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update

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This commit is contained in:
Sergey Sklyarov
2025-05-22 01:47:54 +03:00
parent e0f3e3db19
commit 90cec037eb
9 changed files with 553 additions and 176 deletions
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38
DroneClient/Drone.cs
View File

@ -1,5 +1,7 @@
using System.Diagnostics.Metrics;
using DroneData;
using System.Diagnostics.Metrics;
using System.Drawing;
using System.Numerics;
using System.Runtime.InteropServices;
namespace DroneClient
@ -15,6 +17,8 @@ namespace DroneClient
public float LaserRange;
public uint TimeRange;
public Vector2 OF = Vector2.Zero;
public float MotorUL, MotorUR, MotorDL, MotorDR;
public static byte[] getBytes(object data)
@ -116,6 +120,16 @@ namespace DroneClient
return new byte[0];
}
private byte[]? RecvDataOF(byte[] data)
{
DroneData.DataOF of = (DroneData.DataOF)fromBytes(data, typeof(DroneData.DataOF));
OF.X = of.X;
OF.Y = of.Y;
return new byte[0];
}
private byte[]? ClientRequestResponse(DroneData.DataHead head, byte[] body)
{
byte[] zero = new byte[0];
@ -186,6 +200,22 @@ namespace DroneClient
}
}
case DroneData.DataType.DataOF:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
// ... //
//
return zero;
}
else
{
// Пришли данные
return RecvDataOF(body);
}
}
case DroneData.DataType.DataMotor4:
{
if (head.Mode == DroneData.DataMode.Request)
@ -271,12 +301,18 @@ namespace DroneClient
local.Mode = DroneData.DataMode.Request;
local.Type = DroneData.DataType.DataLocal;
DroneData.DataHead of = new DroneData.DataHead();
of.Size = DroneData.DataHead.StrLen;
of.Mode = DroneData.DataMode.Request;
of.Type = DroneData.DataType.DataOF;
List<byte[]> list = new List<byte[]>();
list.Add(getBytes(acc));
list.Add(getBytes(gyr));
list.Add(getBytes(range));
list.Add(getBytes(local));
list.Add(getBytes(of));
list.Add(SendDataMotor4());
int count = 0;

61
DroneClient/DroneData.cs
View File

@ -1,4 +1,4 @@
using System.Runtime.InteropServices;
using System.Runtime.InteropServices;
namespace DroneData
{
@ -12,10 +12,13 @@ namespace DroneData
None = 0, Head = 1,
// Output
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006, DataOF = 1007,
// Input
DataMotor4 = 2001, DataMotor6 = 2002
DataMotor4 = 2001, DataMotor6 = 2002,
// State
DataQuat = 3001,
};
public struct DataHead
@ -25,7 +28,7 @@ namespace DroneData
public DataMode Mode;
public DataType Type;
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Общее время
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
}
@ -37,7 +40,7 @@ namespace DroneData
public DataHead Head;
public XYZ Acc;
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
}
@ -47,7 +50,7 @@ namespace DroneData
public DataHead Head;
public XYZ Gyr;
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
}
@ -57,31 +60,51 @@ namespace DroneData
public DataHead Head;
public XYZ Mag;
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
}
public struct DataLocal
{
public DataHead Head;
public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
}
public struct DataRange
{
public DataHead Head;
public float LiDAR; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public float LiDAR; // Датчик посадки
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
}
public struct DataLocal
{
public DataHead Head;
public XYZ Local; // Локальные координаты
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
}
public struct DataBar
{
public DataHead Head;
public float Pressure; // Давление
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
}
public struct DataOF
{
public DataHead Head;
public float X, Y; // Угловой сдвиг
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
}
public struct DataMotor4
{
public DataHead Head;

131
DroneClient/FormMain.Designer.cs generated
View File

@ -38,12 +38,14 @@
label3 = new Label();
label1 = new Label();
groupBox2 = new GroupBox();
label_time_acc = new Label();
label_Acc_Z = new Label();
label7 = new Label();
label_Acc_Y = new Label();
label5 = new Label();
label_Acc_X = new Label();
groupBox3 = new GroupBox();
label_time_gyr = new Label();
label_Gyr_Z = new Label();
label9 = new Label();
label_Gyr_Y = new Label();
@ -51,6 +53,7 @@
label_Gyr_X = new Label();
label13 = new Label();
groupBox4 = new GroupBox();
label_time_range = new Label();
label_Pos_L = new Label();
label6 = new Label();
label_Pos_Y = new Label();
@ -65,15 +68,19 @@
label_Pow = new Label();
button_ML = new Button();
button_MR = new Button();
label_time_acc = new Label();
label_time_range = new Label();
label_time_gyr = new Label();
groupBox5 = new GroupBox();
label_time_of = new Label();
label_OF_Y = new Label();
label17 = new Label();
label_OF_X = new Label();
label19 = new Label();
groupBox1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit();
groupBox2.SuspendLayout();
groupBox3.SuspendLayout();
groupBox4.SuspendLayout();
((System.ComponentModel.ISupportInitialize)trackBar_Power).BeginInit();
groupBox5.SuspendLayout();
SuspendLayout();
//
// timer_Test
@ -92,7 +99,7 @@
groupBox1.Dock = DockStyle.Top;
groupBox1.Location = new Point(0, 0);
groupBox1.Name = "groupBox1";
groupBox1.Size = new Size(275, 80);
groupBox1.Size = new Size(357, 80);
groupBox1.TabIndex = 3;
groupBox1.TabStop = false;
groupBox1.Tag = "";
@ -173,6 +180,15 @@
groupBox2.TabStop = false;
groupBox2.Text = "Acc";
//
// label_time_acc
//
label_time_acc.AutoSize = true;
label_time_acc.Location = new Point(6, 100);
label_time_acc.Name = "label_time_acc";
label_time_acc.Size = new Size(13, 15);
label_time_acc.TabIndex = 25;
label_time_acc.Text = "0";
//
// label_Acc_Z
//
label_Acc_Z.AutoSize = true;
@ -227,13 +243,22 @@
groupBox3.Controls.Add(label11);
groupBox3.Controls.Add(label_Gyr_X);
groupBox3.Controls.Add(label13);
groupBox3.Location = new Point(95, 86);
groupBox3.Location = new Point(94, 86);
groupBox3.Name = "groupBox3";
groupBox3.Size = new Size(78, 118);
groupBox3.TabIndex = 6;
groupBox3.TabStop = false;
groupBox3.Text = "Gyr";
//
// label_time_gyr
//
label_time_gyr.AutoSize = true;
label_time_gyr.Location = new Point(3, 100);
label_time_gyr.Name = "label_time_gyr";
label_time_gyr.Size = new Size(13, 15);
label_time_gyr.TabIndex = 26;
label_time_gyr.Text = "0";
//
// label_Gyr_Z
//
label_Gyr_Z.AutoSize = true;
@ -297,13 +322,22 @@
groupBox4.Controls.Add(label10);
groupBox4.Controls.Add(label_Pos_X);
groupBox4.Controls.Add(label14);
groupBox4.Location = new Point(188, 86);
groupBox4.Location = new Point(182, 86);
groupBox4.Name = "groupBox4";
groupBox4.Size = new Size(78, 118);
groupBox4.TabIndex = 7;
groupBox4.TabStop = false;
groupBox4.Text = "Pos";
//
// label_time_range
//
label_time_range.AutoSize = true;
label_time_range.Location = new Point(6, 100);
label_time_range.Name = "label_time_range";
label_time_range.Size = new Size(13, 15);
label_time_range.TabIndex = 27;
label_time_range.Text = "0";
//
// label_Pos_L
//
label_Pos_L.AutoSize = true;
@ -443,38 +477,71 @@
button_MR.MouseDown += button_UU_MouseDown;
button_MR.MouseUp += button_UU_MouseUp;
//
// label_time_acc
// groupBox5
//
label_time_acc.AutoSize = true;
label_time_acc.Location = new Point(6, 100);
label_time_acc.Name = "label_time_acc";
label_time_acc.Size = new Size(13, 15);
label_time_acc.TabIndex = 25;
label_time_acc.Text = "0";
groupBox5.Controls.Add(label_time_of);
groupBox5.Controls.Add(label_OF_Y);
groupBox5.Controls.Add(label17);
groupBox5.Controls.Add(label_OF_X);
groupBox5.Controls.Add(label19);
groupBox5.Location = new Point(270, 86);
groupBox5.Name = "groupBox5";
groupBox5.Size = new Size(78, 118);
groupBox5.TabIndex = 24;
groupBox5.TabStop = false;
groupBox5.Text = "OF";
//
// label_time_range
// label_time_of
//
label_time_range.AutoSize = true;
label_time_range.Location = new Point(6, 100);
label_time_range.Name = "label_time_range";
label_time_range.Size = new Size(13, 15);
label_time_range.TabIndex = 27;
label_time_range.Text = "0";
label_time_of.AutoSize = true;
label_time_of.Location = new Point(6, 100);
label_time_of.Name = "label_time_of";
label_time_of.Size = new Size(13, 15);
label_time_of.TabIndex = 27;
label_time_of.Text = "0";
//
// label_time_gyr
// label_OF_Y
//
label_time_gyr.AutoSize = true;
label_time_gyr.Location = new Point(3, 100);
label_time_gyr.Name = "label_time_gyr";
label_time_gyr.Size = new Size(13, 15);
label_time_gyr.TabIndex = 26;
label_time_gyr.Text = "0";
label_OF_Y.AutoSize = true;
label_OF_Y.Location = new Point(19, 45);
label_OF_Y.Name = "label_OF_Y";
label_OF_Y.Size = new Size(13, 15);
label_OF_Y.TabIndex = 7;
label_OF_Y.Text = "0";
//
// label17
//
label17.AutoSize = true;
label17.Location = new Point(6, 45);
label17.Name = "label17";
label17.Size = new Size(17, 15);
label17.TabIndex = 6;
label17.Text = "Y:";
//
// label_OF_X
//
label_OF_X.AutoSize = true;
label_OF_X.Location = new Point(19, 19);
label_OF_X.Name = "label_OF_X";
label_OF_X.Size = new Size(13, 15);
label_OF_X.TabIndex = 5;
label_OF_X.Text = "0";
//
// label19
//
label19.AutoSize = true;
label19.Location = new Point(6, 19);
label19.Name = "label19";
label19.Size = new Size(17, 15);
label19.TabIndex = 4;
label19.Text = "X:";
//
// Form_Main
//
AutoScaleDimensions = new SizeF(7F, 15F);
AutoScaleMode = AutoScaleMode.Font;
ClientSize = new Size(275, 447);
ClientSize = new Size(357, 447);
Controls.Add(groupBox5);
Controls.Add(button_MR);
Controls.Add(button_ML);
Controls.Add(label_Pow);
@ -501,6 +568,8 @@
groupBox4.ResumeLayout(false);
groupBox4.PerformLayout();
((System.ComponentModel.ISupportInitialize)trackBar_Power).EndInit();
groupBox5.ResumeLayout(false);
groupBox5.PerformLayout();
ResumeLayout(false);
PerformLayout();
}
@ -546,5 +615,11 @@
private Label label_time_acc;
private Label label_time_range;
private Label label_time_gyr;
private GroupBox groupBox5;
private Label label_time_of;
private Label label_OF_Y;
private Label label17;
private Label label_OF_X;
private Label label19;
}
}

7
DroneClient/FormMain.cs
View File

@ -1,4 +1,4 @@
using System.Text;
using System.Text;
using System.Numerics;
using System.Windows.Forms;
using static DroneSimulator.NetClient;
@ -109,6 +109,11 @@ namespace DroneSimulator
label_time_range.Text = dataDrone.TimeRange.ToString();
label_OF_X.Text = dataDrone.OF.X.ToString();
label_OF_Y.Text = dataDrone.OF.Y.ToString();
label_time_of.Text = dataDrone.TimeRange.ToString();
netClient.SendData(dataDrone.SendReqest());
}