DroneClient/Drone.cs

@@ -1,218 +1,62 @@
-using System.Drawing;
+using System.Runtime.InteropServices;
-using System.Runtime.InteropServices;
 
 namespace DroneClient
 {
-  internal class Drone
+    internal class Drone
-  {
-
-    public float AccX, AccY, AccZ;
-    public float GyrX, GyrY, GyrZ;
-    public float PosX, PosY;
-    public float LaserRange;
-
-    public float MotorUL, MotorUR, MotorDL, MotorDR;
-
-    public static byte[] getBytes(object data)
     {
-      int size = Marshal.SizeOf(data);
+        public struct DataOut
-      byte[] arr = new byte[size];
-
-      IntPtr ptr = IntPtr.Zero;
-      try
-      {
-        ptr = Marshal.AllocHGlobal(size);
-        Marshal.StructureToPtr(data, ptr, true);
-        Marshal.Copy(ptr, arr, 0, size);
-      }
-      finally
-      {
-        Marshal.FreeHGlobal(ptr);
-      }
-      return arr;
-    }
-
-    public static object fromBytes(byte[] arr, Type type)
-    {
-      object mem = new object();
-
-      int size = Marshal.SizeOf(type);
-      IntPtr ptr = IntPtr.Zero;
-      try
-      {
-        ptr = Marshal.AllocHGlobal(size);
-
-        Marshal.Copy(arr, 0, ptr, size);
-
-        mem = Marshal.PtrToStructure(ptr, type);
-      }
-      finally
-      {
-        Marshal.FreeHGlobal(ptr);
-      }
-
-      return mem;
-    }
-
-    private byte[] SendDataMotor4()
-    {
-      DroneData.DataMotor4 mot4 = new DroneData.DataMotor4();
-
-      mot4.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMotor4));
-      mot4.Head.Mode = DroneData.DataMode.Response;
-      mot4.Head.Type = DroneData.DataType.DataMotor4;
-
-      mot4.UL = MotorUL;
-      mot4.UR = MotorUR;
-      mot4.DL = MotorDL;
-      mot4.DR = MotorDR;
-
-      return getBytes(mot4);
-    }
-
-    private byte[]? RecvDataIMU(byte[] data)
-    {
-      DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU));
-
-      AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
-      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
-
-      return new byte[0];
-    }
-
-    private byte[]? RecvDataPos(byte[] data)
-    {
-      DroneData.DataPos pos = (DroneData.DataPos)fromBytes(data, typeof(DroneData.DataPos));
-
-      PosX = pos.Local.X; PosY = pos.Local.Y;
-      LaserRange = pos.LiDAR;
-
-      return new byte[0];
-    }
-
-    private byte[]? ClientRequestResponse(DroneData.DataHead head, byte[] body)
-    {
-      byte[] zero = new byte[0];
-
-      switch (head.Type)
-      {
-        case DroneData.DataType.DataIMU:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              // ... //
-              //
-              return zero;
-            }
-            else
-            {
-              // Пришли данные
-              return RecvDataIMU(body);
-            }
-          }
-
-        case DroneData.DataType.DataPos:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              // ... //
-              //
-              return zero;
-            }
-            else
-            {
-              // Пришли данные
-              return RecvDataPos(body);
-            }
-          }
-
-        case DroneData.DataType.DataMotor4:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataMotor4();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
-      }
-
-      return zero;
-    }
-
-    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 };
-
-    public List<byte[]?>? DataStream(byte[]? data, int size)
-    {
-      List<byte[]?> ret = new List<byte[]?>();
-
-      if (data == null) return ret; // Последовательность не сформирована, ждать данных
-
-      if (size + DroneStreamIndex > DroneStreamCount) return null; // Ошибка переполнения, поток сломан (конец)
-
-      Array.Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
-      DroneStreamIndex += size;
-
-      while (true)
-      {
-        if (DroneStreamHead.Size == 0) // Заголовок ещё не получен
         {
-          if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать
+            public float AccX, AccY, AccZ;
-          DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead));
+            public float GyrX, GyrY, GyrZ;
+            public float PosX, PosY;
+            public float LaserRange;
         }
 
-        if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный
+        public struct DataIn
+        {
+            public float MotorUL, MotorUR, MotorDL, MotorDR;
+        }
 
-        byte[] body = new byte[DroneStreamHead.Size];
+        public static byte[] getBytes(object data)
+        {
+            int size = Marshal.SizeOf(data);
+            byte[] arr = new byte[size];
 
-        Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
+            IntPtr ptr = IntPtr.Zero;
+            try
+            {
+                ptr = Marshal.AllocHGlobal(size);
+                Marshal.StructureToPtr(data, ptr, true);
+                Marshal.Copy(ptr, arr, 0, size);
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(ptr);
+            }
+            return arr;
+        }
 
-        int shift = DroneStreamHead.Size;
+        public static object fromBytes(byte[] arr, Type type)
+        {
+            object mem = new object();
 
-        DroneStreamIndex -= shift;
+            int size = Marshal.SizeOf(type);
-        Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные
+            IntPtr ptr = IntPtr.Zero;
+            try
+            {
+                ptr = Marshal.AllocHGlobal(size);
 
-        DroneStreamHead.Size = 0; // Отменяем прошлый заголовок
+                Marshal.Copy(arr, 0, ptr, size);
 
-        ret.Add(ClientRequestResponse(DroneStreamHead, body));
+                mem = Marshal.PtrToStructure(ptr, type);
-      }
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(ptr);
+            }
+
+            return mem;
+        }
 
-      return ret;
     }
-
-    public byte[] SendReqest()
-    {
-      DroneData.DataHead imu = new DroneData.DataHead();
-      imu.Size = DroneData.DataHead.StrLen;
-      imu.Mode = DroneData.DataMode.Request;
-      imu.Type = DroneData.DataType.DataIMU;
-
-      DroneData.DataHead pos = new DroneData.DataHead();
-      pos.Size = DroneData.DataHead.StrLen;
-      pos.Mode = DroneData.DataMode.Request;
-      pos.Type = DroneData.DataType.DataPos;
-
-      byte[] si = getBytes(imu);
-      byte[] sp = getBytes(pos);
-      byte[] sm = SendDataMotor4();
-
-      byte[] send = new byte[si.Length + sp.Length + sm.Length];
-      si.CopyTo(send, 0);
-      sp.CopyTo(send, si.Length);
-      sm.CopyTo(send, si.Length + sp.Length);
-
-      return send;
-    }
-  }
 }

DroneClient/DroneData.cs

@@ -1,67 +0,0 @@
-using System.Runtime.InteropServices;
-
-namespace DroneData
-{
-  public enum DataMode : ushort
-  {
-    None = 0, Response = 1, Request = 2
-  };
-
-  public enum DataType : ushort
-  { 
-    None = 0, Head = 1,
-
-    // Output
-    DataIMU = 1001, DataPos = 1002, 
-
-    // Input
-    DataMotor4 = 2001, DataMotor6 = 2002
-  };
-
-  public struct DataHead
-  {
-    public int Size;
-
-    public DataMode Mode;
-    public DataType Type;
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
-  }
-
-  public struct XYZ { public float X, Y, Z; }
-
-  public struct DataIMU
-  {
-    public DataHead Head;
-    public XYZ Acc, Gyr, Mag;
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
-  }
-
-  public struct DataPos
-  {
-    public DataHead Head;
-    public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
-    public float LiDAR; // Äàò÷èê ïîñàäêè
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
-  }
-
-  public struct DataMotor4
-  {
-    public DataHead Head;
-    public ulong Count;
-    public float UL, UR, DL, DR;
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
-  }
-
-  public struct DataMotor6
-  {
-    public DataHead Head;
-    public ulong Count;
-    public float UL, UR, LL, RR, DL, DR;
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
-  }
-}

DroneClient/FormMain.cs

@@ -21,37 +21,34 @@ namespace DroneSimulator
 
       if (!data.Connect)
       {
-        try
+        Invoke((MethodInvoker)delegate
         {
-          Invoke((MethodInvoker)delegate
+          button_Connect.Text = "Connect";
-          {
+          button_Connect.BackColor = Color.Transparent;
-            button_Connect.Text = "Connect";
+          MessageBox.Show("Connection closed");
-            button_Connect.BackColor = Color.Transparent;
+        });
-            MessageBox.Show("Connection closed");
-          });
-        }
-        catch { }
 
         return;
       }
+
+      byte[] send = Drone.getBytes(sendDrone);
+
+      data.Server.Send(send);
     }
 
-    Drone dataDrone = new Drone();
+    Drone.DataIn sendDrone;
+
+    Drone.DataOut recvDrone;
 
     private void ReceiveCallback(object o)
     {
       ReceiveData data = (ReceiveData)o;
 
-      List<byte[]?>? send = dataDrone.DataStream(data.Buffer, data.Size);
+      recvDrone = (Drone.DataOut)Drone.fromBytes(data.Buffer, typeof(Drone.DataOut));
 
-      if (send == null) return;
+      byte[] send = Drone.getBytes(sendDrone);
-      try
+
-      {
+      try { data.Server.Send(send); }
-        foreach (byte[]? b in send)
-        {
-          if (b != null) data.Server?.Send(b);
-        }
-      }
       catch { }
     }
 
@@ -91,19 +88,17 @@ namespace DroneSimulator
 
     private void timer_Test_Tick(object sender, EventArgs e)
     {
-      label_Acc_X.Text = dataDrone.AccX.ToString();
+      label_Acc_X.Text = recvDrone.AccX.ToString();
-      label_Acc_Y.Text = dataDrone.AccY.ToString();
+      label_Acc_Y.Text = recvDrone.AccY.ToString();
-      label_Acc_Z.Text = dataDrone.AccZ.ToString();
+      label_Acc_Z.Text = recvDrone.AccZ.ToString();
 
-      label_Gyr_X.Text = dataDrone.GyrX.ToString();
+      label_Gyr_X.Text = recvDrone.GyrX.ToString();
-      label_Gyr_Y.Text = dataDrone.GyrY.ToString();
+      label_Gyr_Y.Text = recvDrone.GyrY.ToString();
-      label_Gyr_Z.Text = dataDrone.GyrZ.ToString();
+      label_Gyr_Z.Text = recvDrone.GyrZ.ToString();
 
-      label_Pos_X.Text = dataDrone.PosX.ToString();
+      label_Pos_X.Text = recvDrone.PosX.ToString();
-      label_Pos_Y.Text = dataDrone.PosY.ToString();
+      label_Pos_Y.Text = recvDrone.PosY.ToString();
-      label_Pos_L.Text = dataDrone.LaserRange.ToString();
+      label_Pos_L.Text = recvDrone.LaserRange.ToString();
-
-      netClient.SendData(dataDrone.SendReqest());
     }
 
     private void trackBar_Power_Scroll(object sender, EventArgs e)
@@ -112,7 +107,7 @@ namespace DroneSimulator
 
       label_Pow.Text = pow.ToString();
 
-      dataDrone.MotorUL = dataDrone.MotorUR = dataDrone.MotorDL = dataDrone.MotorDR = pow;
+      sendDrone.MotorUL = sendDrone.MotorUR = sendDrone.MotorDL = sendDrone.MotorDR = pow;
     }
 
     private void button_UU_MouseDown(object sender, MouseEventArgs e)
@@ -121,35 +116,35 @@ namespace DroneSimulator
 
       if (sender == button_UU)
       {
-        dataDrone.MotorUL -= pow; dataDrone.MotorUR -= pow;
+        sendDrone.MotorUL -= pow; sendDrone.MotorUR -= pow;
-        dataDrone.MotorDL += pow; dataDrone.MotorDR += pow;
+        sendDrone.MotorDL += pow; sendDrone.MotorDR += pow;
       }
       if (sender == button_DD)
       {
-        dataDrone.MotorUL += pow; dataDrone.MotorUR += pow;
+        sendDrone.MotorUL += pow; sendDrone.MotorUR += pow;
-        dataDrone.MotorDL -= pow; dataDrone.MotorDR -= pow;
+        sendDrone.MotorDL -= pow; sendDrone.MotorDR -= pow;
       }
       if (sender == button_LL)
       {
-        dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
+        sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow;
-        dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
+        sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow;
       }
       if (sender == button_RR)
       {
-        dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
+        sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow;
-        dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
+        sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow;
       }
 
       if (sender == button_ML)
       {
-        dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
+        sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow;
-        dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
+        sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow;
       }
 
       if (sender == button_MR)
       {
-        dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
+        sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow;
-        dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
+        sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow;
       }
     }
 

DroneClient/NetClient.cs

@@ -41,7 +41,9 @@ namespace DroneSimulator
     {
       if (Connected)
       {
-        Close();
+        try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
+        ServerSocket?.Close();
+        Connected = false;
         return ClientState.Stop;
       }
 
@@ -97,10 +99,5 @@ namespace DroneSimulator
       try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }  
       catch { }
     }
-
-    public void SendData(byte[] data)
-    {
-      try { ServerSocket?.Send(data); } catch { }
-    }
   }
 }

DroneSimulator/Drone.cs

@@ -1,7 +1,5 @@
-using System.CodeDom;
+using System.Numerics;
-using System.Numerics;
 using System.Runtime.InteropServices;
-using System.Security.Cryptography;
 
 namespace DroneSimulator
 {
@@ -14,8 +12,8 @@ namespace DroneSimulator
     public const float Dynamic = 10; // Динамика вращения
     public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
     public Quaternion Quat; // Основной кватернион
-    public float Power = 0; // Тяга всех двигателей (0-1)
+    public float Power = 0; // Тяга всех двигателей
-    public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
+    public float MaxPower; // Тяга всех двигателей
     public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
 
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
@@ -72,7 +70,7 @@ namespace DroneSimulator
       return mem;
     }
 
-    /*public struct DataOut
+    public struct DataOut
     {
       public float AccX, AccY, AccZ;
       public float GyrX, GyrY, GyrZ;
@@ -97,7 +95,7 @@ namespace DroneSimulator
     public struct DataIn
     {
       public float MotorUL, MotorUR, MotorDL, MotorDR;
-    }*/
+    }
 
     public struct DataVisual
     {
@@ -115,7 +113,9 @@ namespace DroneSimulator
     {
       while (DroneThread != null)
       {
-        Action(Environment.TickCount);
+        float time = Environment.TickCount - Timer;
+        Timer = Environment.TickCount;
+        Action(time / 1000);
         Thread.Sleep(1);
       }
     }
@@ -191,11 +191,8 @@ namespace DroneSimulator
       return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
     }
 
-    public void Action(int tick)
+    public void Action(float time)
     {
-      float time = (tick - Timer) / 1000.0f;
-      Timer = tick;
-
       if (!Active) return;
 
       float flow = Power;
@@ -209,7 +206,7 @@ namespace DroneSimulator
 
       Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
       AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass);
-
+      
       SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
       PosXYZ += SpdXYZ * time;
 
@@ -284,143 +281,5 @@ namespace DroneSimulator
       AccPRY.X = ((ul + ur) - (dl + dr));
       AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
     }
-
-    private void RecvDataMotor4(byte[] data)
-    {
-      DroneData.DataMotor4 mot = (DroneData.DataMotor4)fromBytes(data, typeof(DroneData.DataMotor4));
-      /* обработка */
-      SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR);
-    }
-
-    private byte[] SendDataIMU()
-    {
-      DroneData.DataIMU imu = new DroneData.DataIMU();
-
-      imu.Head.Size = Marshal.SizeOf(typeof(DroneData.DataIMU));
-      imu.Head.Mode = DroneData.DataMode.Response;
-      imu.Head.Type = DroneData.DataType.DataIMU;
-
-      imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z;
-      imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z;
-      imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0;
-
-      return getBytes(imu);
-    }
-
-    private byte[] SendDataPos()
-    {
-      DroneData.DataPos pos = new DroneData.DataPos();
-
-      pos.Head.Size = Marshal.SizeOf(typeof(DroneData.DataPos));
-      pos.Head.Mode = DroneData.DataMode.Response;
-      pos.Head.Type = DroneData.DataType.DataPos;
-
-      pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z;
-      pos.LiDAR = LaserRange;
-
-      return getBytes(pos);
-    }
-
-    private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
-    {
-      byte[] zero = new byte[0];
-
-      switch (head.Type)
-      {
-        case DroneData.DataType.DataIMU:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataIMU();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
-
-        case DroneData.DataType.DataPos:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataPos();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
-
-        case DroneData.DataType.DataMotor4:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              // ... //
-              //
-              return zero;
-            }
-            else
-            {
-              // Пришли данные
-              RecvDataMotor4(body);
-              return zero;
-            }
-          }
-      }
-
-      return zero;
-    }
-
-    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 };
-
-    public List<byte[]?>? DataStream(byte[]? data, int size)
-    {
-      List<byte[]?> ret = new List<byte[]?>();
-
-      if (data == null) return ret; // Последовательность не сформирована, ждать данных
-
-      if (size + DroneStreamIndex > DroneStreamCount) return null; // Ошибка переполнения, поток сломан (конец)
-
-      Array.Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
-      DroneStreamIndex += size;
-
-      while (true)
-      {
-        if (DroneStreamHead.Size == 0) // Заголовок ещё не получен
-        {
-          if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать
-          DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead));
-        }
-
-        if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный
-
-        byte[] body = new byte[DroneStreamHead.Size];
-
-        Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
-
-        int shift = DroneStreamHead.Size;
-
-        DroneStreamIndex -= shift;
-        Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные
-
-        DroneStreamHead.Size = 0; // Отменяем прошлый заголовок
-
-        ret.Add(ServerRequestResponse(DroneStreamHead, body));
-      }
-
-      return ret;
-    }
   }
 }

DroneSimulator/DroneData.cs

@@ -1,67 +0,0 @@
-using System.Runtime.InteropServices;
-
-namespace DroneData
-{
-  public enum DataMode : ushort
-  {
-    None = 0, Response = 1, Request = 2
-  };
-
-  public enum DataType : ushort
-  { 
-    None = 0, Head = 1,
-
-    // Output
-    DataIMU = 1001, DataPos = 1002, 
-
-    // Input
-    DataMotor4 = 2001, DataMotor6 = 2002
-  };
-
-  public struct DataHead
-  {
-    public int Size;
-
-    public DataMode Mode;
-    public DataType Type;
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
-  }
-
-  public struct XYZ { public float X, Y, Z; }
-
-  public struct DataIMU
-  {
-    public DataHead Head;
-    public XYZ Acc, Gyr, Mag;
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
-  }
-
-  public struct DataPos
-  {
-    public DataHead Head;
-    public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
-    public float LiDAR; // Äàò÷èê ïîñàäêè
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
-  }
-
-  public struct DataMotor4
-  {
-    public DataHead Head;
-    public ulong Count;
-    public float UL, UR, DL, DR;
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
-  }
-
-  public struct DataMotor6
-  {
-    public DataHead Head;
-    public ulong Count;
-    public float UL, UR, LL, RR, DL, DR;
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
-  }
-}

DroneSimulator/FormMain.cs

@@ -4,9 +4,6 @@ using System.Windows.Forms;
 using static System.Net.Mime.MediaTypeNames;
 using static System.Runtime.InteropServices.JavaScript.JSType;
 using System.Security.Policy;
-using System.Runtime.InteropServices;
-using System.CodeDom;
-using System.Linq;
 
 namespace DroneSimulator
 {
@@ -72,16 +69,13 @@ namespace DroneSimulator
 
       if (drone == null) return;
 
-      List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
+      Drone.DataIn id = (Drone.DataIn)Drone.fromBytes(data.Buffer, typeof(Drone.DataIn));
 
-      if (send == null) return;
+      drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR);
-      try 
+
-      {
+      Drone.DataOut od = drone.GetDataOut();
-        foreach (byte[]? b in send)
+
-        {
+      try { data.Client.Send(Drone.getBytes(od)); }
-          if (b != null) data.Client?.Send(b);
-        }
-      }
       catch { }
     }
 

DroneSimulator/NetServerClients.cs

@@ -1,6 +1,5 @@
 using System.Net.Sockets;
 using System.Net;
-using System.Drawing;
 
 namespace DroneSimulator
 {
@@ -17,9 +16,8 @@ namespace DroneSimulator
 
     public class ReceiveData
     {
-      
       public int ID;
-      public byte[] Buffer;
+      public byte[]? Buffer;
       public int Size;
 
       public Socket? Client;
@@ -29,8 +27,8 @@ namespace DroneSimulator
     {
       public int ID;
       public Socket? workSocket = null;
-      public const int count = 1024;
+      public const int BufferSize = 1024;
-      public byte[] buffer = new byte[count];
+      public byte[] buffer = new byte[BufferSize];
     }
 
     private int SocketID = 0;
@@ -103,7 +101,7 @@ namespace DroneSimulator
 
         ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler });
 
-        handler.BeginReceive(clientData.buffer, 0, ClientData.count, 0, new AsyncCallback(ReadCallback), clientData);
+        handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData);
       }
       else handler.Close();
 
@@ -134,7 +132,7 @@ namespace DroneSimulator
 
       try
       {
-        cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.count, 0, new AsyncCallback(ReadCallback), cd);
+        cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
       }
       catch { }
     }

www.txt

@@ -0,0 +1 @@
+Hi!!!