CPL/Simulator
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revert e30f1f0f35

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revert Merge branch 'main' of https://git.skbkit.ru/CPL/Simulator
This commit is contained in:
sasklyarov
2025-08-04 18:02:42 +00:00
parent a67275b402
commit 3565372ffc
4 changed files with 200 additions and 336 deletions
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82
DroneSimulator/FormMain.cs
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@ -17,6 +17,8 @@ namespace DroneSimulator
NetServerClients netServerClient = new NetServerClients();
NetServerVisual netServerVisual = new NetServerVisual();
List<Drone> AllDrones = new List<Drone>();
public Form_Main()
{
InitializeComponent();
@ -49,24 +51,20 @@ namespace DroneSimulator
screen2D.CreateDrone(Color.Red, data.ID);
lock (Drone.AllDrones) Drone.AllDrones.Add(drone);
AllDrones.Add(drone);
}
else
{
Drone? d = null;
lock (Drone.AllDrones)
foreach (Drone drone in AllDrones)
{
foreach (Drone drone in Drone.AllDrones)
{
if (drone.ID != data.ID) continue;
d = drone;
Drone.AllDrones.Remove(drone);
break;
}
}
if (drone.ID != data.ID) continue;
drone.Close();
if (d != null) screen2D.RemoveDrone(d.ID);
screen2D.RemoveDrone(data.ID);
AllDrones.Remove(drone);
break;
}
}
}
@ -76,14 +74,11 @@ namespace DroneSimulator
Drone? drone = null;
lock (Drone.AllDrones)
foreach (Drone d in AllDrones)
{
foreach (Drone d in Drone.AllDrones)
{
if (d.ID != data.ID) continue;
drone = d;
break;
}
if (d.ID != data.ID) continue;
drone = d;
break;
}
if (drone == null) return;
@ -128,8 +123,6 @@ namespace DroneSimulator
if (done != NetServerClients.ServerState.Start) return;
Drone.StartThread();
pictureBox_2D.Image = null;
screen2D = new Screen2D(DrawCallback);
@ -162,25 +155,23 @@ namespace DroneSimulator
try
{
lock (Drone.AllDrones)
foreach (Drone d in AllDrones)
{
foreach (Drone d in Drone.AllDrones)
{
screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
string line = "ID:" + d.ID.ToString() + " Pitch:" + ((int)d.Orientation.X).ToString() + " Roll:" + ((int)d.Orientation.Y).ToString() + " Yaw:" + ((int)d.Orientation.Z).ToString();
string line = "ID:" + d.ID.ToString() + " Pitch:" + ((int)d.Orientation.X).ToString() + " Roll:" + ((int)d.Orientation.Y).ToString() + " Yaw:" + ((int)d.Orientation.Z).ToString();
listBox_Drones.Items.Add(line);
}
listBox_Drones.Items.Add(line);
}
}
catch { }
label_Timing.Text = Drone.Timing.ToString() + " Hz";
label_Timing_Lag.Text = Drone.Lag.ToString();
screen2D.DrawScene();
}
private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
{
foreach (Drone d in AllDrones) d.Close();
}
private void VisualConnectionCallback(object o)
{
@ -207,15 +198,12 @@ namespace DroneSimulator
int index = 0;
lock (Drone.AllDrones)
foreach (Drone d in AllDrones)
{
foreach (Drone d in Drone.AllDrones)
{
VisualData.VisualDrone v = d.GetVisual(Drone.AllDrones.Count, index++);
VisualData.VisualDrone v = d.GetVisual(AllDrones.Count, index++);
try { data.Client.Send(Drone.getBytes(v)); }
catch { }
}
try { data.Client.Send(Drone.getBytes(v)); }
catch { }
}
}
@ -318,8 +306,11 @@ namespace DroneSimulator
RealMode.OpticalFlow.Lateness = (float)numericUpDown_OF_Laten.Value;
RealMode.OpticalFlow.Enable = checkBox_OF_Enable.Checked;
RealMode.OpticalFlow.Lens = (uint)numericUpDown_OF_Lens.Value;
RealMode.OpticalFlow.Lens = (uint)numericUpDown_OF_Lens.Value * 10;
RealMode.OpticalFlow.MaxHeight = (float)numericUpDown_OF_Len.Value;
RealMode.OpticalFlow.Error = (float)numericUpDown_OF_Error.Value * 10;
RealMode.OpticalFlow.Wait = (uint)numericUpDown_OF_Wait.Value * 1000;
}
private void checkBox_Area_Freeze_CheckedChanged(object sender, EventArgs e)
@ -361,16 +352,5 @@ namespace DroneSimulator
Drone.Physics.Length = (float)numericUpDown_Physics_Length.Value;
Drone.Physics.MaxPower = (float)numericUpDown_Physics_Power.Value;
}
private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
{
Drone.StopThread();
}
private void numericUpDown_Timing_Freq_ValueChanged(object sender, EventArgs e)
{
Drone.Freq = (long)numericUpDown_Timing_Freq.Value;
Drone.Boost = checkBox_Freq_Boost.Checked;
}
}
}