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

@@ -1,5 +1,5 @@
-using System.Net;
+using System.Net.Sockets;
-using System.Net.Sockets;
+using System.Net;
 
 namespace DroneSimulator
 {

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

@@ -9,15 +9,17 @@ namespace DroneSimulator
     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 = 1.0f;
+    private const float Gravity = 9.8f;
 
     private const float TO_GRAD = 180 / MathF.PI;
     private const float TO_RADI = MathF.PI / 180;
@@ -27,25 +29,16 @@ namespace DroneSimulator
 
     private static int CounterID = 0;
 
-
+    public static byte[] getBytes(object data)
-
-        public struct DataOut
     {
-            public float AccX, AccY, AccZ;
+      int size = Marshal.SizeOf(data);
-            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.StructureToPtr(data, ptr, true);
         Marshal.Copy(ptr, arr, 0, size);
       }
       finally
@@ -54,17 +47,12 @@ namespace DroneSimulator
       }
       return arr;
     }
-        }
 
-        public struct DataIn
+    public static object fromBytes(byte[] arr, Type type)
     {
-            public float MotorUL, MotorUR, MotorDL, MotorDR;
+      object mem = new object();
 
-            public void fromBytes(byte[] arr)
+      int size = Marshal.SizeOf(type);
-            {
-                DataIn mem = new DataIn();
-
-                int size = Marshal.SizeOf(mem);
       IntPtr ptr = IntPtr.Zero;
       try
       {
@@ -72,15 +60,53 @@ namespace DroneSimulator
 
         Marshal.Copy(arr, 0, ptr, size);
 
-                    mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType());
+        mem = Marshal.PtrToStructure(ptr, type);
       }
       finally
       {
         Marshal.FreeHGlobal(ptr);
       }
 
-                this = mem;
+      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()
@@ -89,7 +115,7 @@ namespace DroneSimulator
       {
         float time = Environment.TickCount - Timer;
         Timer = Environment.TickCount;
-                Action(time / 100);
+        Action(time / 1000);
         Thread.Sleep(1);
       }
     }
@@ -98,7 +124,7 @@ namespace DroneSimulator
     {
       ID = id;
       Active = false;
-            PosXYZ = new Vector3(2000, 1000, 0);
+      PosXYZ = Vector3.Zero;
       SpdXYZ = Vector3.Zero;
       AccXYZ = Vector3.Zero;
       Quat = Quaternion.Identity;
@@ -108,10 +134,11 @@ namespace DroneSimulator
       DroneThread.Start();
     }
 
-        public int Create(float mass, float len)
+    public int Create(float power, float mass, float len)
     {
-            Mass = Range(mass);
+      Mass = mass;
       Length = len;
+      MaxPower = power;
 
       Active = true;
 
@@ -170,19 +197,21 @@ namespace DroneSimulator
 
       float flow = Power;
 
-            if (PosXYZ.Z < 100)
+      if (PosXYZ.Z < 0.3f)
       {
         flow += flow * 0.1f; // Воздушная подушка
       }
 
-            Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
+      SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
-            AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass;
 
-            SpdPRY += AccPRY * 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;
@@ -190,7 +219,7 @@ namespace DroneSimulator
         SpdXYZ.Y = 0;
         Quat = Quaternion.Identity;
       }
-            else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
+      else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
 
       Vector4 ori = GetOrientation();
 
@@ -203,7 +232,7 @@ namespace DroneSimulator
           Active = false; // Сильно ударился о землю
         }*/
 
-                /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
+        /*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
         {
           Active = false; // Повредил винты при посадке
         }*/
@@ -216,13 +245,13 @@ namespace DroneSimulator
       }
       else
       {
-                /*if (ori.W < 0)
+        if (ori.W < 0)
         {
-                  Active = false; // Перевернулся вверх ногами
+          //Active = false; // Перевернулся вверх ногами
-                }*/
+        }
 
         Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
-                grav = (Quat * grav) * Quaternion.Inverse(Quat);
+        //grav = (Quat * grav) * Quaternion.Inverse(Quat); // Инерциальный акселерометр (тест)
         Acc = new Vector3(grav.X, grav.Y, grav.Z);
 
         Gyr = SpdPRY;
@@ -239,7 +268,7 @@ namespace DroneSimulator
       if (pow > 1) pow = 1;
       if (pow < 0) pow = 0;
 
-            return pow;
+      return pow * MaxPower;
     }
 
     public void SetQadroPow(float ul, float ur, float dl, float dr)

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:
@@ -146,5 +140,63 @@ namespace DroneSimulator
     {
       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

@@ -1,5 +1,5 @@
-using System.Net;
+using System.Net.Sockets;
-using System.Net.Sockets;
+using System.Net;
 
 namespace DroneSimulator
 {
@@ -87,7 +87,7 @@ namespace DroneSimulator
       Socket handler;
 
       try { handler = listener.EndAccept(ar); }
-            catch { ServerSocket?.Close(); Active = false; return; }
+      catch{ ServerSocket?.Close(); Active = false; return; }
 
       if (SocketLimit > ClientSockets.Count)
       {

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

@@ -24,6 +24,7 @@ namespace DroneSimulator
       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>();
@@ -161,6 +162,11 @@ namespace DroneSimulator
       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;

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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-<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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-      <Platform>Win32</Platform>
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-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|x64">
-      <Configuration>Debug</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|x64">
-      <Configuration>Release</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-  </ItemGroup>
-  <PropertyGroup Label="Globals">
-    <VCProjectVersion>17.0</VCProjectVersion>
-    <Keyword>Win32Proj</Keyword>
-    <ProjectGuid>{b7cc5245-b628-40e9-a9a0-a904e2bf25ea}</ProjectGuid>
-    <RootNamespace>TestClientConnection</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
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-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
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-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
-  <ImportGroup Label="ExtensionSettings">
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-  <ImportGroup Label="Shared">
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-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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-      <WarningLevel>Level3</WarningLevel>
-      <SDLCheck>true</SDLCheck>
-      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <ConformanceMode>true</ConformanceMode>
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-    <Link>
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-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
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-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <SDLCheck>true</SDLCheck>
-      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <ConformanceMode>true</ConformanceMode>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
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TestClientConnection/TestClientConnection.vcxproj.filters

@@ -1,22 +0,0 @@
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-      <Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
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-    <Filter Include="Файлы ресурсов">
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-      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
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www.txt

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