Удаление лишнего

Reviewed-on: #5

.gitignore

@@ -1,58 +1,3 @@
-# Файлы и папки Visual Studio
-*.obj
-*.exe
-*.pdb
-*.user
-*.aps
-*.pch
-*.vspscc
-*.vssscc
-*_i.c
-*_p.c
-*.ncb
-*.suo
-*.tlb
-*.tlh
-*.bak
-*.cache
-*.ilk
-*.log
-*.sbr
-*.scc
-*.idb
-*.tlog
-*.ipch
-*.db
-
-# Папки сборки
-bin/
-obj/
-[Bb]in/
-[Oo]bj/
-Debug/
-Release/
-x64/
-x86/
-[Any CPU]/
-
-# Файлы кэша и настройки VS
-.vscode/
-*.code-workspace
 .vs/
-*.sln.docstates
+obj/
-
+bin/
-# NuGet
-packages/
-*.nupkg
-*.snupkg
-
-# Дополнительные временные файлы
-Thumbs.db
-*.DS_Store
-
-# Игнорировать файлы резервирования
-~$*
-
-# Опционально: игнорировать файлы конфигурации пользователя
-appsettings.json
-*.config.user

DroneClient/FormMain.cs

@@ -112,37 +112,39 @@ namespace DroneSimulator
 
     private void button_UU_MouseDown(object sender, MouseEventArgs e)
     {
+      const float pow = 0.1f;
+
       if (sender == button_UU)
       {
-        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR -= 0.1f;
+        sendDrone.MotorUL -= pow; sendDrone.MotorUR -= pow;
-        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR += 0.1f;
+        sendDrone.MotorDL += pow; sendDrone.MotorDR += pow;
       }
       if (sender == button_DD)
       {
-        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR += 0.1f;
+        sendDrone.MotorUL += pow; sendDrone.MotorUR += pow;
-        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR -= 0.1f;
+        sendDrone.MotorDL -= pow; sendDrone.MotorDR -= pow;
       }
       if (sender == button_LL)
       {
-        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
+        sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow;
-        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
+        sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow;
       }
       if (sender == button_RR)
       {
-        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
+        sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow;
-        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
+        sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow;
       }
 
       if (sender == button_ML)
       {
-        sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
+        sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow;
-        sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
+        sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow;
       }
 
       if (sender == button_MR)
       {
-        sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
+        sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow;
-        sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
+        sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow;
       }
     }
 

DroneClient/NetClient.cs

@@ -1,103 +1,103 @@
-using System.Net;
+using System.Net.Sockets;
-using System.Net.Sockets;
+using System.Net;
 
 namespace DroneSimulator
 {
-    internal class NetClient
+  internal class NetClient
+  {
+    public class ConnectData
     {
-        public class ConnectData
+      public bool Connect;
-        {
-            public bool Connect;
 
-            public Socket? Server;
+      public Socket? Server;
-        }
-
-        public class ReceiveData
-        {
-            public byte[]? Buffer;
-            public int Size;
-
-            public Socket? Server;
-        }
-
-        private class ServerData
-        {
-            public const int size = 1024;
-            public byte[] buffer = new byte[size];
-        }
-
-        private bool Connected = false;
-        private Socket? ServerSocket = null;
-        private ServerData DataServer = new ServerData();
-
-        public delegate void ClientCallback(object o);
-
-        private ClientCallback? ConnectionCallback;
-        private ClientCallback? ReceiveCallback;
-
-        public enum ClientState { Error, Connected, Stop };
-
-        public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
-        {
-            if (Connected)
-            {
-                try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
-                ServerSocket?.Close();
-                Connected = false;
-                return ClientState.Stop;
-            }
-
-            ConnectionCallback = Connection;
-            ReceiveCallback = Receive;
-
-            IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
-            ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
-
-            try { ServerSocket.Connect(ep); }
-            catch { ServerSocket.Close(); return ClientState.Error; }
-
-            Connected = true;
-
-            ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket });
-
-            ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket };
-
-            try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); }
-            catch { }
-
-            return ClientState.Connected;
-        }
-
-        public void Close()
-        {
-            try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
-            ServerSocket?.Close();
-            Connected = false;
-        }
-
-        public void ReadCallback(IAsyncResult ar)
-        {
-            ReceiveData cd = (ReceiveData)ar.AsyncState;
-            if (cd == null) return;
-
-            int bytes = 0;
-            try { bytes = ServerSocket.EndReceive(ar); } catch { }
-
-            if (bytes == 0)
-            {
-                ServerSocket?.Close();
-
-                Connected = false;
-
-                if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
-
-                return;
-            }
-
-            ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
-
-            try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }
-            catch { }
-        }
     }
+
+    public class ReceiveData
+    {
+      public byte[]? Buffer;
+      public int Size;
+
+      public Socket? Server;
+    }
+
+    private class ServerData
+    {
+      public const int size = 1024;
+      public byte[] buffer = new byte[size];
+    }
+
+    private bool Connected = false;
+    private Socket? ServerSocket = null;
+    private ServerData DataServer = new ServerData();
+
+    public delegate void ClientCallback(object o);
+
+    private ClientCallback? ConnectionCallback;
+    private ClientCallback? ReceiveCallback;
+
+    public enum ClientState { Error, Connected, Stop };
+
+    public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
+    {
+      if (Connected)
+      {
+        try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
+        ServerSocket?.Close();
+        Connected = false;
+        return ClientState.Stop;
+      }
+
+      ConnectionCallback = Connection;
+      ReceiveCallback = Receive;
+
+      IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
+      ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+
+      try { ServerSocket.Connect(ep); }
+      catch { ServerSocket.Close(); return ClientState.Error; }
+
+      Connected = true;
+
+      ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket });
+
+      ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket };
+
+      try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); }
+      catch { }
+
+      return ClientState.Connected;
+    }
+
+    public void Close()
+    {
+      try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
+      ServerSocket?.Close();
+      Connected = false;
+    }
+
+    public void ReadCallback(IAsyncResult ar)
+    {
+      ReceiveData cd = (ReceiveData)ar.AsyncState;
+      if (cd == null) return;
+
+      int bytes = 0;
+      try { bytes = ServerSocket.EndReceive(ar); } catch {  }
+
+      if (bytes == 0)
+      {
+        ServerSocket?.Close();
+
+        Connected = false;
+
+        if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
+
+        return;
+      }
+
+      ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
+
+      try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }  
+      catch { }
+    }
+  }
 }

DroneClient/README.md

@@ -0,0 +1,3 @@
+# Client
+
+Образец клиента для подключения к симулятору.

DroneClientCpp/DroneClientCpp/x64/Debug/.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp

@@ -0,0 +1,2 @@
+#using <mscorlib.dll>
+[assembly: System::Runtime::Versioning::TargetFrameworkAttribute(L".NETFramework,Version=v4.7.2", FrameworkDisplayName=L".NET Framework 4.7.2")];

DroneSimulator/Drone.cs

@@ -3,254 +3,283 @@ using System.Runtime.InteropServices;
 
 namespace DroneSimulator
 {
-    internal class Drone
+  internal class Drone
+  {
+    public int ID;
+    public float Mass; // Масса
+    public bool Active; // Живой?
+    public float Length; // Длинна лучей
+    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
+    public float MaxPower; // Тяга всех двигателей
+    public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
+
+    public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
+    public float LaserRange; // Имитация: Дальномер
+
+    private const float Gravity = 9.8f;
+
+    private const float TO_GRAD = 180 / MathF.PI;
+    private const float TO_RADI = MathF.PI / 180;
+
+    private Thread DroneThread;
+    private int Timer;
+
+    private static int CounterID = 0;
+
+    public static byte[] getBytes(object data)
     {
-        public int ID;
+      int size = Marshal.SizeOf(data);
-        public float Mass; // Масса
+      byte[] arr = new byte[size];
-        public bool Active; // Живой?
-        public float Length; // Длинна лучей
-        public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
-        public Quaternion Quat; // Основной кватернион
-        public float Power = 0; // Тяга всех двигателей
-        public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
 
-        public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
+      IntPtr ptr = IntPtr.Zero;
-        public float LaserRange; // Имитация: Дальномер
+      try
-
+      {
-        private const float Gravity = 1.0f;
+        ptr = Marshal.AllocHGlobal(size);
-
+        Marshal.StructureToPtr(data, ptr, true);
-        private const float TO_GRAD = 180 / MathF.PI;
+        Marshal.Copy(ptr, arr, 0, size);
-        private const float TO_RADI = MathF.PI / 180;
+      }
-
+      finally
-        private Thread DroneThread;
+      {
-        private int Timer;
+        Marshal.FreeHGlobal(ptr);
-
+      }
-        private static int CounterID = 0;
+      return arr;
-
-
-
-        public struct DataOut
-        {
-            public float AccX, AccY, AccZ;
-            public float GyrX, GyrY, GyrZ;
-            public float PosX, PosY;
-            public float LaserRange;
-
-            public byte[] getBytes()
-            {
-                int size = Marshal.SizeOf(this);
-                byte[] arr = new byte[size];
-
-                IntPtr ptr = IntPtr.Zero;
-                try
-                {
-                    ptr = Marshal.AllocHGlobal(size);
-                    Marshal.StructureToPtr(this, ptr, true);
-                    Marshal.Copy(ptr, arr, 0, size);
-                }
-                finally
-                {
-                    Marshal.FreeHGlobal(ptr);
-                }
-                return arr;
-            }
-        }
-
-        public struct DataIn
-        {
-            public float MotorUL, MotorUR, MotorDL, MotorDR;
-
-            public void fromBytes(byte[] arr)
-            {
-                DataIn mem = new DataIn();
-
-                int size = Marshal.SizeOf(mem);
-                IntPtr ptr = IntPtr.Zero;
-                try
-                {
-                    ptr = Marshal.AllocHGlobal(size);
-
-                    Marshal.Copy(arr, 0, ptr, size);
-
-                    mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType());
-                }
-                finally
-                {
-                    Marshal.FreeHGlobal(ptr);
-                }
-
-                this = mem;
-            }
-        }
-
-        private void ThreadFunction()
-        {
-            while (DroneThread != null)
-            {
-                float time = Environment.TickCount - Timer;
-                Timer = Environment.TickCount;
-                Action(time / 100);
-                Thread.Sleep(1);
-            }
-        }
-
-        public Drone(int id)
-        {
-            ID = id;
-            Active = false;
-            PosXYZ = new Vector3(2000, 1000, 0);
-            SpdXYZ = Vector3.Zero;
-            AccXYZ = Vector3.Zero;
-            Quat = Quaternion.Identity;
-
-            DroneThread = new Thread(new ThreadStart(ThreadFunction));
-            Timer = Environment.TickCount;
-            DroneThread.Start();
-        }
-
-        public int Create(float mass, float len)
-        {
-            Mass = Range(mass);
-            Length = len;
-
-            Active = true;
-
-            return ID;
-        }
-
-        public void Close()
-        {
-            DroneThread = null;
-        }
-
-        private float GetAngle(float a1, float a2, float az)
-        {
-            if (a2 == 0.0f && az == 0.0f)
-            {
-                if (a1 > 0) return 90;
-                if (a1 < 0) return -90;
-                return 0;
-            }
-            return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD;
-        }
-
-        public void Rotate(float x, float y, float z)
-        {
-            x = x * MathF.PI / 180;
-            y = y * MathF.PI / 180;
-            z = -z * MathF.PI / 180;
-
-            Quaternion map = Quat;
-            Quaternion spd = new Quaternion(x, y, z, 0);
-            Quaternion aq = spd * map;
-
-            map.W -= 0.5f * aq.W;
-            map.X -= 0.5f * aq.X;
-            map.Y -= 0.5f * aq.Y;
-            map.Z -= 0.5f * aq.Z;
-
-            Quat = Quaternion.Normalize(map);
-        }
-
-        public Vector4 GetOrientation()
-        {
-            Quaternion grav = new Quaternion(0, 0, 1, 0);
-
-            grav = (Quat * grav) * Quaternion.Inverse(Quat);
-
-            float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD;
-            if (yaw < 0.0f) yaw = 360.0f + yaw;
-
-            return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
-        }
-
-        public void Action(float time)
-        {
-            if (!Active) return;
-
-            float flow = Power;
-
-            if (PosXYZ.Z < 100)
-            {
-                flow += flow * 0.1f; // Воздушная подушка
-            }
-
-            Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
-            AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass;
-
-            SpdPRY += AccPRY * time / (Mass * Length);
-
-            SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
-            PosXYZ += SpdXYZ * time;
-
-            if (PosXYZ.Z < 0)
-            {
-                SpdPRY = Vector3.Zero;
-                SpdXYZ.X = 0;
-                SpdXYZ.Y = 0;
-                Quat = Quaternion.Identity;
-            }
-            else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
-
-            Vector4 ori = GetOrientation();
-
-            if (PosXYZ.Z < 0)
-            {
-                PosXYZ.Z = 0;
-
-                /*if (SpdXYZ.Z < -5)
-                {
-                  Active = false; // Сильно ударился о землю
-                }*/
-
-                /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
-                {
-                  Active = false; // Повредил винты при посадке
-                }*/
-
-                SpdXYZ.Z = 0;
-
-                Acc = new Vector3(0, 0, 1);
-                Gyr = Vector3.Zero;
-                LaserRange = 0;
-            }
-            else
-            {
-                /*if (ori.W < 0)
-                {
-                  Active = false; // Перевернулся вверх ногами
-                }*/
-
-                Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
-                grav = (Quat * grav) * Quaternion.Inverse(Quat);
-                Acc = new Vector3(grav.X, grav.Y, grav.Z);
-
-                Gyr = SpdPRY;
-
-                float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
-
-                if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
-                else LaserRange = float.MaxValue;
-            }
-        }
-
-        private float Range(float pow)
-        {
-            if (pow > 1) pow = 1;
-            if (pow < 0) pow = 0;
-
-            return pow;
-        }
-
-        public void SetQadroPow(float ul, float ur, float dl, float dr)
-        {
-            ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr);
-
-            Power = (ul + ur + dl + dr) / 4;
-
-            AccPRY.Y = ((ul + dl) - (ur + dr));
-            AccPRY.X = ((ul + ur) - (dl + dr));
-            AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
-        }
     }
+
+    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;
+    }
+
+    public struct DataOut
+    {
+      public float AccX, AccY, AccZ;
+      public float GyrX, GyrY, GyrZ;
+      public float PosX, PosY;
+      public float LaserRange;
+    }
+
+    public DataOut GetDataOut()
+    {
+      DataOut data = new DataOut();
+
+      data.AccX = Acc.X; data.AccY = Acc.Y; data.AccZ = Acc.Z;
+      data.GyrX = Gyr.X; data.GyrY = Gyr.Y; data.GyrZ = Gyr.Z;
+
+      data.PosX = PosXYZ.X; data.PosY = PosXYZ.Y;
+
+      data.LaserRange = LaserRange;
+
+      return data;
+    }
+
+    public struct DataIn
+    {
+      public float MotorUL, MotorUR, MotorDL, MotorDR;
+    }
+
+    public struct DataVisual
+    {
+      public int ID; // Идентификатор
+      public float W, X, Y, Z; // Кватернион вращения
+      public float PosX, PosY, PosZ; // Координаты в пространстве
+    }
+
+    public DataVisual GetVisual()
+    {
+      return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z };
+    }
+
+    private void ThreadFunction()
+    {
+      while (DroneThread != null)
+      {
+        float time = Environment.TickCount - Timer;
+        Timer = Environment.TickCount;
+        Action(time / 1000);
+        Thread.Sleep(1);
+      }
+    }
+
+    public Drone(int id)
+    {
+      ID = id;
+      Active = false;
+      PosXYZ = Vector3.Zero;
+      SpdXYZ = Vector3.Zero;
+      AccXYZ = Vector3.Zero;
+      Quat = Quaternion.Identity;
+
+      DroneThread = new Thread(new ThreadStart(ThreadFunction));
+      Timer = Environment.TickCount;
+      DroneThread.Start();
+    }
+
+    public int Create(float power, float mass, float len)
+    {
+      Mass = mass;
+      Length = len;
+      MaxPower = power;
+
+      Active = true;
+
+      return ID;
+    }
+
+    public void Close()
+    {
+      DroneThread = null;
+    }
+
+    private float GetAngle(float a1, float a2, float az)
+    {
+      if (a2 == 0.0f && az == 0.0f)
+      {
+        if (a1 > 0) return 90;
+        if (a1 < 0) return -90;
+        return 0;
+      }
+      return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD;
+    }
+
+    public void Rotate(float x, float y, float z)
+    {
+      x = x * MathF.PI / 180;
+      y = y * MathF.PI / 180;
+      z = -z * MathF.PI / 180;
+
+      Quaternion map = Quat;
+      Quaternion spd = new Quaternion(x, y, z, 0);
+      Quaternion aq = spd * map;
+
+      map.W -= 0.5f * aq.W;
+      map.X -= 0.5f * aq.X;
+      map.Y -= 0.5f * aq.Y;
+      map.Z -= 0.5f * aq.Z;
+
+      Quat = Quaternion.Normalize(map);
+    }
+
+    public Vector4 GetOrientation()
+    {
+      Quaternion grav = new Quaternion(0, 0, 1, 0);
+
+      grav = (Quat * grav) * Quaternion.Inverse(Quat);
+
+      float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD;
+      if (yaw < 0.0f) yaw = 360.0f + yaw;
+
+      return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
+    }
+
+    public void Action(float time)
+    {
+      if (!Active) return;
+
+      float flow = Power;
+
+      if (PosXYZ.Z < 0.3f)
+      {
+        flow += flow * 0.1f; // Воздушная подушка
+      }
+
+      SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
+
+      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;
+
+      AccXYZ /= Gravity; // Вернуть измерения в G
+
+      if (PosXYZ.Z < 0)
+      {
+        SpdPRY = Vector3.Zero;
+        SpdXYZ.X = 0;
+        SpdXYZ.Y = 0;
+        Quat = Quaternion.Identity;
+      }
+      else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
+
+      Vector4 ori = GetOrientation();
+
+      if (PosXYZ.Z < 0)
+      {
+        PosXYZ.Z = 0;
+
+        /*if (SpdXYZ.Z < -5)
+        {
+          Active = false; // Сильно ударился о землю
+        }*/
+
+        /*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
+        {
+          Active = false; // Повредил винты при посадке
+        }*/
+
+        SpdXYZ.Z = 0;
+
+        Acc = new Vector3(0, 0, 1);
+        Gyr = Vector3.Zero;
+        LaserRange = 0;
+      }
+      else
+      {
+        if (ori.W < 0)
+        {
+          //Active = false; // Перевернулся вверх ногами
+        }
+
+        Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
+        //grav = (Quat * grav) * Quaternion.Inverse(Quat); // Инерциальный акселерометр (тест)
+        Acc = new Vector3(grav.X, grav.Y, grav.Z);
+
+        Gyr = SpdPRY;
+
+        float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
+
+        if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
+        else LaserRange = float.MaxValue;
+      }
+    }
+
+    private float Range(float pow)
+    {
+      if (pow > 1) pow = 1;
+      if (pow < 0) pow = 0;
+
+      return pow * MaxPower;
+    }
+
+    public void SetQadroPow(float ul, float ur, float dl, float dr)
+    {
+      ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr);
+
+      Power = (ul + ur + dl + dr) / 4;
+
+      AccPRY.Y = ((ul + dl) - (ur + dr));
+      AccPRY.X = ((ul + ur) - (dl + dr));
+      AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
+    }
+  }
 }

DroneSimulator/FormMain.Designer.cs

@@ -38,6 +38,10 @@
       tabControl_Menu = new TabControl();
       tabPage_Main = new TabPage();
       groupBox_Visual = new GroupBox();
+      numericUpDown_Visual_Limit = new NumericUpDown();
+      label1 = new Label();
+      label_Visual_Num = new Label();
+      label3 = new Label();
       button_Visual_Start = new Button();
       numericUpDown_Visual_Port = new NumericUpDown();
       label_Visual_Port = new Label();
@@ -63,6 +67,7 @@
       tabControl_Menu.SuspendLayout();
       tabPage_Main.SuspendLayout();
       groupBox_Visual.SuspendLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).BeginInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit();
       groupBox_Clients.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit();
@@ -144,18 +149,61 @@
       // 
       // groupBox_Visual
       // 
+      groupBox_Visual.Controls.Add(numericUpDown_Visual_Limit);
+      groupBox_Visual.Controls.Add(label1);
+      groupBox_Visual.Controls.Add(label_Visual_Num);
+      groupBox_Visual.Controls.Add(label3);
       groupBox_Visual.Controls.Add(button_Visual_Start);
       groupBox_Visual.Controls.Add(numericUpDown_Visual_Port);
       groupBox_Visual.Controls.Add(label_Visual_Port);
       groupBox_Visual.Dock = DockStyle.Top;
       groupBox_Visual.Location = new Point(3, 83);
       groupBox_Visual.Name = "groupBox_Visual";
-      groupBox_Visual.Size = new Size(204, 62);
+      groupBox_Visual.Size = new Size(204, 91);
       groupBox_Visual.TabIndex = 2;
       groupBox_Visual.TabStop = false;
       groupBox_Visual.Tag = "#visual";
       groupBox_Visual.Text = "Visual";
       // 
+      // numericUpDown_Visual_Limit
+      // 
+      numericUpDown_Visual_Limit.Location = new Point(44, 57);
+      numericUpDown_Visual_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
+      numericUpDown_Visual_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
+      numericUpDown_Visual_Limit.Name = "numericUpDown_Visual_Limit";
+      numericUpDown_Visual_Limit.Size = new Size(42, 23);
+      numericUpDown_Visual_Limit.TabIndex = 13;
+      numericUpDown_Visual_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 });
+      // 
+      // label1
+      // 
+      label1.AutoSize = true;
+      label1.Location = new Point(6, 59);
+      label1.Name = "label1";
+      label1.Size = new Size(37, 15);
+      label1.TabIndex = 12;
+      label1.Tag = "#clients_limit";
+      label1.Text = "Limit:";
+      // 
+      // label_Visual_Num
+      // 
+      label_Visual_Num.AutoSize = true;
+      label_Visual_Num.Location = new Point(161, 59);
+      label_Visual_Num.Name = "label_Visual_Num";
+      label_Visual_Num.Size = new Size(13, 15);
+      label_Visual_Num.TabIndex = 11;
+      label_Visual_Num.Text = "0";
+      // 
+      // label3
+      // 
+      label3.AutoSize = true;
+      label3.Location = new Point(112, 59);
+      label3.Name = "label3";
+      label3.Size = new Size(43, 15);
+      label3.TabIndex = 10;
+      label3.Tag = "#clients_count";
+      label3.Text = "Count:";
+      // 
       // button_Visual_Start
       // 
       button_Visual_Start.Location = new Point(112, 22);
@@ -165,6 +213,7 @@
       button_Visual_Start.Tag = "#visual_start";
       button_Visual_Start.Text = "Start";
       button_Visual_Start.UseVisualStyleBackColor = true;
+      button_Visual_Start.Click += button_Visual_Start_Click;
       // 
       // numericUpDown_Visual_Port
       // 
@@ -376,6 +425,7 @@
       tabPage_Main.ResumeLayout(false);
       groupBox_Visual.ResumeLayout(false);
       groupBox_Visual.PerformLayout();
+      ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).EndInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).EndInit();
       groupBox_Clients.ResumeLayout(false);
       groupBox_Clients.PerformLayout();
@@ -416,5 +466,9 @@
     private Panel panel1;
     private ToolStripMenuItem exitToolStripMenuItem;
     private System.Windows.Forms.Timer timer_Test;
+    private NumericUpDown numericUpDown_Visual_Limit;
+    private Label label1;
+    private Label label_Visual_Num;
+    private Label label3;
   }
 }

DroneSimulator/FormMain.cs

@@ -12,6 +12,7 @@ namespace DroneSimulator
     Screen2D screen2D = null;
 
     NetServerClients netServerClient = new NetServerClients();
+    NetServerVisual netServerVisual = new NetServerVisual();
 
     List<Drone> AllDrones = new List<Drone>();
 
@@ -20,7 +21,7 @@ namespace DroneSimulator
       InitializeComponent();
     }
 
-    private void ConnectionCallback(object o)
+    private void ClientConnectionCallback(object o)
     {
       NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
 
@@ -32,7 +33,7 @@ namespace DroneSimulator
       if (data.Connect)
       {
         Drone drone = new Drone(data.ID);
-        drone.Create(0.5f, 10.0f);
+        drone.Create(1.0f, 0.5f, 1.0f);
 
         screen2D.CreateDrone(Color.Red, data.ID);
 
@@ -53,7 +54,7 @@ namespace DroneSimulator
       }
     }
 
-    private void ReceiveCallback(object o)
+    private void ClientReceiveCallback(object o)
     {
       NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
 
@@ -68,31 +69,24 @@ namespace DroneSimulator
 
       if (drone == null) return;
 
-      Drone.DataIn id = new Drone.DataIn();
+      Drone.DataIn id = (Drone.DataIn)Drone.fromBytes(data.Buffer, typeof(Drone.DataIn));
-
-      id.fromBytes(data.Buffer);
 
       drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR);
 
-      Drone.DataOut od = new Drone.DataOut();
+      Drone.DataOut od = drone.GetDataOut();
 
-      od.AccX= drone.Acc.X; od.AccY= drone.Acc.Y; od.AccZ= drone.Acc.Z;
+      try { data.Client.Send(Drone.getBytes(od)); }
-      od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z;
-      od.PosX= drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y;
-      od.LaserRange = drone.LaserRange;
-
-      try { data.Client.Send(od.getBytes()); }
       catch { }
     }
 
     private void button_Client_Start_Click(object sender, EventArgs e)
     {
-      var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ConnectionCallback, ReceiveCallback);
+      var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
       switch (done)
       {
         case NetServerClients.ServerState.Error:
           {
-            MessageBox.Show("Error to start server");
+            MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
             break;
           }
         case NetServerClients.ServerState.Start:
@@ -139,12 +133,70 @@ namespace DroneSimulator
       {
         screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
       }
-     
+
       screen2D.DrawScene();
     }
     private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
     {
       foreach (Drone d in AllDrones) d.Close();
     }
+
+    private void VisualConnectionCallback(object o)
+    {
+      NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;
+
+      Invoke((MethodInvoker)delegate
+      {
+        label_Clients_Num.Text = data.Count.ToString();
+      });
+
+      if (data.Connect)
+      {
+        //---
+      }
+      else
+      {
+        //---
+      }
+    }
+
+    private void VisualReceiveCallback(object o)
+    {
+      NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
+
+      foreach (Drone d in AllDrones)
+      {
+        Drone.DataVisual v = d.GetVisual();
+
+        try { data.Client.Send(Drone.getBytes(v)); }
+        catch { }
+      }
+    }
+
+    private void button_Visual_Start_Click(object sender, EventArgs e)
+    {
+      var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
+      switch (done)
+      {
+        case NetServerVisual.ServerState.Error:
+          {
+            MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+            break;
+          }
+        case NetServerVisual.ServerState.Start:
+          {
+            button_Visual_Start.Text = "Stop";
+            button_Visual_Start.BackColor = Color.LimeGreen;
+            break;
+          }
+        case NetServerVisual.ServerState.Stop:
+          {
+            label_Visual_Num.Text = "0";
+            button_Visual_Start.Text = "Start";
+            button_Visual_Start.BackColor = Color.Transparent;
+            break;
+          }
+      }
+    }
   }
 }

DroneSimulator/NetServerClients.cs

@@ -1,140 +1,140 @@
-using System.Net;
+using System.Net.Sockets;
-using System.Net.Sockets;
+using System.Net;
 
 namespace DroneSimulator
 {
-    internal class NetServerClients
+  internal class NetServerClients
+  {
+    public class ConnectData
     {
-        public class ConnectData
+      public int ID;
-        {
+      public bool Connect;
-            public int ID;
+      public int Count;
-            public bool Connect;
-            public int Count;
 
-            public Socket? Client;
+      public Socket? Client;
-        }
-
-        public class ReceiveData
-        {
-            public int ID;
-            public byte[]? Buffer;
-            public int Size;
-
-            public Socket? Client;
-        }
-
-        private class ClientData
-        {
-            public int ID;
-            public Socket? workSocket = null;
-            public const int BufferSize = 1024;
-            public byte[] buffer = new byte[BufferSize];
-        }
-
-        private int SocketID = 0;
-        private int SocketLimit;
-        private Socket? ServerSocket;
-        private List<ClientData> ClientSockets = new List<ClientData>();
-
-        public delegate void ServerCallback(object o);
-
-        private ServerCallback? ConnectionCallback;
-        private ServerCallback? ReceiveCallback;
-
-        private bool Active = false;
-
-        public enum ServerState { Error, Start, Stop };
-
-        public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive)
-        {
-            if (Active)
-            {
-                ServerSocket?.Close();
-                foreach (ClientData c in ClientSockets)
-                {
-                    try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { }
-                    c.workSocket?.Close();
-                }
-                ClientSockets.Clear();
-                return ServerState.Stop;
-            }
-
-            ConnectionCallback = Connection;
-            ReceiveCallback = Receive;
-
-            SocketLimit = Limit;
-
-            IPEndPoint ip = new(IPAddress.Any, Port);
-            ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
-
-            try
-            {
-                ServerSocket.Bind(ip);
-                ServerSocket.Listen(10);
-                ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket);
-                Active = true;
-            }
-            catch { ServerSocket.Close(); return ServerState.Error; }
-
-            return ServerState.Start;
-        }
-
-        public void AcceptCallback(IAsyncResult ar)
-        {
-            Socket listener = (Socket)ar.AsyncState;
-            if (listener == null) return;
-
-            Socket handler;
-
-            try { handler = listener.EndAccept(ar); }
-            catch { ServerSocket?.Close(); Active = false; return; }
-
-            if (SocketLimit > ClientSockets.Count)
-            {
-                ClientData clientData = new ClientData();
-
-                clientData.ID = ++SocketID;
-
-                clientData.workSocket = handler;
-
-                ClientSockets.Add(clientData);
-
-                ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler });
-
-                handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData);
-            }
-            else handler.Close();
-
-            listener.BeginAccept(new AsyncCallback(AcceptCallback), listener);
-        }
-
-        public void ReadCallback(IAsyncResult ar)
-        {
-            ClientData cd = (ClientData)ar.AsyncState;
-            if (cd == null) return;
-
-            int bytes = 0;
-            try { bytes = cd.workSocket.EndReceive(ar); }
-            catch { }
-
-            if (bytes == 0)
-            {
-                cd.workSocket?.Close();
-
-                ClientSockets.Remove(cd);
-
-                ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null });
-
-                return;
-            }
-
-            ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
-
-            try
-            {
-                cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
-            }
-            catch { }
-        }
     }
+
+    public class ReceiveData
+    {
+      public int ID;
+      public byte[]? Buffer;
+      public int Size;
+
+      public Socket? Client;
+    }
+
+    private class ClientData
+    {
+      public int ID;
+      public Socket? workSocket = null;
+      public const int BufferSize = 1024;
+      public byte[] buffer = new byte[BufferSize];
+    }
+
+    private int SocketID = 0;
+    private int SocketLimit;
+    private Socket? ServerSocket;
+    private List<ClientData> ClientSockets = new List<ClientData>();
+
+    public delegate void ServerCallback(object o);
+
+    private ServerCallback? ConnectionCallback;
+    private ServerCallback? ReceiveCallback;
+
+    private bool Active = false;
+
+    public enum ServerState { Error, Start, Stop };
+
+    public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive)
+    {
+      if (Active)
+      {
+        ServerSocket?.Close();
+        foreach (ClientData c in ClientSockets)
+        {
+          try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { }
+          c.workSocket?.Close();
+        }
+        ClientSockets.Clear();
+        return ServerState.Stop;
+      }
+
+      ConnectionCallback = Connection;
+      ReceiveCallback = Receive;
+
+      SocketLimit = Limit;
+
+      IPEndPoint ip = new(IPAddress.Any, Port);
+      ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+
+      try
+      {
+        ServerSocket.Bind(ip);
+        ServerSocket.Listen(10);
+        ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket);
+        Active = true;
+      }
+      catch { ServerSocket.Close(); return ServerState.Error; }
+
+      return ServerState.Start;
+    }
+
+    public void AcceptCallback(IAsyncResult ar)
+    {
+      Socket listener = (Socket)ar.AsyncState;
+      if (listener == null) return;
+
+      Socket handler;
+
+      try { handler = listener.EndAccept(ar); }
+      catch{ ServerSocket?.Close(); Active = false; return; }
+
+      if (SocketLimit > ClientSockets.Count)
+      {
+        ClientData clientData = new ClientData();
+
+        clientData.ID = ++SocketID;
+
+        clientData.workSocket = handler;
+
+        ClientSockets.Add(clientData);
+
+        ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler });
+
+        handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData);
+      }
+      else handler.Close();
+
+      listener.BeginAccept(new AsyncCallback(AcceptCallback), listener);
+    }
+
+    public void ReadCallback(IAsyncResult ar)
+    {
+      ClientData cd = (ClientData)ar.AsyncState;
+      if (cd == null) return;
+
+      int bytes = 0;
+      try { bytes = cd.workSocket.EndReceive(ar); }
+      catch {  }
+
+      if (bytes == 0)
+      {
+        cd.workSocket?.Close();
+
+        ClientSockets.Remove(cd);
+
+        ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null });
+
+        return;
+      }
+
+      ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
+
+      try
+      {
+        cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
+      }
+      catch { }
+    }
+  }
 }

DroneSimulator/NetServerVisual.cs

@@ -0,0 +1,134 @@
+using System.Net.Sockets;
+using System.Net;
+
+namespace DroneSimulator
+{
+  internal class NetServerVisual
+  {
+    public class ConnectData
+    {
+      public bool Connect;
+      public int Count;
+
+      public Socket? Client;
+    }
+
+    public class ReceiveData
+    {
+      public byte[]? Buffer;
+      public int Size;
+
+      public Socket? Client;
+    }
+
+    private class ClientData
+    {
+      public Socket? workSocket = null;
+      public const int BufferSize = 1024;
+      public byte[] buffer = new byte[BufferSize];
+    }
+
+    private int SocketLimit;
+    private Socket? ServerSocket;
+    private List<ClientData> ClientSockets = new List<ClientData>();
+
+    public delegate void ServerCallback(object o);
+
+    private ServerCallback? ConnectionCallback;
+    private ServerCallback? ReceiveCallback;
+
+    private bool Active = false;
+
+    public enum ServerState { Error, Start, Stop };
+
+    public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive)
+    {
+      if (Active)
+      {
+        ServerSocket?.Close();
+        foreach (ClientData c in ClientSockets)
+        {
+          try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { }
+          c.workSocket?.Close();
+        }
+        ClientSockets.Clear();
+        return ServerState.Stop;
+      }
+
+      ConnectionCallback = Connection;
+      ReceiveCallback = Receive;
+
+      SocketLimit = Limit;
+
+      IPEndPoint ip = new(IPAddress.Any, Port);
+      ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+
+      try
+      {
+        ServerSocket.Bind(ip);
+        ServerSocket.Listen(10);
+        ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket);
+        Active = true;
+      }
+      catch { ServerSocket.Close(); return ServerState.Error; }
+
+      return ServerState.Start;
+    }
+
+    public void AcceptCallback(IAsyncResult ar)
+    {
+      Socket listener = (Socket)ar.AsyncState;
+      if (listener == null) return;
+
+      Socket handler;
+
+      try { handler = listener.EndAccept(ar); }
+      catch{ ServerSocket?.Close(); Active = false; return; }
+
+      if (SocketLimit > ClientSockets.Count)
+      {
+        ClientData clientData = new ClientData();
+
+        clientData.workSocket = handler;
+
+        ClientSockets.Add(clientData);
+
+        ConnectionCallback(new ConnectData { Connect = true, Count = ClientSockets.Count, Client = handler });
+
+        handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData);
+      }
+      else handler.Close();
+
+      listener.BeginAccept(new AsyncCallback(AcceptCallback), listener);
+    }
+
+    public void ReadCallback(IAsyncResult ar)
+    {
+      ClientData cd = (ClientData)ar.AsyncState;
+      if (cd == null) return;
+
+      int bytes = 0;
+      try { bytes = cd.workSocket.EndReceive(ar); }
+      catch {  }
+
+      if (bytes == 0)
+      {
+        cd.workSocket?.Close();
+
+        ClientSockets.Remove(cd);
+
+        ConnectionCallback(new ConnectData { Connect = false, Count = ClientSockets.Count, Client = null });
+
+        return;
+      }
+
+      ReceiveCallback(new ReceiveData { Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
+
+      try
+      {
+        cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
+      }
+      catch { }
+    }
+  }
+}

DroneSimulator/Screen2D.cs

@@ -2,179 +2,185 @@
 
 namespace DroneSimulator
 {
-    internal class Screen2D
+  internal class Screen2D
+  {
+
+    public delegate void DrawCallback(Bitmap bmp);
+
+    public Screen2D(DrawCallback callback)
     {
-
+      drawCallback = callback;
-        public delegate void DrawCallback(Bitmap bmp);
-
-        public Screen2D(DrawCallback callback)
-        {
-            drawCallback = callback;
-        }
-
-        private class DroneInfo
-        {
-            public int ID;
-            public Color RGB;
-            public Bitmap? Drone;
-            public Point PosXY;
-            public int Height = 0;
-
-            public PointF TiltXY = new Point(0, 0);
-            public int Azimuth = 0;
-        }
-
-        private DrawCallback drawCallback;
-        private Bitmap MainArea = new Bitmap(4096, 2560);
-        private List<DroneInfo> DroneList = new List<DroneInfo>();
-
-        public static Bitmap DrawQadro(Color ColorFill)
-        {
-            Bitmap drone = new Bitmap(130, 130);
-
-            using (Graphics g = Graphics.FromImage(drone))
-            {
-                g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;
-
-                SolidBrush solidBrush = new SolidBrush(ColorFill);
-
-                Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) };
-                g.FillPolygon(solidBrush, mid);
-
-                g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35));
-                g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35));
-                g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35));
-                g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35));
-
-                g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10));
-
-                g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129));
-
-                solidBrush.Dispose();
-            }
-
-            return RotateImage(drone, 90);
-        }
-
-        private static Bitmap RotateImage(Bitmap bmp, float angle)
-        {
-            Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height);
-
-            using (Graphics g = Graphics.FromImage(rotatedImage))
-            {
-                // Set the rotation point to the center in the matrix
-                g.TranslateTransform(bmp.Width / 2, bmp.Height / 2);
-                // Rotate
-                g.RotateTransform(angle);
-                // Restore rotation point in the matrix
-                g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2);
-                // Draw the image on the bitmap
-                g.DrawImage(bmp, new Point(0, 0));
-            }
-
-            return rotatedImage;
-        }
-
-        public void CreateDrone(Color ColorFill, int ID)
-        {
-            DroneInfo info = new DroneInfo();
-            info.ID = ID;
-            info.RGB = ColorFill;
-            info.Drone = DrawQadro(ColorFill);
-
-            DroneList.Add(info);
-        }
-
-        public void RemoveDrone(int ID)
-        {
-            foreach (DroneInfo i in DroneList)
-            {
-                if (i.ID != ID) continue;
-                DroneList.Remove(i);
-                break;
-            }
-        }
-
-        public void DrawScene()
-        {
-            using (Graphics g = Graphics.FromImage(MainArea))
-            {
-                g.Clear(Color.Gainsboro);
-                SolidBrush shadowBrush = new SolidBrush(Color.Black);
-                g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });
-
-                foreach (var d in DroneList)
-                {
-                    if (d.Azimuth >= 360) d.Azimuth -= 360;
-                    var bmp = RotateImage(d.Drone, d.Azimuth);
-
-                    g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
-
-                    g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
-
-                    //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
-
-                    float x1 = 0, y1 = 0;
-                    float x2 = 130, y2 = 0;
-                    float x3 = 0, y3 = 130;
-
-                    const float TO_RADI = MathF.PI / 180;
-
-                    Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
-                    Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
-
-                    tilt = tilt * rotate * rotate;
-
-                    if (tilt.Y > 0)
-                    {
-                        x1 = (int)(Math.Sin(tilt.Y) * 130);
-                        x3 = (int)(Math.Sin(tilt.Y) * 130);
-                    }
-                    else
-                    {
-                        x2 = (int)(Math.Cos(tilt.Y) * 130);
-                    }
-
-                    if (tilt.X > 0)
-                    {
-                        y1 = (int)(Math.Sin(tilt.X) * 130);
-                        y2 = (int)(Math.Sin(tilt.X) * 130);
-                    }
-                    else
-                    {
-                        y3 = (int)(Math.Cos(tilt.X) * 130);
-                    }
-
-                    PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
-                    PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
-                    PointF[] dest = { ul, ur, dl };
-
-                    g.DrawImage(bmp, dest);
-                }
-            }
-
-            drawCallback(MainArea);
-        }
-
-        public void Move(int id, Vector3 pos, Vector4 tilt)
-        {
-            const float TO_GRAD = 180 / MathF.PI;
-            const float TO_RADI = MathF.PI / 180;
-
-            foreach (var d in DroneList)
-            {
-                if (d.ID != id) continue;
-
-                d.PosXY.X = (int)pos.X;
-                d.PosXY.Y = MainArea.Height - (int)pos.Y;
-                d.Height = (int)pos.Z;
-
-                d.TiltXY.X = tilt.X * TO_RADI;
-                d.TiltXY.Y = tilt.Y * TO_RADI;
-                d.Azimuth = (int)tilt.Z;
-
-                break;
-            }
-        }
     }
+
+    private class DroneInfo
+    {
+      public int ID;
+      public Color RGB;
+      public Bitmap? Drone;
+      public Point PosXY;
+      public int Height = 0;
+
+      public PointF TiltXY = new Point(0, 0);
+      public int Azimuth = 0;
+    }
+
+    private float Scale = 100;
+    private DrawCallback drawCallback;
+    private Bitmap MainArea = new Bitmap(4096, 2560);
+    private List<DroneInfo> DroneList = new List<DroneInfo>();
+
+    public static Bitmap DrawQadro(Color ColorFill)
+    {
+      Bitmap drone = new Bitmap(130, 130);
+
+      using (Graphics g = Graphics.FromImage(drone))
+      {
+        g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;
+
+        SolidBrush solidBrush = new SolidBrush(ColorFill);
+
+        Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) };
+        g.FillPolygon(solidBrush, mid);
+
+        g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35));
+        g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35));
+        g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35));
+        g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35));
+
+        g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10));
+
+        g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129));
+
+        solidBrush.Dispose();
+      }
+
+      return RotateImage(drone, 90);
+    }
+
+    private static Bitmap RotateImage(Bitmap bmp, float angle)
+    {
+      Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height);
+
+      using (Graphics g = Graphics.FromImage(rotatedImage))
+      {
+        // Set the rotation point to the center in the matrix
+        g.TranslateTransform(bmp.Width / 2, bmp.Height / 2);
+        // Rotate
+        g.RotateTransform(angle);
+        // Restore rotation point in the matrix
+        g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2);
+        // Draw the image on the bitmap
+        g.DrawImage(bmp, new Point(0, 0));
+      }
+
+      return rotatedImage;
+    }
+
+    public void CreateDrone(Color ColorFill, int ID)
+    {
+      DroneInfo info = new DroneInfo();
+      info.ID = ID;
+      info.RGB = ColorFill;
+      info.Drone = DrawQadro(ColorFill);
+
+      DroneList.Add(info);
+    }
+
+    public void RemoveDrone(int ID)
+    {
+      foreach (DroneInfo i in DroneList)
+      {
+        if (i.ID != ID) continue;
+        DroneList.Remove(i);
+        break;
+      }      
+    }
+
+    public void DrawScene()
+    {
+      using (Graphics g = Graphics.FromImage(MainArea))
+      {
+        g.Clear(Color.Gainsboro);
+        SolidBrush shadowBrush = new SolidBrush(Color.Black);
+        g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });
+
+        foreach (var d in DroneList)
+        {
+          if (d.Azimuth >= 360) d.Azimuth -= 360;
+          var bmp = RotateImage(d.Drone, d.Azimuth);
+
+          g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
+
+          g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
+
+          //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
+
+          float x1 = 0, y1 = 0;
+          float x2 = 130, y2 = 0;
+          float x3 = 0, y3 = 130;
+
+          const float TO_RADI = MathF.PI / 180;
+
+          Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
+          Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
+
+          tilt = tilt * rotate * rotate;
+
+          if (tilt.Y > 0)
+          {
+            x1 = (int)(Math.Sin(tilt.Y) * 130);
+            x3 = (int)(Math.Sin(tilt.Y) * 130);
+          }
+          else
+          {
+            x2 = (int)(Math.Cos(tilt.Y) * 130);
+          }
+
+          if (tilt.X > 0)
+          {
+            y1 = (int)(Math.Sin(tilt.X) * 130);
+            y2 = (int)(Math.Sin(tilt.X) * 130);
+          }
+          else
+          {
+            y3 = (int)(Math.Cos(tilt.X) * 130);
+          }
+
+          PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
+          PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
+          PointF[] dest = { ul, ur, dl };
+
+          g.DrawImage(bmp, dest);
+        }
+      }
+
+      drawCallback(MainArea);
+    }
+
+    public void Move(int id, Vector3 pos, Vector4 tilt)
+    {
+      const float TO_GRAD = 180 / MathF.PI;
+      const float TO_RADI = MathF.PI / 180;
+
+      pos *= Scale;
+
+      pos.X += MainArea.Width / 2;
+      pos.Y += MainArea.Height / 2;
+
+      foreach (var d in DroneList)
+      {
+        if (d.ID != id) continue;
+
+        d.PosXY.X = (int)pos.X;
+        d.PosXY.Y = MainArea.Height - (int)pos.Y;
+        d.Height = (int)pos.Z;
+
+        d.TiltXY.X = tilt.X * TO_RADI;
+        d.TiltXY.Y = tilt.Y * TO_RADI;
+        d.Azimuth = (int)tilt.Z;
+
+        break;
+      }
+    }
+  }
 }

TestClientConnection/TestClientConnection.cpp

@@ -1,140 +0,0 @@
-#include <iostream>
-#include <WinSock2.h>
-#include <WS2tcpip.h>
-#include <thread>
-#include <atomic>
-#include <mutex>
-
-#pragma comment(lib, "Ws2_32.lib")
-
-struct DataIn
-{
-    float AccX, AccY, AccZ;
-    float GyrX, GyrY, GyrZ;
-    float PosX, PosY, LaserRange;
-} dataIn;
-
-struct DataOut
-{
-    float MotorUL, MotorUR, MotorDL, MotorDR;
-} dataOut;
-
-std::atomic<bool> running(true);  // Флаг работы потоков
-std::mutex dataMutex;  // Мьютекс для синхронизации доступа к dataIn и dataOut
-
-SOCKET ConnectToServer(const char* ip, int port)
-{
-    WSAData wsaData;
-    WORD DLLVersion = MAKEWORD(2, 1);
-
-    if (WSAStartup(DLLVersion, &wsaData) != 0)
-    {
-        std::cout << "Error: WSAStartup failed\n";
-        return INVALID_SOCKET;
-    }
-
-    SOCKADDR_IN addr;
-    inet_pton(AF_INET, ip, &addr.sin_addr);
-    addr.sin_port = htons(port);
-    addr.sin_family = AF_INET;
-
-    SOCKET Connection = socket(AF_INET, SOCK_STREAM, 0);
-    if (Connection == INVALID_SOCKET)
-    {
-        std::cout << "Error: Failed to create socket\n";
-        WSACleanup();
-        return INVALID_SOCKET;
-    }
-
-    if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
-    {
-        std::cout << "Error: Failed to connect to server\n";
-        closesocket(Connection);
-        WSACleanup();
-        return INVALID_SOCKET;
-    }
-
-    return Connection;
-}
-
-void CloseConnection(SOCKET& socket)
-{
-    if (socket != INVALID_SOCKET)
-    {
-        closesocket(socket);
-        WSACleanup();
-        socket = INVALID_SOCKET;
-    }
-}
-
-// Функция приема данных
-void ReceiveHandler(SOCKET socket)
-{
-    while (running)
-    {
-        DataIn tempData;
-        int result = recv(socket, (char*)&tempData, sizeof(tempData), 0);
-
-        if (result <= 0)
-        {
-            std::cout << "Error: Connection lost (recv failed)\n";
-            running = false;
-            break;
-        }
-
-        // Потокобезопасное обновление данных
-        std::lock_guard<std::mutex> lock(dataMutex);
-        dataIn = tempData;
-    }
-}
-
-// Функция отправки данных
-void SendHandler(SOCKET socket)
-{
-    while (running)
-    {
-        {
-            std::lock_guard<std::mutex> lock(dataMutex);
-            send(socket, (char*)&dataOut, sizeof(dataOut), 0);
-        }
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));  // Задержка для уменьшения нагрузки
-    }
-}
-
-int main()
-{
-    SOCKET Connection = ConnectToServer("127.0.0.1", 1001);
-    if (Connection == INVALID_SOCKET)
-    {
-        return 1;
-    }
-
-    dataOut.MotorUL = 10;
-    dataOut.MotorUR = 10;
-    dataOut.MotorDL = 10;
-    dataOut.MotorDR = 10;
-
-    // Создание потоков
-    std::thread recvThread(ReceiveHandler, Connection);
-    std::thread sendThread(SendHandler, Connection);
-
-    for (int i = 0; i < 1000000; i++)
-    {
-        {
-            std::lock_guard<std::mutex> lock(dataMutex);
-            std::cout << "Laser Range: " << dataIn.LaserRange << std::endl;
-        }
-        std::cout << "-----------------------------------------------------------" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(500));  // Задержка вывода
-    }
-
-    // Завершаем работу потоков
-    running = false;
-    recvThread.join();
-    sendThread.join();
-
-    CloseConnection(Connection);
-
-    system("pause");
-    return 0;
-}

TestClientConnection/TestClientConnection.vcxproj

@@ -1,135 +0,0 @@
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-    <ProjectGuid>{b7cc5245-b628-40e9-a9a0-a904e2bf25ea}</ProjectGuid>
-    <RootNamespace>TestClientConnection</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
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TestClientConnection/TestClientConnection.vcxproj.filters

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www.txt

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