jUmN7cuc8pJYAdxJp1m+xVWF7maW9AmKC9eg9Q
|
||||
uXJluZI7Ovlm6zYE0pvx1AjFnDVrFu8AWAFIQvlyD7Y+s0nduvegoyfPOXUMQLBQfKnS9tqNhXo67v+E
|
||||
3gO0adPGoag0y9X/4sWLFBcX5/WkCliyM0vQCisAz40r3gdNV7zNf4WLFKFd+w86vAvA5947coLqNWiY
|
||||
oYbAvKrOmm2t1q2bXNGdUQDY/ufLl8/rE4AkEcSJswLI3goAR0H0OvQ2/+WNiaG3du2TW3tHFcAHx89Q
|
||||
i1atja571tNZgnnUTVwKRrE1ASj/VLduXa9PQN++fTNNwAorAM+NK3igV69eXue/6jVq0cHDHzq1Azj8
|
||||
4Wlq1txuheFoTyoA1C//wFUm1JsEZGMhTdNbg4/00AMHDmSq1FdWAJ4LsUYFp2LFinmN/yKjomjOgsVO
|
||||
GQHxWSiM6jVqGl37XU8XC0H67+t6D1C8eHHZJNJZwUKaKgpngjmLiLMR8vE9QZhkhLGivBTHAbACsKRd
|
||||
u3ZRx44dJY+4i99wtI0xU0w+ii1YkOrUq0/zFi2hY6fOOxkLcIW27zlABQsVNlIAm72RHjzfyMW2detW
|
||||
l0KAoTTAoFeuXKHLly97hK5evSrry2W2ZBWzAkCYLYcCe24ngHRm8Ig7eO3M2XO058Ah2rXv4GPaLf7/
|
||||
7pETLmUMIoBowXMvUHCwYbn02d4IBOqlmWqp23wIpKaiGEN6ijp4kjJjiKr5rIpEG71xRxVibyUDwdaj
|
||||
d40ePXpk2mQgd/Lf3fufSAOfKdX3iqLLLgk/CDuGzl0TjYQfPS66e0MBlBH0UO9BChUqJEszcSKQ+1co
|
||||
VK2xVfMO5axQycZb6cCohYh72qqZiGfM7qnfSH+/cv2mWxOCXtmwRRwp8hspgE9VjQ6PI1jQG0ZGDqwC
|
||||
vlYdJqskBKE0tmWzDBTiSElJcaiQhzsLguCeuLdm0QRlxIgR2T4RCPTJpw/ptIPuPYf8/0dPUuu2CfaM
|
||||
i1uVjU7L8GMAVgJE2qG+HCsB9yoB2DDQcAQ5E2PGjJGNMxxRtu4uCYZ7oq4engHPgmfCs2X3+cbqf/XG
|
||||
LbcJP7b+I0aNoUDjduo/e2v7bxkQdNxII0VFRcle8ObafyzAnslacya7EQrZKOwa1Y9dKQqaWbMsPUH3
|
||||
HuDsf9kt2/4jJ87SmHETxO4qwt7qf0Sl6Xu9IOjPRg+GLSK2hWbXICuCjLcjvPnmm7IEeNq5gssK1XJ5
|
||||
jtJRDejh53T+8vV0r/oQ/p373qGefZIcSVBCl+seGVEUNNwoJsCy5j8aaaBmHVx82CJZltf2BcpOTIoV
|
||||
fvny5VS2bFnptgWVK1dOpmJnhsYgnqga7A764stHdPnazceWfmfIXCsAdQDhLpwweZosA2aQ+pvW9x+W
|
||||
UZWBURvwI0fTICtUqCArxyLy78iRI3T9+nUZCoyzKc6eniYkKuHsirMq3Fk4nsBlhUAkuC4xkWnLh/tq
|
||||
ifD0EurkI2YDZ3ckZGU1obYs0GE5p/gb5hpzjrkHD4AXwBPgDfCIs3x1S/DwyTPnpY8f9J4D9O4Hx+md
|
||||
94/KQh8bt75BM+csoCd69pYlwZ1od3ZVULmMbg6ChoVfORMKieqx2IbGx8dTnTp1pGUaLihPU+vWrWWn
|
||||
H0R8wZedmJgofeu9e/eWTTFgYX/mmWdks5Jly5bJAhFvv/227J2HpBEwimXVl8ysEDJDc1BnG4LgX8wR
|
||||
5gpzhrnDHMJFijnF3GKOMdeYc8w9eAC8AJ4Ab4BHnOWrRo2bUL36DZyi2nXqUeUqVSkurhhFR+e26Va1
|
||||
Q18KaucLrcFQgCBJ0LfeTqjwdOEGnL+Qo4DYhurVq1PXrl1ljwN0lDl58qTU/pk5wCizCz0IKzbmAqHk
|
||||
mBvMEbL7ChYsKOcOc+iNQjNepq8F9dZ8CDmUG+KTLDbQNgk95cBg0P5TpkyhgwcPSmWQ2VfTzLJrgdBj
|
||||
zNGvETUoMBfZoCmome4L6ubtPgCOor7KFvwzm0zG48aa8KEvXrxYtq82Gzp5V+De1uDoLoU+khD6vI51
|
||||
zclKBJl6X1A9zccRK2iavcYhWZFQagw9ENEvD00oYWRiRZA+wccYvvvuu3JM0dIcY5zd+ErtrKcIKqBl
|
||||
EmB7UlXQYkF3NSe6B2cVgl8dhSaRZgrDFCsC5wQfY4a0bYxh/vz5s6PQQ2buCVoiqLKvbvkdUQSlBKUI
|
||||
elO90E/Z6YiQO3duaWl+6623pKuJFYGx4GOMEKyE8nIYu2y2xf9JyQhybYao5B4/LYsASURFBLUS9JSg
|
||||
hYI2qUqm7wg67AG6ZLT7CI6IprzxFSl3sbIUVbgEhccUpJCovBQYFkX+QWHkl9N91mOERsNC7awi0Gtx
|
||||
7evkaNxEWsFHWrOd0tdOkZ9/AAWEhFNQeBQF5coj5jdWzHMxiihQiiILlaPA0Cij7/8u6KKHePMdxfsb
|
||||
lSxAJloqGQnWsglQvQRljHOpcmPuJERHoVHCb3oTXLHTQOq39TwlbT5LfTedpt7rj1Pi8kPUZPQWqtX/
|
||||
RaqSOJPKtH6KitbuRpEFy5LmWGRWuhWBpeELmXfotIRCFZmJ8Mx4dj2DqC3Bx9ikd3xz5PCTSr1c295U
|
||||
u/+zYi4XU9uZ66n9/O3U7Jmd1Hz8AWox8SC1nPQutZz8PhWr28Poev+ndq9hHuDPXIr3AzSGR4Ct00q9
|
||||
yfUPCqFWU1bR0AOfUMq+eybaf58GvHGbOi66RO3nXRRMc0lSwtzzVLrFMLdu+cDs2OZCESACzTLqEI0q
|
||||
1q9fL6MmGzVqRGXKlJGlqlA+PTMQnhXPjNJhw4YNk++Cd7KMzsM7492hDN0h+JZUM2ksDdl7V8ztA0kp
|
||||
+x/Q4D33qOuyK2IuL1DCPBO1X3CZqvdeTDkDDF2IyzPr+Tu7I7+gK3oTG1moOPV69ZgQ/PuSWczU69Ub
|
||||
UuD/ogvUZsZxyl++qb3z25+uKgJEoW3YsIGuXbtGq1atktGRiDXISnETqPyMEHCEfyOFGe+cDsE3HO/i
|
||||
9dvQoO03aIhQ6pZz22PNtVRzCyXfbNxeCstTxOheOEbmY3HKfGgu6J96ExvftDMN2nlTMMZfTDJ49x3q
|
||||
9pJYJeakZpImo3eIs2MBe0wyQdCHmqk0k9NMjcxJ5EpYFtnIamR+R8uCJk4StuQofT3JSLnnyl+Yeqw+
|
||||
nFq577tLSVtuih3dhVTKve3Mk1SwsmGt/R8FNWVxynyYpntO9MtJDZ6cJbeGlivEwLew/b+YepUQR4Aq
|
||||
3WfbMwguVvfMo0I0D2mmNE1icgv9WxnNkixW4xd04zECgqj5uKWUciD1/A7acZs6PWc9vxU6PCttBwb3
|
||||
n8zilLmQSwmh7S1pVF5xHtwrz/yWK0SfTR+JFf98KgZpN+csxdVOtFeNpUua+0eq3+0V9C8W4HQJ/tua
|
||||
KfQ1Ms0YJxrttiq0TxLn/tupFMDgPXcp8eWrVju8BsM3U2CYYV8KPEM4i1XmAdKUdTMUC1auR/23XUp9
|
||||
RhTM8cTK1MwBQ1GLiYcoMraMEXMg0CnOQBF1UoqAdwSOE5TmASX4eo0uimmmuHjb4dnxlaR3J8VyjoWS
|
||||
773hIzGvqee41dQPKHfx6vYy78qxWGUeDFY+XJsTWq3HCCsDUfLOO9T5+UtptocXqc6gleQfbHguf02z
|
||||
X4wxF+8IHF7xD6ixstfhxrA4bWBYBHWY/5rVMW/Am7eow8ILaQy956lkk4H24gEGslhlDsCvul5vMgNC
|
||||
wqjtjHWpGUOsDP1e+5jaL7hgZSUu3fJJI8b4r6DhTjxbuNoR7HdUEURERFD58uWpVq1aVLt27UxBeFZU
|
||||
GXLC2PcvNSbdNOdaW40y8gbU6jcu9TEPin7XHXH8u5z6GDD/EtVMWko5Aw09L68I8mfx8n0UEnRTbyKj
|
||||
40pTnw0nU28NBfV85XrqVUFsDVtPP0YxpesbMQVqIFRz0UbRWTNVdNG9ftGiRWnw4ME0bdo0WdAiMxGe
|
||||
OTk5Wb6DHeG/LqirGhNnUVPQd7rjV6sZDXzzqtVur+fa62kU/QUZIBSer7i954xl8fJ9tDM6b5dp1V2s
|
||||
Ah+nNg7tFqvCi9buv0aj3qDgiBh71VgjXXzOYHUk0HWZocvSnDlzZIn1zEh4dryDHdfmXs310Nco5Xq1
|
||||
3aoubwHqvuKglbG339aP07gDz1PbWaepcLUO9nYprVm8fB9z9SbRL6c/NR61wMo9hHOhLfdf5a7TKEdO
|
||||
w/psc9PxnIat1pH6imIjs2fPdqtQ4noQTFvkiXvhHZAirRn3tE9PSesFmkEeQJPRi2y4A+9QpyWXrOa7
|
||||
Uucp0kVs8KyzWLx8G5FqVba9IuTJT4nL37F2/6W1DMP9N/s0FanRyd6KkJ6abDFGRwBUUp4+fbpbhRHX
|
||||
QyOPvn37Uvv27R/XtMPPSUlJ8m8zZsxwqyLAPfEumnFhy5h0jGMHQf/Ru37ZNj1p8K5bqRQAPD7dV1i7
|
||||
AxuN3EZBuQwLjbyvebj9NiN9qKYZ1CYsUqOJWO1TnwkH22CGBHkmfJty5SthxAw3lb3BVSCg5Zqup6Ja
|
||||
NbcoAAgzzuMohFmjRg3KkyePLEBpWXIaP+N3+Bs+079/f/kddygCvAPexWAcr2npC7UtLOiW3vVzFytD
|
||||
fTaesnIH9tlo7Q5sPe0Y5Y2va/Ss3wiqwmLmuxihLPO2k0T6jrGK/ZfRYTa2g8gG9A8ybMqwXktfJpfH
|
||||
FQAEeNSoUVSzZk2ncgvwWXzn6aefTrcS8IICQEbpJl2vT2g4tZu1wTrq08axD0qgVPOh9op0DGMx803A
|
||||
F/+apusXziUmeYuV+y9p600rgxBixOObJtvzCyen83k9qgAguLDCo6Kx5qJfvnDhwtKIlx4l4AUFAKRo
|
||||
BnUfqvcaZeX1MRl+rd2BtQe+LGtBaMaNOAJZ3HwPiMa7qzdxeUqUp76bzlgxQo+1Ntx/U4+Iz9c0YgJE
|
||||
GVbwVQVgFv6YmJh0B+fgGriWq0rASwoAJbO+1rtHoaoNaMC2y9buQBuuX9QKQLEQg+e9rZmKdjB8DF00
|
||||
g16F5dv1FVr/tlVQSJell62MQQ1HbKWgcMNyVAc11/zWHlcAENTRo0dTkSJF3Bahh2vhmq4oAS8pABjm
|
||||
3tO7R2h0DHV7cb+1O/C1j6lDmuCvdrPPUNFaXY2eFwbHjixuvofnNN3ssEBq9szz1u6/NxAWaiM7rOME
|
||||
yuFnmB02zQ3P6xEFACs+cu81N4fp1qtXT17bRxUAMFPvHjly5hRKfY6VHSB5520b4d+XZCUoO9mfC1nc
|
||||
fAvwI5/SmzDU+nti1XtW+eG911sX/2g76xQVqtLWaPL/qZlqDficAsAKjchBR2oK+AcGUq7oPJL8HWhL
|
||||
hWsOGTLE6V2AFxUAak3+pHefUs26CoFPXf9BJoCtuma1A2z89FsUHGlYifi4oGgWO99BHUF/15uwYnVa
|
||||
0sC3rlu5/6xTQy9Qs2f3UVjeOKPJRyGK/L6oABCCW79+fePeBf7+VLlhKxq2aC3N2XmC5uw4QUMXrqVK
|
||||
DVpQTuOgJ2rQoIG8h48qgFij8YwqXJJ6rztutQj0tUoBv0Btpn9I+co2MnpmhB/XYrHzHYwV9D+9Cas9
|
||||
cIJVUsig7bep02Lr7X+NPs/ZqxG3SlBOX1MAWJnHjx9PsbGx+hVyxVa4ZZ+htOrMQ3rt7i/02p2fTSR+
|
||||
Xnn6M/k3P4PGG2jBhXs4swvwogJAos5a3R1PcCi1nrbGsSIwYhdQtvVT9kqSPc1i5xsIEbRDb7KCckWK
|
||||
CX7DygBkXR7KRCUa9rNXkqqvm57b7QogJSVFNsPUu2bZWg3p5RMPpNBvufWvVITf4W9lajbQ/T6ujUKl
|
||||
PqoAgAGaQRXoKonDUkcE6pWBm3+R6g5eQwEhhtmM6HMRzOKX8SipGbQhy1emKiVtPW/t/lt9zSr6r9WU
|
||||
wxQdV8Vo0j8XVNoXFQBi+Xv06KHbCRdGzaTJi8Vqby38j5WA+FvfyYt0DaC4Nu7hTIKSlxUAinZ8oXev
|
||||
2Iq1qP/rF63cgVaFYAUvtJz0HkUWKm/03A8EFWfxy3j0FPSrZlD7f8ieO9buvxes3X/1h22w1yhij2aq
|
||||
5e6TCgB97v10hDc4LJyeXbvLrgIYt2an/KzNI4S4Nu7hwwoA9fsP6N0rODI3dX5+l9VusP82a3dgwpxz
|
||||
VKxeT6PnRjmy7ix+GQvU/n9J1+AVGEwtJiy3cv/ZmnBs+8onjLXX/GO8G5/d7QoAzTX0mmcGhYTRmJVv
|
||||
2lUAY1a8IT4bqtv8FPfwYQUATNIMmobUS5lm7Q6UC4K1O7Baj/nk52/oIVmqcc+ADAWyyC7oTVBEbBz1
|
||||
XHvEyvLba50N99/MExRboYXRZH8vqIEvK4DevXvLpB69a3YdOYW23v6PrgLA37o+NVn3+7g27uHjCqCJ
|
||||
oB/07leiUXsatMO6Z8ATq63dgU3H7qLQaMNQ6nOC8rIYZhwaOzvZerX/m47d7e3JdrsRcPjw4YYxAIXi
|
||||
y9HCAxds7gLwu4X7z1OhkmUNYwFGjBjhy0ZAlxeFvputewa0mXGCClRo7s1FgeEkJjq73Ru4/TZ1tOH+
|
||||
q9bT7nZvmZu3e25XAJMmTZJtuQzegSo3akXz956VQv/63V8k4ed5e85Q5YYtDb9bvHhxeQ8fVwA4Fi7X
|
||||
dQfiWDjR+lho2y18kcq1G+PNYyHDSYPPfmODz04rg0/fTTetav9nkMHHI5GALVu2tBvVV6BYPCUMeppS
|
||||
FqyW1G7gKMofV9Lu93BtH44EtEQvI8NwpU6DrAzDg8X/E5dfsWEYXk+BoZHeMgwznEBZI5dPgQq1qJ8N
|
||||
l0/a0E8nXD4lMoMCGDlypCzsoTkQ358zIIBy+jvWAh3XxLUziQKI15x1DSM0fJ21O9AB1/BDzX2uYYYT
|
||||
6K8ZBn0MtQr60Kv9X3fw2owI+vBYOnDr1q113YGuEK7Vpk0bX04HTgsEh+3UdIPDoqyDw+AdesN2z4AS
|
||||
DZO8FRzGcBAI+1yjGYV9Tl1jVfyj/+s23H8ZF/bpsXTgiRMnUsWKFd2mAHAtXNOH04FtwenwcJvp4Y6F
|
||||
h6MNfU4WS++hgGaY+FFCbOc+tCr/1fPV69atvzMu8cOjBUGQvx8fH59u4cc1XK0FkMEKoK6gf+jdt1jd
|
||||
VlYJYrZbiF+gZuOQIFbUGwliDAdhJ/Wzi1Xqp17t/8ajt2dU6qfHS4Khym/lypV1g4MM7QPiO5UqVZLX
|
||||
yAQlwWwBKeKnNSdTxG22EPdeijjDQRgXfxg+x0bWl+3a/w4Uf1jkoXfwSlFQuO0SEhIoX758qSoB646f
|
||||
+Ez+/PllqXBnXX4+pgDgsl2iOVkkxtRC/JLtIjE5PF4khuEAUIpLt/xTiCz/tM+69v9GG62/M7b8k9fK
|
||||
guNfbOOhCMqUKUNRUVEUHBwsI/tAqAKM3+Fv+AxWfcvvZlIFAHTRjMrEJViXidNrId5wxBZHysRxC3Ev
|
||||
oJLmbAFI1P632fo7QwtAGjYGqVKlitsbg5g79UDAUegTYb0g/IzfTZ069fHn3NkYBO+iea4xiBEMC8Xm
|
||||
LVmB+m4+41ALcQcKxT7S0l8oluEADHO+q/caaZX6i21dZxu1/2sPXJGRJaANz6iI6HPHFtxIGVi2BPPU
|
||||
fRyITjylpa81mBFQKv51zZlS8botxO2Wimd3oJewUNNt/R1ObdM2gTC3/k5b/MN+Ewg0GPFkEwj4qrfr
|
||||
3T8oKIi6d+/+WDhdJXcpC1cJ74B3MRjn7WosPAU7zWLGWnmLBuu0EK/Vbxn5B4Z6qlckwwGgE88GvQmI
|
||||
KFDUtvvPVu3/accoJuPbQE03MshFR0fL/Ptx48bJldQVcnVbj8+jCvDkyZNdui+eGc+Od7BjePS08ay6
|
||||
oL9pTrSLs91C/CI1G7eXQqILGr3LK5opRoXhISAab5vumS6+IiVtPZfqCKBX+9+BRpCHNc83gkQ24/dG
|
||||
AuLv7y+bc8TFxblE5cqVk4Y9ZwJ5UPhz4MCBsk9giRIlXLovnhnPbkf44adv6OExjhJ0VDNqGPvyO/Z7
|
||||
BqiQcTs2oy0adw3KwB1AbFzqyq86rb9kK+gudltBz/bC+yChaYemubeGv2YjlBeWeEdsCvh7r169KCIi
|
||||
gjz9XGr7H+aFcZ6nOzb+tlvG4xjQzSJuxLwDCOUdgO/aAPyDQoSWXvF4MrH6y/5vabb/yPOOrdjCXuvv
|
||||
Nl56n2bquOFRYcNqnJiYaFjMA8I/YcIEt3YVsnPEauqlMU4Q9G+9ZymJuhHbrYuEYPEw7wJMKeMLKGdA
|
||||
ENsAfMAL8Lv+ma4xJW05JybwvimsM43vH8k/NXovtpf8c0Mz1Zn3BhBDPkEzSF91F9WsWfMnIeif6JFQ
|
||||
Dg+Sk5O/CgkJ+dPDz4J3fVYz5e57A2jjflPX4BoeSa2nrFbG49Tu416vXBdK4BK1nHhIHDHr2PMC9GHx
|
||||
9Dzga/1SbyKwrS/buid1WnxYThy2bpKEBm8356xs+x0eU8weg7qr9r8zR4EFmqnugMcELzg4eLUQ9Fix
|
||||
0seKfwumpaVLl+YvWbJk6xw5cvzDg8+Bd5zvpa2/Gf5qe65vcC0ST+1mrZeBQVAEsAmYFMJ9wUvvU5Ga
|
||||
ne1FAj7UTCnqDC8YAl/TDMNZ/Sh3XBWq0GE81R+6Tjb7rJm0VBb9CAq3myuP7X+HDHgvFJUYrZlKj3tC
|
||||
8BDV2LVSpUrazJkzNSHwVtShQwez0eyIh54B7zZKy5gCGl3UGOj3PYiOoYodB1Cb6a9Q12V7qeOiN6l+
|
||||
ynTKX7a6PeEHbdJMcQcML6CtoB/tMRx2AwEhERQYFk3+gSGOMunbgiIz6L0Qv442Z69qpmInf7hxy/2i
|
||||
E6tua0H33HTvP9S7YAWupWVcFV0otncdeeaA4FBZUQpHAzuGYsvagK1YLL27C1jjgRXqO8X8GQ24kioK
|
||||
StFMtQjh+tztIsFrkqQ53868hmZKhNru4n3xzCibPVgd2wJ8YFxhDPTE8WYlr/7eB8o+nXXjJMKwOE3z
|
||||
TTdOsNo2u0LpFbwQF+/ri22zMBazjIzILhBCmUuwOGYM6mkmi707hB+VZCN4SLM8ItWK7Y7j1TXNVHiE
|
||||
kYHABBxPxyT+UzP5byN5KLMNYA+A1+WndPDNMY1bhPsMkPb5vGaQJqyz6iMbL1Hj8M3sCJzZnxB0xskj
|
||||
AXhssea5NHGGi/BXGnmJ2pr9kGZiUSASPuivNFMDySGaqbYgI3sDAV8wtr6teOMXGwsFeOmqWmTqahzu
|
||||
69PwU4LdSFCyZurcMlUz+dix2sMizZVbGGkBnoDnpbvilamKdwZppoSl/Jr3IhcZDAaDwWAwGAwGg8Fg
|
||||
MBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwG
|
||||
g8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAw
|
||||
GAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPByIb4f3Ur
|
||||
IFqna2MAAAAAAElFTkSuQmCC
|
||||
</value>
|
||||
</data>
|
||||
</root>
|
||||
@ -1,145 +0,0 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Net.Sockets;
|
||||
using System.Net;
|
||||
|
||||
namespace DroneSimulator
|
||||
{
|
||||
internal class NetServerClients
|
||||
{
|
||||
public class ConnectData
|
||||
{
|
||||
public int ID;
|
||||
public bool Connect;
|
||||
public int Count;
|
||||
|
||||
public Socket? Client;
|
||||
}
|
||||
|
||||
public class ReceiveData
|
||||
{
|
||||
public int ID;
|
||||
public byte[]? Buffer;
|
||||
public int Size;
|
||||
|
||||
public Socket? Client;
|
||||
}
|
||||
|
||||
private class ClientData
|
||||
{
|
||||
public int ID;
|
||||
public Socket? workSocket = null;
|
||||
public const int BufferSize = 1024;
|
||||
public byte[] buffer = new byte[BufferSize];
|
||||
}
|
||||
|
||||
private int SocketID = 0;
|
||||
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.ID = ++SocketID;
|
||||
|
||||
clientData.workSocket = handler;
|
||||
|
||||
ClientSockets.Add(clientData);
|
||||
|
||||
ConnectionCallback(new ConnectData { ID = clientData.ID, 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 { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null });
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
|
||||
|
||||
try
|
||||
{
|
||||
cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
|
||||
}
|
||||
catch { }
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,17 +0,0 @@
|
||||
namespace DroneSimulator
|
||||
{
|
||||
internal static class Program
|
||||
{
|
||||
/// <summary>
|
||||
/// The main entry point for the application.
|
||||
/// </summary>
|
||||
[STAThread]
|
||||
static void Main()
|
||||
{
|
||||
// To customize application configuration such as set high DPI settings or default font,
|
||||
// see https://aka.ms/applicationconfiguration.
|
||||
ApplicationConfiguration.Initialize();
|
||||
Application.Run(new Form_Main());
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,186 +0,0 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Numerics;
|
||||
using System.Reflection.Metadata;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace DroneSimulator
|
||||
{
|
||||
internal class Screen2D
|
||||
{
|
||||
|
||||
public delegate void DrawCallback(Bitmap bmp);
|
||||
|
||||
public Screen2D(DrawCallback callback)
|
||||
{
|
||||
drawCallback = callback;
|
||||
}
|
||||
|
||||
private class DroneInfo
|
||||
{
|
||||
public int ID;
|
||||
public Color RGB;
|
||||
public Bitmap? Drone;
|
||||
public Point PosXY;
|
||||
public int Height = 0;
|
||||
|
||||
public PointF TiltXY = new Point(0, 0);
|
||||
public int Azimuth = 0;
|
||||
}
|
||||
|
||||
private DrawCallback drawCallback;
|
||||
private Bitmap MainArea = new Bitmap(4096, 2560);
|
||||
private List<DroneInfo> DroneList = new List<DroneInfo>();
|
||||
|
||||
public static Bitmap DrawQadro(Color ColorFill)
|
||||
{
|
||||
Bitmap drone = new Bitmap(130, 130);
|
||||
|
||||
using (Graphics g = Graphics.FromImage(drone))
|
||||
{
|
||||
g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;
|
||||
|
||||
SolidBrush solidBrush = new SolidBrush(ColorFill);
|
||||
|
||||
Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) };
|
||||
g.FillPolygon(solidBrush, mid);
|
||||
|
||||
g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35));
|
||||
g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35));
|
||||
g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35));
|
||||
g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35));
|
||||
|
||||
g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10));
|
||||
|
||||
g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129));
|
||||
|
||||
solidBrush.Dispose();
|
||||
}
|
||||
|
||||
return RotateImage(drone, 90);
|
||||
}
|
||||
|
||||
private static Bitmap RotateImage(Bitmap bmp, float angle)
|
||||
{
|
||||
Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height);
|
||||
|
||||
using (Graphics g = Graphics.FromImage(rotatedImage))
|
||||
{
|
||||
// Set the rotation point to the center in the matrix
|
||||
g.TranslateTransform(bmp.Width / 2, bmp.Height / 2);
|
||||
// Rotate
|
||||
g.RotateTransform(angle);
|
||||
// Restore rotation point in the matrix
|
||||
g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2);
|
||||
// Draw the image on the bitmap
|
||||
g.DrawImage(bmp, new Point(0, 0));
|
||||
}
|
||||
|
||||
return rotatedImage;
|
||||
}
|
||||
|
||||
public void CreateDrone(Color ColorFill, int ID)
|
||||
{
|
||||
DroneInfo info = new DroneInfo();
|
||||
info.ID = ID;
|
||||
info.RGB = ColorFill;
|
||||
info.Drone = DrawQadro(ColorFill);
|
||||
|
||||
DroneList.Add(info);
|
||||
}
|
||||
|
||||
public void RemoveDrone(int ID)
|
||||
{
|
||||
foreach (DroneInfo i in DroneList)
|
||||
{
|
||||
if (i.ID != ID) continue;
|
||||
DroneList.Remove(i);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
public void DrawScene()
|
||||
{
|
||||
using (Graphics g = Graphics.FromImage(MainArea))
|
||||
{
|
||||
g.Clear(Color.Gainsboro);
|
||||
SolidBrush shadowBrush = new SolidBrush(Color.Black);
|
||||
g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });
|
||||
|
||||
foreach (var d in DroneList)
|
||||
{
|
||||
if (d.Azimuth >= 360) d.Azimuth -= 360;
|
||||
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);
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
||||
drawCallback(MainArea);
|
||||
}
|
||||
|
||||
public void Move(int id, Vector3 pos, Vector4 tilt)
|
||||
{
|
||||
const float TO_GRAD = 180 / MathF.PI;
|
||||
const float TO_RADI = MathF.PI / 180;
|
||||
|
||||
foreach (var d in DroneList)
|
||||
{
|
||||
if (d.ID != id) continue;
|
||||
|
||||
d.PosXY.X = (int)pos.X;
|
||||
d.PosXY.Y = MainArea.Height - (int)pos.Y;
|
||||
d.Height = (int)pos.Z;
|
||||
|
||||
d.TiltXY.X = tilt.X * TO_RADI;
|
||||
d.TiltXY.Y = tilt.Y * TO_RADI;
|
||||
d.Azimuth = (int)tilt.Z;
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 14 KiB |
Loading…
x
Reference in New Issue
Block a user