CPL/Simulator
6
0
Fork 2
Code Issues 1 Pull Requests Actions Packages Projects Releases Activity

+++

Browse Source
This commit is contained in:
Sergey Sklyarov
2025-06-28 02:42:27 +03:00
parent 12e518af0e
commit 782d24a8e6
4 changed files with 148 additions and 190 deletions
Download Patch File Download Diff File Expand all files Collapse all files

138
DroneSimulator/Drone.cs
View File

@ -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 Quaternion Quat; // Основной кватернион
public Vector3 PosXYZ = Vector3.Zero, SpdXYZ = Vector3.Zero, AccXYZ = Vector3.Zero; // Положение в пространстве: Позиция, Скорость, Ускорение
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;
public static long Lag = 0;
public static long Freq = 1000;
public static bool Boost = false;
private uint StepTime = 0;
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();
long tick = Stopwatch.GetTimestamp();
if (tick == prev) continue;
Timing = Stopwatch.Frequency / (tick - prev);
prev = tick;
long quant = Stopwatch.Frequency / Freq;
if (tick < last + quant) continue;
if (tick > (last + quant) + quant * 0.1) Lag++;
last = tick;
if (StepSemaphore.WaitOne(1))
{
lock (AllDrones)
{
foreach (Drone drone in AllDrones)
drone.Action((uint)(tick / (Stopwatch.Frequency / 1000)));
{
if (drone.StepTime > 0)
{
uint tick = Tick();
uint step = drone.Timer + drone.StepTime;
if (TimeLimit && (step > tick)) step = tick;
drone.Action(step);
drone.StepTime = 0;
drone.SendStep(step);
break;
}
}
}
}
}
}
public Drone(int id)
public Drone(int id, Socket? client)
{
ID = id;
Active = false;
PosXYZ = Vector3.Zero;
SpdXYZ = Vector3.Zero;
AccXYZ = Vector3.Zero;
Quat = Quaternion.Identity;
Timer = Tick();
Client = client;
}
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.Time = (uint)(Stopwatch.GetTimestamp() / (Stopwatch.Frequency / 1000));
head.Type = DroneData.DataType.Ping;
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)
{

31
DroneSimulator/DroneData.cs
View File

@ -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));
}

148
DroneSimulator/FormMain.Designer.cs generated
View File

@ -34,13 +34,9 @@
pictureBox_2D = new PictureBox();
tabControl_Menu = new TabControl();
tabPage_Main = new TabPage();
groupBox6 = new GroupBox();
checkBox_Freq_Boost = new CheckBox();
label84 = new Label();
numericUpDown_Timing_Freq = new NumericUpDown();
label83 = new Label();
label_Timing = new Label();
label79 = new Label();
groupBox_Lockstep = new GroupBox();
label_Lockstep_Time = new Label();
checkBox_Lockstep_Limit = new CheckBox();
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();
((System.ComponentModel.ISupportInitialize)numericUpDown_Timing_Freq).BeginInit();
groupBox_Lockstep.SuspendLayout();
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);
groupBox6.Controls.Add(numericUpDown_Timing_Freq);
groupBox6.Controls.Add(label37);
groupBox6.Controls.Add(checkBox_Freq_Boost);
groupBox6.Controls.Add(label84);
groupBox6.Controls.Add(label83);
groupBox6.Controls.Add(label_Timing);
groupBox6.Controls.Add(label79);
groupBox6.Dock = DockStyle.Top;
groupBox6.Location = new Point(3, 174);
groupBox6.Name = "groupBox6";
groupBox6.Size = new Size(204, 75);
groupBox6.TabIndex = 3;
groupBox6.TabStop = false;
groupBox6.Text = "Frequency";
groupBox_Lockstep.Controls.Add(label_Lockstep_Time);
groupBox_Lockstep.Controls.Add(checkBox_Lockstep_Limit);
groupBox_Lockstep.Dock = DockStyle.Top;
groupBox_Lockstep.Location = new Point(3, 174);
groupBox_Lockstep.Name = "groupBox_Lockstep";
groupBox_Lockstep.Size = new Size(204, 51);
groupBox_Lockstep.TabIndex = 3;
groupBox_Lockstep.TabStop = false;
groupBox_Lockstep.Text = "Lockstep";
//
// checkBox_Freq_Boost
// label_Lockstep_Time
//
checkBox_Freq_Boost.AutoSize = true;
checkBox_Freq_Boost.Location = new Point(148, 18);
checkBox_Freq_Boost.Name = "checkBox_Freq_Boost";
checkBox_Freq_Boost.Size = new Size(56, 19);
checkBox_Freq_Boost.TabIndex = 11;
checkBox_Freq_Boost.Text = "boost";
checkBox_Freq_Boost.UseVisualStyleBackColor = true;
checkBox_Freq_Boost.CheckedChanged += numericUpDown_Timing_Freq_ValueChanged;
label_Lockstep_Time.AutoSize = true;
label_Lockstep_Time.Location = new Point(6, 23);
label_Lockstep_Time.Name = "label_Lockstep_Time";
label_Lockstep_Time.Size = new Size(70, 15);
label_Lockstep_Time.TabIndex = 1;
label_Lockstep_Time.Text = "00:00:00.000";
//
// label84
// checkBox_Lockstep_Limit
//
label84.AutoSize = true;
label84.Location = new Point(116, 43);
label84.Name = "label84";
label84.Size = new Size(21, 15);
label84.TabIndex = 10;
label84.Text = "Hz";
//
// numericUpDown_Timing_Freq
//
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:";
checkBox_Lockstep_Limit.AutoSize = true;
checkBox_Lockstep_Limit.Location = new Point(96, 22);
checkBox_Lockstep_Limit.Name = "checkBox_Lockstep_Limit";
checkBox_Lockstep_Limit.Size = new Size(102, 19);
checkBox_Lockstep_Limit.TabIndex = 0;
checkBox_Lockstep_Limit.Text = "Real time limit";
checkBox_Lockstep_Limit.UseVisualStyleBackColor = true;
checkBox_Lockstep_Limit.CheckedChanged += checkBox_Lockstep_Limit_CheckedChanged;
//
// 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);
groupBox6.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Timing_Freq).EndInit();
groupBox_Lockstep.ResumeLayout(false);
groupBox_Lockstep.PerformLayout();
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 Label label_Timing;
private Label label79;
private Label label84;
private NumericUpDown numericUpDown_Timing_Freq;
private Label label83;
private CheckBox checkBox_Freq_Boost;
private Label label_Timing_Lag;
private Label label37;
private GroupBox groupBox_Lockstep;
private Label label_Lockstep_Time;
private CheckBox checkBox_Lockstep_Limit;
}
}

21
DroneSimulator/FormMain.cs
View File

@ -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;
int tim = test.Second + test.Minute * 100 + test.Hour * 10000;
DateTime time = DateTime.Now;
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.Boost = checkBox_Freq_Boost.Checked;
Drone.TimeLimit = checkBox_Lockstep_Limit.Checked;
}
}
}