+++

DroneSimulator/Drone.cs

@@ -1,8 +1,7 @@
-using System.Collections.Concurrent;
+using System.Net.Sockets;
 using System.Diagnostics;
 using System.Numerics;
 using System.Runtime.InteropServices;
-using static System.Net.Mime.MediaTypeNames;
 
 namespace DroneSimulator
 {
@@ -10,10 +9,12 @@ namespace DroneSimulator
   {
     public int ID;
 
-    public bool Active; // Живой?
+    private Socket? Client = null;
+
+    public bool Active = false; // Живой?
     public const float Dynamic = 10; // Динамика вращения
-    public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
+    public Vector3 PosXYZ = Vector3.Zero, SpdXYZ = Vector3.Zero, AccXYZ = Vector3.Zero; // Положение в пространстве: Позиция, Скорость, Ускорение
-    public Quaternion Quat; // Основной кватернион
+    public Quaternion Quat = Quaternion.Identity; // Основной кватернион
     public float Power = 0; // Тяга всех двигателей (0-1)
     
     public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
@@ -23,8 +24,6 @@ namespace DroneSimulator
 
     public Vector4 Orientation;
 
-    private uint DataTimer;
-
     private const float Gravity = 9.8f;
 
     private const float TO_GRAD = 180 / MathF.PI;
@@ -32,12 +31,13 @@ namespace DroneSimulator
 
     public static List<Drone> AllDrones = new List<Drone>();
     private static Thread? DroneThread = null;
-    public static long Timing = 0;
+    private uint StepTime = 0;
-    public static long Lag = 0;
-    public static long Freq = 1000;
-    public static bool Boost = false;
 
-    private uint Timer;
+    public static Semaphore StepSemaphore = new Semaphore(0, 10);
+
+    private uint Timer = 0;
+
+    public static bool TimeLimit = false;
 
     private Vector2 MoveOF = Vector2.Zero;
     private uint CountOF = 0;
@@ -56,6 +56,11 @@ namespace DroneSimulator
     private RealMode.Range RealRange = new RealMode.Range();
     private RealMode.OpticalFlow RealOF = new RealMode.OpticalFlow();
 
+    private static uint Tick()
+    {
+      return (uint)(Stopwatch.GetTimestamp() / Stopwatch.Frequency / 1000);
+    }
+
     public static byte[] getBytes(object data)
     {
       int size = Marshal.SizeOf(data);
@@ -139,42 +144,37 @@ namespace DroneSimulator
 
     private static void ThreadFunction()
     {
-      long last = Stopwatch.GetTimestamp();
-      long prev = Stopwatch.GetTimestamp();
-
       while (DroneThread != null)
       {
-        if(!Boost) Thread.Yield();
+        if (StepSemaphore.WaitOne(1))
+        {
+          lock (AllDrones)
+          {
+            foreach (Drone drone in AllDrones)
+            {
+              if (drone.StepTime > 0)
+              {
+                uint tick = Tick();
+                uint step = drone.Timer + drone.StepTime;
 
-        long tick = Stopwatch.GetTimestamp();
+                if (TimeLimit && (step > tick)) step = tick;
 
-        if (tick == prev) continue;
+                drone.Action(step);
-
+                drone.StepTime = 0;
-        Timing = Stopwatch.Frequency / (tick - prev);
+                drone.SendStep(step);
-        prev = tick;
+                break;
-
+              }
-        long quant = Stopwatch.Frequency / Freq;
+            }
-
+          }
-        if (tick < last + quant) continue;
+        }
-
-        if (tick > (last + quant) + quant * 0.1) Lag++;
-
-        last = tick;
-
-        lock (AllDrones)
-          foreach (Drone drone in AllDrones)
-            drone.Action((uint)(tick / (Stopwatch.Frequency / 1000)));
       }
     }
 
-    public Drone(int id)
+    public Drone(int id, Socket? client)
     {
       ID = id;
-      Active = false;
+      Timer = Tick();
-      PosXYZ = Vector3.Zero;
+      Client = client;
-      SpdXYZ = Vector3.Zero;
-      AccXYZ = Vector3.Zero;
-      Quat = Quaternion.Identity;
     }
 
     public int Create()
@@ -229,7 +229,7 @@ namespace DroneSimulator
     {
       uint period = tick - Timer;
 
-      if (period <= 0) return;
+      if (period == 0) return;
 
       float time = period / 1000.0f;
       Timer = tick;
@@ -356,9 +356,6 @@ namespace DroneSimulator
         MoveOF += RealOF.result;
         CountOF += 1;
       }
-      
-
-      DataTimer = tick;
     }
 
     private float Range(float pow)
@@ -380,6 +377,31 @@ namespace DroneSimulator
       AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
     }
 
+    private void SendStep(uint time)
+    {
+      DroneData.Step step = new DroneData.Step();
+
+      step.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
+      step.Head.Mode = DroneData.DataMode.Response;
+      step.Head.Type = DroneData.DataType.Step;
+      step.Head.Time = Tick();
+
+      step.StepTime = time;
+
+      byte[] bytes = getBytes(step);
+
+      try { Client?.Send(bytes); } catch { }
+    }
+
+    private void RecvStep(byte[] data)
+    {
+      DroneData.Step step = (DroneData.Step)fromBytes(data, typeof(DroneData.Step));
+      
+      StepTime = step.StepTime;
+
+      StepSemaphore.Release();
+    }
+
     private void RecvDataMotor4(byte[] data)
     {
       DroneData.DataMotor4 mot = (DroneData.DataMotor4)fromBytes(data, typeof(DroneData.DataMotor4));
@@ -394,7 +416,7 @@ namespace DroneSimulator
       acc.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
       acc.Head.Mode = DroneData.DataMode.Response;
       acc.Head.Type = DroneData.DataType.DataAcc;
-      acc.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      acc.Head.Time = Tick();
 
       acc.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
       acc.Time = RealAcc.timer;
@@ -409,7 +431,7 @@ namespace DroneSimulator
       gyr.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGyr));
       gyr.Head.Mode = DroneData.DataMode.Response;
       gyr.Head.Type = DroneData.DataType.DataGyr;
-      gyr.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      gyr.Head.Time = Tick();
 
       gyr.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
       gyr.Time = RealGyr.timer;
@@ -424,10 +446,10 @@ namespace DroneSimulator
       mag.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMag));
       mag.Head.Mode = DroneData.DataMode.Response;
       mag.Head.Type = DroneData.DataType.DataMag;
-      mag.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      mag.Head.Time = Tick();
 
       mag.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0;
-      mag.Time = DataTimer;
+      mag.Time = Timer;
 
       return getBytes(mag);
     }
@@ -439,7 +461,7 @@ namespace DroneSimulator
       range.Head.Size = Marshal.SizeOf(typeof(DroneData.DataRange));
       range.Head.Mode = DroneData.DataMode.Response;
       range.Head.Type = DroneData.DataType.DataRange;
-      range.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      range.Head.Time = Tick();
 
       range.LiDAR = RealRange.result;
       range.Time = RealRange.timer;
@@ -454,7 +476,7 @@ namespace DroneSimulator
       local.Head.Size = Marshal.SizeOf(typeof(DroneData.DataLocal));
       local.Head.Mode = DroneData.DataMode.Response;
       local.Head.Type = DroneData.DataType.DataLocal;
-      local.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      local.Head.Time = Tick();
 
       local.Local.X = RealPos.result.X; local.Local.Y = RealPos.result.Y; local.Local.Z = RealPos.result.Z;
       local.Time = RealPos.timer;
@@ -469,7 +491,7 @@ namespace DroneSimulator
       bar.Head.Size = Marshal.SizeOf(typeof(DroneData.DataBar));
       bar.Head.Mode = DroneData.DataMode.Response;
       bar.Head.Type = DroneData.DataType.DataBar;
-      bar.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      bar.Head.Time = Tick();
 
       bar.Pressure = RealBar.result;
       bar.Time = RealBar.timer;
@@ -484,7 +506,7 @@ namespace DroneSimulator
       of.Head.Size = Marshal.SizeOf(typeof(DroneData.DataOF));
       of.Head.Mode = DroneData.DataMode.Response;
       of.Head.Type = DroneData.DataType.DataOF;
-      of.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      of.Head.Time = Tick();
 
       lock (this)
       {
@@ -506,7 +528,7 @@ namespace DroneSimulator
       gps.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGPS));
       gps.Head.Mode = DroneData.DataMode.Response;
       gps.Head.Type = DroneData.DataType.DataGPS;
-      gps.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      gps.Head.Time = Tick();
 
       GPS.Point p = new GPS.Point();
       p.x = RealPos.result.Y; p.y= RealPos.result.X;
@@ -544,7 +566,7 @@ namespace DroneSimulator
       quat.Head.Size = Marshal.SizeOf(typeof(DroneData.DataQuat));
       quat.Head.Mode = DroneData.DataMode.Response;
       quat.Head.Type = DroneData.DataType.DataQuat;
-      quat.Head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      quat.Head.Time = Tick();
 
       quat.X = Quat.X; quat.Y = Quat.Y; quat.Z = Quat.Z; quat.W = Quat.W;
 
@@ -557,8 +579,8 @@ namespace DroneSimulator
 
       head.Size = Marshal.SizeOf(typeof(DroneData.DataHead));
       head.Mode = DroneData.DataMode.Response;
-      head.Type = DroneData.DataType.None;
+      head.Type = DroneData.DataType.Ping;
-      head.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
+      head.Time = Tick();
 
       return getBytes(head);
     }
@@ -569,6 +591,8 @@ namespace DroneSimulator
 
       switch (head.Type)
       {
+        case DroneData.DataType.Step: if (head.Mode == DroneData.DataMode.Request) RecvStep(body); return zero;
+
         case DroneData.DataType.DataAcc:
           {
             if (head.Mode == DroneData.DataMode.Request)
@@ -603,7 +627,7 @@ namespace DroneSimulator
 
         case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
 
-        case DroneData.DataType.None: if (head.Mode == DroneData.DataMode.Request) return SendPingPong(); else return zero;
+        case DroneData.DataType.Ping: if (head.Mode == DroneData.DataMode.Request) return SendPingPong(); else return zero;
       }
 
       return zero;
@@ -612,7 +636,7 @@ namespace DroneSimulator
     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 };
+    private DroneData.DataHead DroneStreamHead = new DroneData.DataHead() { Mode = DroneData.DataMode.None, Size = 0, Type = DroneData.DataType.Ping };
 
     public List<byte[]?>? DataStream(byte[]? data, int size)
     {

DroneSimulator/DroneData.cs

@@ -10,7 +10,7 @@ namespace DroneData
 
   public enum DataType : ushort
   { 
-    None = 0, Head = 1,
+    Ping = 0, Step = 1,
 
     // Output
     DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006, DataOF = 1007, DataGPS = 1008,
@@ -29,17 +29,26 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // Общее время
+    public uint Time; // ответ: Общее время на симуляторе
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
 
+  public struct Step
+  {
+    public DataHead Head;
+
+    public uint StepTime; // ms, запрос: шаг работы симулятора; ответ: Последнее время изменения данных
+
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
+  }
+
   public struct XYZ { public float X, Y, Z; }
 
   public struct DataAcc
   {
     public DataHead Head;
-    public XYZ Acc;
+    public XYZ Acc; // G, ускорения по осям
 
     public uint Time; // Последнее время изменения данных
 
@@ -49,7 +58,7 @@ namespace DroneData
   public struct DataGyr
   {
     public DataHead Head;
-    public XYZ Gyr;
+    public XYZ Gyr; // dps, угловые скорости
 
     public uint Time; // Последнее время изменения данных
 
@@ -69,7 +78,7 @@ namespace DroneData
   public struct DataRange
   {
     public DataHead Head;
-    public float LiDAR; // Датчик посадки
+    public float LiDAR; // m, Датчик посадки
 
     public uint Time; // Последнее время изменения данных
 
@@ -79,7 +88,7 @@ namespace DroneData
   public struct DataLocal
   {
     public DataHead Head;
-    public XYZ Local; // Локальные координаты
+    public XYZ Local; // m, Локальные координаты
 
     public uint Time; // Последнее время изменения данных
 
@@ -89,7 +98,7 @@ namespace DroneData
   public struct DataBar
   {
     public DataHead Head;
-    public float Pressure; // Давление
+    public float Pressure; // Pa, Давление
 
     public uint Time; // Последнее время изменения данных
 
@@ -99,7 +108,7 @@ namespace DroneData
   public struct DataOF
   {
     public DataHead Head;
-    public float X, Y; // Угловой сдвиг
+    public float X, Y; // degree, Угловой сдвиг
 
     public uint Time; // Последнее время изменения данных
 
@@ -129,7 +138,7 @@ namespace DroneData
   public struct DataMotor4
   {
     public DataHead Head;
-    public float UL, UR, DL, DR;
+    public float UL, UR, DL, DR; // тяга 0.0 - 1.0
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
   }
@@ -137,7 +146,7 @@ namespace DroneData
   public struct DataMotor6
   {
     public DataHead Head;
-    public float UL, UR, LL, RR, DL, DR;
+    public float UL, UR, LL, RR, DL, DR; // тяга 0.0 - 1.0
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
   }
@@ -145,7 +154,7 @@ namespace DroneData
   public struct DataQuat
   {
     public DataHead Head;
-    public float X, Y, Z, W;
+    public float X, Y, Z, W; // Кватернион дрона
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataQuat));
   }

DroneSimulator/FormMain.Designer.cs

@@ -34,13 +34,9 @@
       pictureBox_2D = new PictureBox();
       tabControl_Menu = new TabControl();
       tabPage_Main = new TabPage();
-      groupBox6 = new GroupBox();
+      groupBox_Lockstep = new GroupBox();
-      checkBox_Freq_Boost = new CheckBox();
+      label_Lockstep_Time = new Label();
-      label84 = new Label();
+      checkBox_Lockstep_Limit = new CheckBox();
-      numericUpDown_Timing_Freq = new NumericUpDown();
-      label83 = new Label();
-      label_Timing = new Label();
-      label79 = new Label();
       groupBox_Visual = new GroupBox();
       numericUpDown_Visual_Limit = new NumericUpDown();
       label1 = new Label();
@@ -219,14 +215,11 @@
       comboBox_Drone_Rotor = new ComboBox();
       comboBox_Drone = new ComboBox();
       timer_Test = new System.Windows.Forms.Timer(components);
-      label37 = new Label();
-      label_Timing_Lag = new Label();
       groupBox_Screen.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit();
       tabControl_Menu.SuspendLayout();
       tabPage_Main.SuspendLayout();
-      groupBox6.SuspendLayout();
+      groupBox_Lockstep.SuspendLayout();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_Timing_Freq).BeginInit();
       groupBox_Visual.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).BeginInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit();
@@ -338,7 +331,7 @@
       // 
       // tabPage_Main
       // 
-      tabPage_Main.Controls.Add(groupBox6);
+      tabPage_Main.Controls.Add(groupBox_Lockstep);
       tabPage_Main.Controls.Add(groupBox_Visual);
       tabPage_Main.Controls.Add(groupBox_Clients);
       tabPage_Main.Location = new Point(4, 24);
@@ -350,81 +343,37 @@
       tabPage_Main.Text = "Main";
       tabPage_Main.UseVisualStyleBackColor = true;
       // 
-      // groupBox6
+      // groupBox_Lockstep
       // 
-      groupBox6.Controls.Add(label_Timing_Lag);
+      groupBox_Lockstep.Controls.Add(label_Lockstep_Time);
-      groupBox6.Controls.Add(numericUpDown_Timing_Freq);
+      groupBox_Lockstep.Controls.Add(checkBox_Lockstep_Limit);
-      groupBox6.Controls.Add(label37);
+      groupBox_Lockstep.Dock = DockStyle.Top;
-      groupBox6.Controls.Add(checkBox_Freq_Boost);
+      groupBox_Lockstep.Location = new Point(3, 174);
-      groupBox6.Controls.Add(label84);
+      groupBox_Lockstep.Name = "groupBox_Lockstep";
-      groupBox6.Controls.Add(label83);
+      groupBox_Lockstep.Size = new Size(204, 51);
-      groupBox6.Controls.Add(label_Timing);
+      groupBox_Lockstep.TabIndex = 3;
-      groupBox6.Controls.Add(label79);
+      groupBox_Lockstep.TabStop = false;
-      groupBox6.Dock = DockStyle.Top;
+      groupBox_Lockstep.Text = "Lockstep";
-      groupBox6.Location = new Point(3, 174);
-      groupBox6.Name = "groupBox6";
-      groupBox6.Size = new Size(204, 75);
-      groupBox6.TabIndex = 3;
-      groupBox6.TabStop = false;
-      groupBox6.Text = "Frequency";
       // 
-      // checkBox_Freq_Boost
+      // label_Lockstep_Time
       // 
-      checkBox_Freq_Boost.AutoSize = true;
+      label_Lockstep_Time.AutoSize = true;
-      checkBox_Freq_Boost.Location = new Point(148, 18);
+      label_Lockstep_Time.Location = new Point(6, 23);
-      checkBox_Freq_Boost.Name = "checkBox_Freq_Boost";
+      label_Lockstep_Time.Name = "label_Lockstep_Time";
-      checkBox_Freq_Boost.Size = new Size(56, 19);
+      label_Lockstep_Time.Size = new Size(70, 15);
-      checkBox_Freq_Boost.TabIndex = 11;
+      label_Lockstep_Time.TabIndex = 1;
-      checkBox_Freq_Boost.Text = "boost";
+      label_Lockstep_Time.Text = "00:00:00.000";
-      checkBox_Freq_Boost.UseVisualStyleBackColor = true;
-      checkBox_Freq_Boost.CheckedChanged += numericUpDown_Timing_Freq_ValueChanged;
       // 
-      // label84
+      // checkBox_Lockstep_Limit
       // 
-      label84.AutoSize = true;
+      checkBox_Lockstep_Limit.AutoSize = true;
-      label84.Location = new Point(116, 43);
+      checkBox_Lockstep_Limit.Location = new Point(96, 22);
-      label84.Name = "label84";
+      checkBox_Lockstep_Limit.Name = "checkBox_Lockstep_Limit";
-      label84.Size = new Size(21, 15);
+      checkBox_Lockstep_Limit.Size = new Size(102, 19);
-      label84.TabIndex = 10;
+      checkBox_Lockstep_Limit.TabIndex = 0;
-      label84.Text = "Hz";
+      checkBox_Lockstep_Limit.Text = "Real time limit";
-      // 
+      checkBox_Lockstep_Limit.UseVisualStyleBackColor = true;
-      // numericUpDown_Timing_Freq
+      checkBox_Lockstep_Limit.CheckedChanged += checkBox_Lockstep_Limit_CheckedChanged;
-      // 
-      numericUpDown_Timing_Freq.Location = new Point(64, 41);
-      numericUpDown_Timing_Freq.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
-      numericUpDown_Timing_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
-      numericUpDown_Timing_Freq.Name = "numericUpDown_Timing_Freq";
-      numericUpDown_Timing_Freq.Size = new Size(51, 23);
-      numericUpDown_Timing_Freq.TabIndex = 9;
-      numericUpDown_Timing_Freq.Value = new decimal(new int[] { 1000, 0, 0, 0 });
-      numericUpDown_Timing_Freq.ValueChanged += numericUpDown_Timing_Freq_ValueChanged;
-      // 
-      // label83
-      // 
-      label83.AutoSize = true;
-      label83.Location = new Point(7, 43);
-      label83.Name = "label83";
-      label83.Size = new Size(57, 15);
-      label83.TabIndex = 2;
-      label83.Text = "Required:";
-      // 
-      // label_Timing
-      // 
-      label_Timing.AutoSize = true;
-      label_Timing.Location = new Point(70, 19);
-      label_Timing.Name = "label_Timing";
-      label_Timing.Size = new Size(13, 15);
-      label_Timing.TabIndex = 1;
-      label_Timing.Text = "0";
-      // 
-      // label79
-      // 
-      label79.AutoSize = true;
-      label79.Location = new Point(6, 19);
-      label79.Name = "label79";
-      label79.Size = new Size(58, 15);
-      label79.TabIndex = 0;
-      label79.Text = "Available:";
       // 
       // groupBox_Visual
       // 
@@ -2396,24 +2345,6 @@
       timer_Test.Interval = 10;
       timer_Test.Tick += timer_Test_Tick;
       // 
-      // label37
-      // 
-      label37.AutoSize = true;
-      label37.Location = new Point(143, 43);
-      label37.Name = "label37";
-      label37.Size = new Size(29, 15);
-      label37.TabIndex = 12;
-      label37.Text = "Lag:";
-      // 
-      // label_Timing_Lag
-      // 
-      label_Timing_Lag.AutoSize = true;
-      label_Timing_Lag.Location = new Point(168, 43);
-      label_Timing_Lag.Name = "label_Timing_Lag";
-      label_Timing_Lag.Size = new Size(13, 15);
-      label_Timing_Lag.TabIndex = 13;
-      label_Timing_Lag.Text = "0";
-      // 
       // Form_Main
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
@@ -2431,9 +2362,8 @@
       ((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit();
       tabControl_Menu.ResumeLayout(false);
       tabPage_Main.ResumeLayout(false);
-      groupBox6.ResumeLayout(false);
+      groupBox_Lockstep.ResumeLayout(false);
-      groupBox6.PerformLayout();
+      groupBox_Lockstep.PerformLayout();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_Timing_Freq).EndInit();
       groupBox_Visual.ResumeLayout(false);
       groupBox_Visual.PerformLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).EndInit();
@@ -2706,14 +2636,8 @@
     private Label label78;
     private NumericUpDown numericUpDown_Physics_Power;
     private Label label77;
-    private GroupBox groupBox6;
+    private GroupBox groupBox_Lockstep;
-    private Label label_Timing;
+    private Label label_Lockstep_Time;
-    private Label label79;
+    private CheckBox checkBox_Lockstep_Limit;
-    private Label label84;
-    private NumericUpDown numericUpDown_Timing_Freq;
-    private Label label83;
-    private CheckBox checkBox_Freq_Boost;
-    private Label label_Timing_Lag;
-    private Label label37;
   }
 }

DroneSimulator/FormMain.cs

@@ -44,7 +44,7 @@ namespace DroneSimulator
 
       if (data.Connect)
       {
-        Drone drone = new Drone(data.ID);
+        Drone drone = new Drone(data.ID, data.Client);
         drone.Create();
 
         screen2D.CreateDrone(Color.Red, data.ID);
@@ -115,6 +115,9 @@ namespace DroneSimulator
           {
             button_Client_Start.Text = "Stop";
             button_Client_Start.BackColor = Color.LimeGreen;
+            numericUpDown_Clients_Limit.Enabled = false;
+            numericUpDown_Clients_Port.Enabled = false;
+            checkBox_Lockstep_Limit.Enabled = false;
             break;
           }
         case NetServerClients.ServerState.Stop:
@@ -122,6 +125,9 @@ namespace DroneSimulator
             label_Clients_Num.Text = "0";
             button_Client_Start.Text = "Start";
             button_Client_Start.BackColor = Color.Transparent;
+            numericUpDown_Clients_Limit.Enabled = true;
+            numericUpDown_Clients_Port.Enabled = true;
+            checkBox_Lockstep_Limit.Enabled = true;
             break;
           }
       }
@@ -151,10 +157,9 @@ namespace DroneSimulator
 
     private void timer_Test_Tick(object sender, EventArgs e)
     {
-      DateTime test = DateTime.Now;
+      DateTime time = DateTime.Now;
-
-      int tim = test.Second + test.Minute * 100 + test.Hour * 10000;
 
+      label_Lockstep_Time.Text = time.Hour.ToString("D2") + ":" + time.Minute.ToString("D2") + ":" + time.Second.ToString("D2") + "." + time.Millisecond.ToString("D3");
 
       if (screen2D == null) return;
 
@@ -176,9 +181,6 @@ namespace DroneSimulator
       }
       catch { }
 
-      label_Timing.Text = Drone.Timing.ToString() + " Hz";
-      label_Timing_Lag.Text = Drone.Lag.ToString();
-
       screen2D.DrawScene();
     }
 
@@ -367,10 +369,9 @@ namespace DroneSimulator
       Drone.StopThread();
     }
 
-    private void numericUpDown_Timing_Freq_ValueChanged(object sender, EventArgs e)
+    private void checkBox_Lockstep_Limit_CheckedChanged(object sender, EventArgs e)
     {
-      Drone.Freq = (long)numericUpDown_Timing_Freq.Value;
+      Drone.TimeLimit = checkBox_Lockstep_Limit.Checked;
-      Drone.Boost = checkBox_Freq_Boost.Checked;
     }
   }
 }