CPL/Simulator
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This commit is contained in:
Sergey Sklyarov
2025-06-05 00:13:53 +03:00
parent 2d56ea0ae1
commit a97e618695
3 changed files with 141 additions and 86 deletions
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150
DroneSimulator/FormMain.Designer.cs generated
View File

@ -56,6 +56,7 @@
tabPage_Model = new TabPage();
panel_Menu_Model = new Panel();
groupBox1 = new GroupBox();
checkBox_Model_Range_Real = new CheckBox();
label55 = new Label();
numericUpDown_Range_Laten = new NumericUpDown();
label56 = new Label();
@ -70,6 +71,7 @@
label46 = new Label();
label47 = new Label();
groupBox_OF = new GroupBox();
checkBox_Model_OF_Real = new CheckBox();
label40 = new Label();
numericUpDown_OF_Lens = new NumericUpDown();
label39 = new Label();
@ -91,6 +93,7 @@
label14 = new Label();
label15 = new Label();
groupBox_Barometer = new GroupBox();
checkBox_Model_Bar_Real = new CheckBox();
label30 = new Label();
numericUpDown_Bar_Laten = new NumericUpDown();
label29 = new Label();
@ -105,6 +108,7 @@
label5 = new Label();
label7 = new Label();
groupBox_GPS = new GroupBox();
checkBox_Model_Pos_Real = new CheckBox();
label2 = new Label();
numericUpDown_Pos_Laten = new NumericUpDown();
label4 = new Label();
@ -122,6 +126,7 @@
numericUpDown_Mag_Freq = new NumericUpDown();
label22 = new Label();
groupBox_Gyr = new GroupBox();
checkBox_Model_Gyr_Real = new CheckBox();
label51 = new Label();
numericUpDown_Gyr_Laten = new NumericUpDown();
label52 = new Label();
@ -138,6 +143,7 @@
numericUpDown_Gyr_Freq = new NumericUpDown();
label21 = new Label();
groupBox_Acc = new GroupBox();
checkBox_Model_Acc_Real = new CheckBox();
label49 = new Label();
numericUpDown_Acc_Laten = new NumericUpDown();
label50 = new Label();
@ -150,9 +156,6 @@
label23 = new Label();
numericUpDown_Acc_Freq = new NumericUpDown();
label20 = new Label();
groupBox2 = new GroupBox();
radioButton1 = new RadioButton();
radioButton_Real = new RadioButton();
tabPage_Area = new TabPage();
groupBox4 = new GroupBox();
numericUpDown_Area_Wind_RotResist = new NumericUpDown();
@ -233,7 +236,6 @@
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Scale_Rigth).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).BeginInit();
groupBox2.SuspendLayout();
tabPage_Area.SuspendLayout();
groupBox4.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_RotResist).BeginInit();
@ -516,7 +518,6 @@
panel_Menu_Model.Controls.Add(groupBox_Mag);
panel_Menu_Model.Controls.Add(groupBox_Gyr);
panel_Menu_Model.Controls.Add(groupBox_Acc);
panel_Menu_Model.Controls.Add(groupBox2);
panel_Menu_Model.Dock = DockStyle.Fill;
panel_Menu_Model.Location = new Point(3, 3);
panel_Menu_Model.Name = "panel_Menu_Model";
@ -525,6 +526,7 @@
//
// groupBox1
//
groupBox1.Controls.Add(checkBox_Model_Range_Real);
groupBox1.Controls.Add(label55);
groupBox1.Controls.Add(numericUpDown_Range_Laten);
groupBox1.Controls.Add(label56);
@ -539,13 +541,25 @@
groupBox1.Controls.Add(label46);
groupBox1.Controls.Add(label47);
groupBox1.Dock = DockStyle.Top;
groupBox1.Location = new Point(0, 732);
groupBox1.Location = new Point(0, 688);
groupBox1.Name = "groupBox1";
groupBox1.Size = new Size(204, 133);
groupBox1.TabIndex = 8;
groupBox1.TabStop = false;
groupBox1.Text = "Range";
//
// checkBox_Model_Range_Real
//
checkBox_Model_Range_Real.AutoSize = true;
checkBox_Model_Range_Real.Location = new Point(156, 20);
checkBox_Model_Range_Real.Name = "checkBox_Model_Range_Real";
checkBox_Model_Range_Real.Size = new Size(48, 19);
checkBox_Model_Range_Real.TabIndex = 41;
checkBox_Model_Range_Real.Tag = "#en";
checkBox_Model_Range_Real.Text = "Real";
checkBox_Model_Range_Real.UseVisualStyleBackColor = true;
checkBox_Model_Range_Real.CheckedChanged += numericUpDown_Range_Update;
//
// label55
//
label55.AutoSize = true;
@ -681,6 +695,7 @@
//
// groupBox_OF
//
groupBox_OF.Controls.Add(checkBox_Model_OF_Real);
groupBox_OF.Controls.Add(label40);
groupBox_OF.Controls.Add(numericUpDown_OF_Lens);
groupBox_OF.Controls.Add(label39);
@ -702,13 +717,25 @@
groupBox_OF.Controls.Add(label14);
groupBox_OF.Controls.Add(label15);
groupBox_OF.Dock = DockStyle.Top;
groupBox_OF.Location = new Point(0, 563);
groupBox_OF.Location = new Point(0, 519);
groupBox_OF.Name = "groupBox_OF";
groupBox_OF.Size = new Size(204, 169);
groupBox_OF.TabIndex = 4;
groupBox_OF.TabStop = false;
groupBox_OF.Text = "Optical flow";
//
// checkBox_Model_OF_Real
//
checkBox_Model_OF_Real.AutoSize = true;
checkBox_Model_OF_Real.Location = new Point(156, 78);
checkBox_Model_OF_Real.Name = "checkBox_Model_OF_Real";
checkBox_Model_OF_Real.Size = new Size(48, 19);
checkBox_Model_OF_Real.TabIndex = 40;
checkBox_Model_OF_Real.Tag = "#en";
checkBox_Model_OF_Real.Text = "Real";
checkBox_Model_OF_Real.UseVisualStyleBackColor = true;
checkBox_Model_OF_Real.CheckedChanged += numericUpDown_OF_Update;
//
// label40
//
label40.AutoSize = true;
@ -916,6 +943,7 @@
//
// groupBox_Barometer
//
groupBox_Barometer.Controls.Add(checkBox_Model_Bar_Real);
groupBox_Barometer.Controls.Add(label30);
groupBox_Barometer.Controls.Add(numericUpDown_Bar_Laten);
groupBox_Barometer.Controls.Add(label29);
@ -930,7 +958,7 @@
groupBox_Barometer.Controls.Add(label5);
groupBox_Barometer.Controls.Add(label7);
groupBox_Barometer.Dock = DockStyle.Top;
groupBox_Barometer.Location = new Point(0, 433);
groupBox_Barometer.Location = new Point(0, 389);
groupBox_Barometer.Name = "groupBox_Barometer";
groupBox_Barometer.Size = new Size(204, 130);
groupBox_Barometer.TabIndex = 3;
@ -938,6 +966,18 @@
groupBox_Barometer.Tag = "#barometer";
groupBox_Barometer.Text = "Barometer";
//
// checkBox_Model_Bar_Real
//
checkBox_Model_Bar_Real.AutoSize = true;
checkBox_Model_Bar_Real.Location = new Point(157, 43);
checkBox_Model_Bar_Real.Name = "checkBox_Model_Bar_Real";
checkBox_Model_Bar_Real.Size = new Size(48, 19);
checkBox_Model_Bar_Real.TabIndex = 39;
checkBox_Model_Bar_Real.Tag = "#en";
checkBox_Model_Bar_Real.Text = "Real";
checkBox_Model_Bar_Real.UseVisualStyleBackColor = true;
checkBox_Model_Bar_Real.CheckedChanged += numericUpDown_Bar_Update;
//
// label30
//
label30.AutoSize = true;
@ -1072,6 +1112,7 @@
//
// groupBox_GPS
//
groupBox_GPS.Controls.Add(checkBox_Model_Pos_Real);
groupBox_GPS.Controls.Add(label2);
groupBox_GPS.Controls.Add(numericUpDown_Pos_Laten);
groupBox_GPS.Controls.Add(label4);
@ -1083,13 +1124,25 @@
groupBox_GPS.Controls.Add(label48);
groupBox_GPS.Controls.Add(checkBox_Pos_Enable);
groupBox_GPS.Dock = DockStyle.Top;
groupBox_GPS.Location = new Point(0, 327);
groupBox_GPS.Location = new Point(0, 283);
groupBox_GPS.Name = "groupBox_GPS";
groupBox_GPS.Size = new Size(204, 106);
groupBox_GPS.TabIndex = 2;
groupBox_GPS.TabStop = false;
groupBox_GPS.Text = "Position";
//
// checkBox_Model_Pos_Real
//
checkBox_Model_Pos_Real.AutoSize = true;
checkBox_Model_Pos_Real.Location = new Point(156, 15);
checkBox_Model_Pos_Real.Name = "checkBox_Model_Pos_Real";
checkBox_Model_Pos_Real.Size = new Size(48, 19);
checkBox_Model_Pos_Real.TabIndex = 38;
checkBox_Model_Pos_Real.Tag = "#en";
checkBox_Model_Pos_Real.Text = "Real";
checkBox_Model_Pos_Real.UseVisualStyleBackColor = true;
checkBox_Model_Pos_Real.CheckedChanged += numericUpDown_Pos_Update;
//
// label2
//
label2.AutoSize = true;
@ -1204,7 +1257,7 @@
groupBox_Mag.Controls.Add(label22);
groupBox_Mag.Dock = DockStyle.Top;
groupBox_Mag.Enabled = false;
groupBox_Mag.Location = new Point(0, 276);
groupBox_Mag.Location = new Point(0, 232);
groupBox_Mag.Name = "groupBox_Mag";
groupBox_Mag.Size = new Size(204, 51);
groupBox_Mag.TabIndex = 5;
@ -1258,6 +1311,7 @@
//
// groupBox_Gyr
//
groupBox_Gyr.Controls.Add(checkBox_Model_Gyr_Real);
groupBox_Gyr.Controls.Add(label51);
groupBox_Gyr.Controls.Add(numericUpDown_Gyr_Laten);
groupBox_Gyr.Controls.Add(label52);
@ -1274,13 +1328,25 @@
groupBox_Gyr.Controls.Add(numericUpDown_Gyr_Freq);
groupBox_Gyr.Controls.Add(label21);
groupBox_Gyr.Dock = DockStyle.Top;
groupBox_Gyr.Location = new Point(0, 154);
groupBox_Gyr.Location = new Point(0, 110);
groupBox_Gyr.Name = "groupBox_Gyr";
groupBox_Gyr.Size = new Size(204, 122);
groupBox_Gyr.TabIndex = 7;
groupBox_Gyr.TabStop = false;
groupBox_Gyr.Text = "Gyroscope";
//
// checkBox_Model_Gyr_Real
//
checkBox_Model_Gyr_Real.AutoSize = true;
checkBox_Model_Gyr_Real.Location = new Point(153, 101);
checkBox_Model_Gyr_Real.Name = "checkBox_Model_Gyr_Real";
checkBox_Model_Gyr_Real.Size = new Size(48, 19);
checkBox_Model_Gyr_Real.TabIndex = 37;
checkBox_Model_Gyr_Real.Tag = "#en";
checkBox_Model_Gyr_Real.Text = "Real";
checkBox_Model_Gyr_Real.UseVisualStyleBackColor = true;
checkBox_Model_Gyr_Real.CheckedChanged += numericUpDown_Gyr_Update;
//
// label51
//
label51.AutoSize = true;
@ -1438,6 +1504,7 @@
//
// groupBox_Acc
//
groupBox_Acc.Controls.Add(checkBox_Model_Acc_Real);
groupBox_Acc.Controls.Add(label49);
groupBox_Acc.Controls.Add(numericUpDown_Acc_Laten);
groupBox_Acc.Controls.Add(label50);
@ -1451,13 +1518,25 @@
groupBox_Acc.Controls.Add(numericUpDown_Acc_Freq);
groupBox_Acc.Controls.Add(label20);
groupBox_Acc.Dock = DockStyle.Top;
groupBox_Acc.Location = new Point(0, 44);
groupBox_Acc.Location = new Point(0, 0);
groupBox_Acc.Name = "groupBox_Acc";
groupBox_Acc.Size = new Size(204, 110);
groupBox_Acc.TabIndex = 6;
groupBox_Acc.TabStop = false;
groupBox_Acc.Text = "Accelerometer";
//
// checkBox_Model_Acc_Real
//
checkBox_Model_Acc_Real.AutoSize = true;
checkBox_Model_Acc_Real.Location = new Point(156, 91);
checkBox_Model_Acc_Real.Name = "checkBox_Model_Acc_Real";
checkBox_Model_Acc_Real.Size = new Size(48, 19);
checkBox_Model_Acc_Real.TabIndex = 36;
checkBox_Model_Acc_Real.Tag = "#en";
checkBox_Model_Acc_Real.Text = "Real";
checkBox_Model_Acc_Real.UseVisualStyleBackColor = true;
checkBox_Model_Acc_Real.CheckedChanged += numericUpDown_Acc_Update;
//
// label49
//
label49.AutoSize = true;
@ -1582,42 +1661,6 @@
label20.TabIndex = 2;
label20.Text = "Freq:";
//
// groupBox2
//
groupBox2.Controls.Add(radioButton1);
groupBox2.Controls.Add(radioButton_Real);
groupBox2.Dock = DockStyle.Top;
groupBox2.Location = new Point(0, 0);
groupBox2.Name = "groupBox2";
groupBox2.Size = new Size(204, 44);
groupBox2.TabIndex = 9;
groupBox2.TabStop = false;
groupBox2.Text = "Mode";
//
// radioButton1
//
radioButton1.AutoSize = true;
radioButton1.Checked = true;
radioButton1.Location = new Point(9, 19);
radioButton1.Name = "radioButton1";
radioButton1.Size = new Size(50, 19);
radioButton1.TabIndex = 2;
radioButton1.TabStop = true;
radioButton1.Text = "Ideal";
radioButton1.UseVisualStyleBackColor = true;
radioButton1.CheckedChanged += checkBox_Mode_Real_CheckedChanged;
//
// radioButton_Real
//
radioButton_Real.AutoSize = true;
radioButton_Real.Location = new Point(150, 19);
radioButton_Real.Name = "radioButton_Real";
radioButton_Real.Size = new Size(47, 19);
radioButton_Real.TabIndex = 1;
radioButton_Real.Text = "Real";
radioButton_Real.UseVisualStyleBackColor = true;
radioButton_Real.CheckedChanged += checkBox_Mode_Real_CheckedChanged;
//
// tabPage_Area
//
tabPage_Area.Controls.Add(groupBox4);
@ -2007,8 +2050,6 @@
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Scale_Rigth).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).EndInit();
groupBox2.ResumeLayout(false);
groupBox2.PerformLayout();
tabPage_Area.ResumeLayout(false);
groupBox4.ResumeLayout(false);
groupBox4.PerformLayout();
@ -2151,14 +2192,11 @@
private Label label55;
private NumericUpDown numericUpDown_Range_Laten;
private Label label56;
private GroupBox groupBox2;
private ListBox listBox_Drones;
private Label label39;
private NumericUpDown numericUpDown_OF_Wait;
private Label label40;
private NumericUpDown numericUpDown_OF_Lens;
private RadioButton radioButton1;
private RadioButton radioButton_Real;
private GroupBox groupBox3;
private CheckBox checkBox_Area_Freeze_X;
private CheckBox checkBox_Area_Freeze_Z;
@ -2181,5 +2219,11 @@
private Label label64;
private NumericUpDown numericUpDown_Area_Wind_RotResist;
private Label label65;
private CheckBox checkBox_Model_Gyr_Real;
private CheckBox checkBox_Model_Acc_Real;
private CheckBox checkBox_Model_Range_Real;
private CheckBox checkBox_Model_OF_Real;
private CheckBox checkBox_Model_Bar_Real;
private CheckBox checkBox_Model_Pos_Real;
}
}

19
DroneSimulator/FormMain.cs
View File

@ -23,7 +23,6 @@ namespace DroneSimulator
{
InitializeComponent();
RealMode.RealSimulation = radioButton_Real.Checked;
numericUpDown_Acc_Update(null, null);
numericUpDown_Gyr_Update(null, null);
numericUpDown_Pos_Update(null, null);
@ -226,6 +225,8 @@ namespace DroneSimulator
private void numericUpDown_Bar_Update(object sender, EventArgs e)
{
RealMode.Barometer.RealSimulation = checkBox_Model_Bar_Real.Checked;
try { RealMode.Barometer.Pressure = uint.Parse(textBox_Bar_Pressure.Text); }
catch
{
@ -233,20 +234,16 @@ namespace DroneSimulator
MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
RealMode.Barometer.Freq = (uint)numericUpDown_Bar_Freq.Value;
RealMode.Barometer.Noise = (float)numericUpDown_Bar_Noise.Value;
RealMode.Barometer.Lateness = (float)numericUpDown_Bar_Laten.Value;
RealMode.Barometer.Enable = checkBox_Bar_Enable.Checked;
}
private void checkBox_Mode_Real_CheckedChanged(object sender, EventArgs e)
{
RealMode.RealSimulation = radioButton_Real.Checked;
}
private void numericUpDown_Acc_Update(object sender, EventArgs e)
{
RealMode.Accelerometer.RealSimulation=checkBox_Model_Acc_Real.Checked;
RealMode.Accelerometer.Freq = (uint)numericUpDown_Acc_Freq.Value;
RealMode.Accelerometer.Noise = (float)numericUpDown_Acc_Noise.Value;
RealMode.Accelerometer.Lateness = (float)numericUpDown_Acc_Laten.Value;
@ -257,6 +254,8 @@ namespace DroneSimulator
private void numericUpDown_Gyr_Update(object sender, EventArgs e)
{
RealMode.Gyroscope.RealSimulation = checkBox_Model_Gyr_Real.Checked;
RealMode.Gyroscope.Freq = (uint)numericUpDown_Gyr_Freq.Value;
RealMode.Gyroscope.Noise = (float)numericUpDown_Gyr_Noise.Value;
RealMode.Gyroscope.Lateness = (float)numericUpDown_Gyr_Laten.Value;
@ -268,6 +267,8 @@ namespace DroneSimulator
private void numericUpDown_Pos_Update(object sender, EventArgs e)
{
RealMode.Position.RealSimulation = checkBox_Model_Pos_Real.Checked;
RealMode.Position.Freq = (uint)numericUpDown_Pos_Freq.Value;
RealMode.Position.Noise = (float)numericUpDown_Pos_Noise.Value;
RealMode.Position.Lateness = (float)numericUpDown_Pos_Laten.Value;
@ -276,6 +277,8 @@ namespace DroneSimulator
private void numericUpDown_Range_Update(object sender, EventArgs e)
{
RealMode.Range.RealSimulation = checkBox_Model_Range_Real.Checked;
RealMode.Range.Freq = (uint)numericUpDown_Range_Freq.Value;
RealMode.Range.Noise = (float)numericUpDown_Range_Noise.Value;
RealMode.Range.Lateness = (float)numericUpDown_Range_Laten.Value;
@ -286,6 +289,8 @@ namespace DroneSimulator
private void numericUpDown_OF_Update(object sender, EventArgs e)
{
RealMode.OpticalFlow.RealSimulation = checkBox_Model_OF_Real.Checked;
RealMode.OpticalFlow.Freq = (uint)numericUpDown_OF_Freq.Value;
RealMode.OpticalFlow.Noise = (float)numericUpDown_OF_Noise.Value;
RealMode.OpticalFlow.Lateness = (float)numericUpDown_OF_Laten.Value;

58
DroneSimulator/RealMode.cs
View File

@ -10,7 +10,7 @@ namespace DroneSimulator
{
internal class RealMode
{
public static bool RealSimulation;
internal class Accelerometer
{
@ -19,6 +19,7 @@ namespace DroneSimulator
public static float ScaleLeft;
public static float ScaleRight;
public static float Lateness;
public static bool RealSimulation;
private uint last = 0;
@ -81,6 +82,7 @@ namespace DroneSimulator
public static float Noise;
public static Vector3 Shift;
public static float Lateness;
public static bool RealSimulation;
private uint last = 0;
@ -145,6 +147,7 @@ namespace DroneSimulator
public static uint Freq;
public static float Noise;
public static float Lateness;
public static bool RealSimulation;
private uint last = 0;
@ -159,6 +162,12 @@ namespace DroneSimulator
public void Update(Vector3 value, uint time)
{
if (!Enable)
{
result = Vector3.NaN;
return;
}
if (!RealSimulation)
{
result = value;
@ -166,12 +175,6 @@ namespace DroneSimulator
return;
}
if (!Enable)
{
result = Vector3.NaN;
return;
}
int noise = (int)(Noise * 1000);
value.X += ((float)rand.Next(-noise, noise)) / 1000;
value.Y += ((float)rand.Next(-noise, noise)) / 1000;
@ -207,6 +210,7 @@ namespace DroneSimulator
public static uint Freq;
public static float Noise;
public static float Lateness;
public static bool RealSimulation;
private uint last = 0;
@ -223,6 +227,12 @@ namespace DroneSimulator
{
value = Pressure - value;
if (!Enable)
{
result = float.NaN;
return;
}
if (!RealSimulation)
{
result = value;
@ -230,12 +240,6 @@ namespace DroneSimulator
return;
}
if (!Enable)
{
result = float.NaN;
return;
}
int noise = (int)(Noise * 1000);
value += ((float)rand.Next(-noise, noise)) / 1000;
@ -272,6 +276,7 @@ namespace DroneSimulator
public static float Error;
public static uint Wait;
public static float Lens;
public static bool RealSimulation;
private uint last = 0;
@ -287,6 +292,12 @@ namespace DroneSimulator
public Vector2 result;
public void Update(Vector2 value, float Range, uint time)
{
if (!Enable)
{
result = Vector2.NaN;
return;
}
if (!RealSimulation)
{
result = value;
@ -294,12 +305,6 @@ namespace DroneSimulator
return;
}
if (!Enable)
{
result = Vector2.NaN;
return;
}
value *= Lens;
if (rand.Next(0, 1000) < (Error * 10))
@ -350,6 +355,7 @@ namespace DroneSimulator
public static uint Freq;
public static float Noise;
public static float Lateness;
public static bool RealSimulation;
private uint last = 0;
@ -364,6 +370,12 @@ namespace DroneSimulator
public void Update(float value, uint time)
{
if (!Enable)
{
result = float.NaN;
return;
}
if (!RealSimulation)
{
result = value;
@ -371,13 +383,7 @@ namespace DroneSimulator
return;
}
if (!Enable)
{
result = float.NaN;
return;
}
if (value > MaxHeight) value = -1;
if (value > MaxHeight) value = MaxHeight;
else
{
int noise = (int)(Noise * 1000);