create repository

DroneClient/FormMain.cs

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+using System.Text;
+using System.Numerics;
+using System.Windows.Forms;
+using static DroneSimulator.NetClient;
+using DroneClient;
+
+namespace DroneSimulator
+{
+  public partial class Form_Main : Form
+  {
+    private NetClient netClient = new NetClient();
+
+    public Form_Main()
+    {
+      InitializeComponent();
+    }
+
+    private void ConnectionCallback(object o)
+    {
+      ConnectData data = (ConnectData)o;
+
+      if (!data.Connect)
+      {
+        Invoke((MethodInvoker)delegate
+        {
+          button_Connect.Text = "Connect";
+          button_Connect.BackColor = Color.Transparent;
+          MessageBox.Show("Connection closed");
+        });
+
+        return;
+      }
+
+      byte[] send = Drone.getBytes(sendDrone);
+
+      data.Server.Send(send);
+    }
+
+    Drone.DataIn sendDrone;
+
+    Drone.DataOut recvDrone;
+
+    private void ReceiveCallback(object o)
+    {
+      ReceiveData data = (ReceiveData)o;
+
+      recvDrone = (Drone.DataOut)Drone.fromBytes(data.Buffer, typeof(Drone.DataOut));
+
+      byte[] send = Drone.getBytes(sendDrone);
+
+      try { data.Server.Send(send); }
+      catch { }
+    }
+
+    private void button_Connect_Click(object sender, EventArgs e)
+    {
+      var done = netClient.Connect(textBox_Server_Addr.Text, (int)numericUpDown_Server_Port.Value, ConnectionCallback, ReceiveCallback);
+
+      switch (done)
+      {
+        case NetClient.ClientState.Error:
+          {
+            MessageBox.Show("Error connecting to server");
+            break;
+          }
+        case NetClient.ClientState.Connected:
+          {
+            button_Connect.Text = "Disconnect";
+            button_Connect.BackColor = Color.LimeGreen;
+            break;
+          }
+        case NetClient.ClientState.Stop:
+          {
+            button_Connect.Text = "Connect";
+            button_Connect.BackColor = Color.Transparent;
+            break;
+          }
+      }
+
+      if (done != NetClient.ClientState.Connected) return;
+    }
+
+    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
+    {
+      netClient?.Close();
+      netClient = null;
+    }
+
+    private void timer_Test_Tick(object sender, EventArgs e)
+    {
+      label_Acc_X.Text = recvDrone.AccX.ToString();
+      label_Acc_Y.Text = recvDrone.AccY.ToString();
+      label_Acc_Z.Text = recvDrone.AccZ.ToString();
+
+      label_Gyr_X.Text = recvDrone.GyrX.ToString();
+      label_Gyr_Y.Text = recvDrone.GyrY.ToString();
+      label_Gyr_Z.Text = recvDrone.GyrZ.ToString();
+
+      label_Pos_X.Text = recvDrone.PosX.ToString();
+      label_Pos_Y.Text = recvDrone.PosY.ToString();
+      label_Pos_L.Text = recvDrone.LaserRange.ToString();
+    }
+
+    private void trackBar_Power_Scroll(object sender, EventArgs e)
+    {
+      float pow = (float)trackBar_Power.Value / 100;
+
+      label_Pow.Text = pow.ToString();
+
+      sendDrone.MotorUL = sendDrone.MotorUR = sendDrone.MotorDL = sendDrone.MotorDR = pow;
+    }
+
+    private void button_UU_MouseDown(object sender, MouseEventArgs e)
+    {
+      if (sender == button_UU)
+      {
+        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR -= 0.1f;
+        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR += 0.1f;
+      }
+      if (sender == button_DD)
+      {
+        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR += 0.1f;
+        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR -= 0.1f;
+      }
+      if (sender == button_LL)
+      {
+        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
+        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
+      }
+      if (sender == button_RR)
+      {
+        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
+        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
+      }
+
+      if (sender == button_ML)
+      {
+        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
+        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
+      }
+
+      if (sender == button_MR)
+      {
+        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
+        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
+      }
+    }
+
+    private void button_UU_MouseUp(object sender, MouseEventArgs e)
+    {
+      trackBar_Power_Scroll(null, null);
+    }
+  }
+}