Merge branch 'main' into devVlad

Почему-то каждый раз слетает

.gitignore

@@ -1,4 +1,3 @@
 .vs/
 obj/
-bin/
-x64/
+bin/

DroneClient/Drone.cs

@@ -1,5 +1,4 @@
-using System.Diagnostics.Metrics;
-using System.Drawing;
+using System.Drawing;
 using System.Runtime.InteropServices;
 
 namespace DroneClient
@@ -9,11 +8,8 @@ namespace DroneClient
 
     public float AccX, AccY, AccZ;
     public float GyrX, GyrY, GyrZ;
-    public uint TimeAcc, TimeGyr;
-
     public float PosX, PosY;
     public float LaserRange;
-    public uint TimeRange;
 
     public float MotorUL, MotorUR, MotorDL, MotorDR;
 
@@ -74,44 +70,22 @@ namespace DroneClient
       return getBytes(mot4);
     }
 
-    private byte[]? RecvDataAcc(byte[] data)
+    private byte[]? RecvDataIMU(byte[] data)
     {
-      DroneData.DataAcc imu = (DroneData.DataAcc)fromBytes(data, typeof(DroneData.DataAcc));
+      DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU));
 
       AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
-
-      TimeAcc= imu.Time;
-
-      return new byte[0];
-    }
-
-    private byte[]? RecvDataGyr(byte[] data)
-    {
-      DroneData.DataGyr imu = (DroneData.DataGyr)fromBytes(data, typeof(DroneData.DataGyr));
-
       GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
 
-      TimeGyr = imu.Time;
-
       return new byte[0];
     }
 
-    private byte[]? RecvDataRange(byte[] data)
+    private byte[]? RecvDataPos(byte[] data)
     {
-      DroneData.DataRange pos = (DroneData.DataRange)fromBytes(data, typeof(DroneData.DataRange));
-
-      LaserRange = pos.LiDAR;
-
-      TimeRange = pos.Time;
-
-      return new byte[0];
-    }
-
-    private byte[]? RecvDataLocal(byte[] data)
-    {
-      DroneData.DataLocal pos = (DroneData.DataLocal)fromBytes(data, typeof(DroneData.DataLocal));
+      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];
     }
@@ -122,7 +96,7 @@ namespace DroneClient
 
       switch (head.Type)
       {
-        case DroneData.DataType.DataAcc:
+        case DroneData.DataType.DataIMU:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
@@ -134,11 +108,11 @@ namespace DroneClient
             else
             {
               // Пришли данные
-              return RecvDataAcc(body);
+              return RecvDataIMU(body);
             }
           }
 
-        case DroneData.DataType.DataGyr:
+        case DroneData.DataType.DataPos:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
@@ -150,39 +124,7 @@ namespace DroneClient
             else
             {
               // Пришли данные
-              return RecvDataGyr(body);
-            }
-          }
-
-        case DroneData.DataType.DataRange:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              // ... //
-              //
-              return zero;
-            }
-            else
-            {
-              // Пришли данные
-              return RecvDataRange(body);
-            }
-          }
-
-        case DroneData.DataType.DataLocal:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              // ... //
-              //
-              return zero;
-            }
-            else
-            {
-              // Пришли данные
-              return RecvDataLocal(body);
+              return RecvDataPos(body);
             }
           }
 
@@ -251,46 +193,24 @@ namespace DroneClient
 
     public byte[] SendReqest()
     {
-      DroneData.DataHead acc = new DroneData.DataHead();
-      acc.Size = DroneData.DataHead.StrLen;
-      acc.Mode = DroneData.DataMode.Request;
-      acc.Type = DroneData.DataType.DataAcc;
+      DroneData.DataHead imu = new DroneData.DataHead();
+      imu.Size = DroneData.DataHead.StrLen;
+      imu.Mode = DroneData.DataMode.Request;
+      imu.Type = DroneData.DataType.DataIMU;
 
-      DroneData.DataHead gyr = new DroneData.DataHead();
-      gyr.Size = DroneData.DataHead.StrLen;
-      gyr.Mode = DroneData.DataMode.Request;
-      gyr.Type = DroneData.DataType.DataGyr;
+      DroneData.DataHead pos = new DroneData.DataHead();
+      pos.Size = DroneData.DataHead.StrLen;
+      pos.Mode = DroneData.DataMode.Request;
+      pos.Type = DroneData.DataType.DataPos;
 
-      DroneData.DataHead range = new DroneData.DataHead();
-      range.Size = DroneData.DataHead.StrLen;
-      range.Mode = DroneData.DataMode.Request;
-      range.Type = DroneData.DataType.DataRange;
+      byte[] si = getBytes(imu);
+      byte[] sp = getBytes(pos);
+      byte[] sm = SendDataMotor4();
 
-      DroneData.DataHead local = new DroneData.DataHead();
-      local.Size = DroneData.DataHead.StrLen;
-      local.Mode = DroneData.DataMode.Request;
-      local.Type = DroneData.DataType.DataLocal;
-
-      List<byte[]> list = new List<byte[]>();
-
-      list.Add(getBytes(acc));
-      list.Add(getBytes(gyr));
-      list.Add(getBytes(range));
-      list.Add(getBytes(local));
-      list.Add(SendDataMotor4());
-
-      int count = 0;
-
-      foreach (byte[] d in list) count += d.Length;
-
-      byte[] send = new byte[count];
-
-      count = 0;
-      foreach (byte[] d in list)
-      {
-        d.CopyTo(send, count);
-        count += d.Length;
-      }
+      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

@@ -8,11 +8,11 @@ namespace DroneData
   };
 
   public enum DataType : ushort
-  {
+  { 
     None = 0, Head = 1,
 
     // Output
-    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
+    DataIMU = 1001, DataPos = 1002, 
 
     // Input
     DataMotor4 = 2001, DataMotor6 = 2002
@@ -25,66 +25,32 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
-
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
 
   public struct XYZ { public float X, Y, Z; }
 
-  public struct DataAcc
+  public struct DataIMU
   {
     public DataHead Head;
-    public XYZ Acc;
+    public XYZ Acc, Gyr, Mag;
 
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
   }
 
-  public struct DataGyr
-  {
-    public DataHead Head;
-    public XYZ Gyr;
-
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
-  }
-
-  public struct DataMag
-  {
-    public DataHead Head;
-    public XYZ Mag;
-
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
-  }
-
-  public struct DataLocal
+  public struct DataPos
   {
     public DataHead Head;
     public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
-  }
-
-  public struct DataRange
-  {
-    public DataHead Head;
     public float LiDAR; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
+    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));
@@ -93,6 +59,7 @@ namespace DroneData
   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.Designer.cs

@@ -65,9 +65,6 @@
       label_Pow = new Label();
       button_ML = new Button();
       button_MR = new Button();
-      label_time_acc = new Label();
-      label_time_range = new Label();
-      label_time_gyr = new Label();
       groupBox1.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit();
       groupBox2.SuspendLayout();
@@ -159,7 +156,6 @@
       // 
       // groupBox2
       // 
-      groupBox2.Controls.Add(label_time_acc);
       groupBox2.Controls.Add(label_Acc_Z);
       groupBox2.Controls.Add(label7);
       groupBox2.Controls.Add(label_Acc_Y);
@@ -168,7 +164,7 @@
       groupBox2.Controls.Add(label1);
       groupBox2.Location = new Point(6, 86);
       groupBox2.Name = "groupBox2";
-      groupBox2.Size = new Size(78, 118);
+      groupBox2.Size = new Size(78, 100);
       groupBox2.TabIndex = 5;
       groupBox2.TabStop = false;
       groupBox2.Text = "Acc";
@@ -220,7 +216,6 @@
       // 
       // groupBox3
       // 
-      groupBox3.Controls.Add(label_time_gyr);
       groupBox3.Controls.Add(label_Gyr_Z);
       groupBox3.Controls.Add(label9);
       groupBox3.Controls.Add(label_Gyr_Y);
@@ -229,7 +224,7 @@
       groupBox3.Controls.Add(label13);
       groupBox3.Location = new Point(95, 86);
       groupBox3.Name = "groupBox3";
-      groupBox3.Size = new Size(78, 118);
+      groupBox3.Size = new Size(78, 100);
       groupBox3.TabIndex = 6;
       groupBox3.TabStop = false;
       groupBox3.Text = "Gyr";
@@ -290,7 +285,6 @@
       // 
       // groupBox4
       // 
-      groupBox4.Controls.Add(label_time_range);
       groupBox4.Controls.Add(label_Pos_L);
       groupBox4.Controls.Add(label6);
       groupBox4.Controls.Add(label_Pos_Y);
@@ -299,7 +293,7 @@
       groupBox4.Controls.Add(label14);
       groupBox4.Location = new Point(188, 86);
       groupBox4.Name = "groupBox4";
-      groupBox4.Size = new Size(78, 118);
+      groupBox4.Size = new Size(78, 100);
       groupBox4.TabIndex = 7;
       groupBox4.TabStop = false;
       groupBox4.Text = "Pos";
@@ -443,33 +437,6 @@
       button_MR.MouseDown += button_UU_MouseDown;
       button_MR.MouseUp += button_UU_MouseUp;
       // 
-      // label_time_acc
-      // 
-      label_time_acc.AutoSize = true;
-      label_time_acc.Location = new Point(6, 100);
-      label_time_acc.Name = "label_time_acc";
-      label_time_acc.Size = new Size(13, 15);
-      label_time_acc.TabIndex = 25;
-      label_time_acc.Text = "0";
-      // 
-      // label_time_range
-      // 
-      label_time_range.AutoSize = true;
-      label_time_range.Location = new Point(6, 100);
-      label_time_range.Name = "label_time_range";
-      label_time_range.Size = new Size(13, 15);
-      label_time_range.TabIndex = 27;
-      label_time_range.Text = "0";
-      // 
-      // label_time_gyr
-      // 
-      label_time_gyr.AutoSize = true;
-      label_time_gyr.Location = new Point(3, 100);
-      label_time_gyr.Name = "label_time_gyr";
-      label_time_gyr.Size = new Size(13, 15);
-      label_time_gyr.TabIndex = 26;
-      label_time_gyr.Text = "0";
-      // 
       // Form_Main
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
@@ -542,9 +509,5 @@
     private Label label_Pow;
     private Button button_ML;
     private Button button_MR;
-    private Label label4;
-    private Label label_time_acc;
-    private Label label_time_range;
-    private Label label_time_gyr;
   }
 }

DroneClient/FormMain.cs

@@ -95,20 +95,14 @@ namespace DroneSimulator
       label_Acc_Y.Text = dataDrone.AccY.ToString();
       label_Acc_Z.Text = dataDrone.AccZ.ToString();
 
-      label_time_acc.Text = dataDrone.TimeAcc.ToString();
-
       label_Gyr_X.Text = dataDrone.GyrX.ToString();
       label_Gyr_Y.Text = dataDrone.GyrY.ToString();
       label_Gyr_Z.Text = dataDrone.GyrZ.ToString();
 
-      label_time_gyr.Text = dataDrone.TimeGyr.ToString();
-
       label_Pos_X.Text = dataDrone.PosX.ToString();
       label_Pos_Y.Text = dataDrone.PosY.ToString();
       label_Pos_L.Text = dataDrone.LaserRange.ToString();
 
-      label_time_range.Text = dataDrone.TimeRange.ToString();
-
       netClient.SendData(dataDrone.SendReqest());
     }
 

DroneClientCpp/Drone.cpp

@@ -1,255 +0,0 @@
-#include "Drone.h"
-
-namespace DroneClient {
-
-    // Реализация статического метода GetBytes
-    array<Byte>^ Drone::GetBytes(Object^ data)
-    {
-        int size = Marshal::SizeOf(data);
-        array<Byte>^ arr = gcnew array<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;
-    }
-
-    // Реализация статического метода FromBytes
-    Object^ Drone::FromBytes(array<Byte>^ arr, Type^ type)
-    {
-        Object^ mem = gcnew 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;
-    }
-
-    // Реализация приватного метода SendDataMotor4
-    array<Byte>^ Drone::SendDataMotor4()
-    {
-        DroneData::DataMotor4 mot4;
-
-        mot4.Head.Size = Marshal::SizeOf(DroneData::DataMotor4::typeid);
-        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);
-    }
-
-    array<Byte>^ Drone::RecvDataAcc(array<Byte>^ data)
-    {
-        DroneData::DataAcc imu = (DroneData::DataAcc)FromBytes(data, DroneData::DataAcc::typeid);
-
-        AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
-        TimeAcc = imu.Time;
-
-        return gcnew array<Byte>(0);
-    }
-
-    array<Byte>^ Drone::RecvDataGyr(array<Byte>^ data)
-    {
-      DroneData::DataGyr imu = (DroneData::DataGyr)FromBytes(data, DroneData::DataGyr::typeid);
-
-      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
-      TimeGyr = imu.Time;
-
-      return gcnew array<Byte>(0);
-    }
-
-    array<Byte>^ Drone::RecvDataRange(array<Byte>^ data)
-    {
-      DroneData::DataRange pos = (DroneData::DataRange)FromBytes(data, DroneData::DataRange::typeid);
-
-      LaserRange = pos.LiDAR;
-      TimeRange = pos.Time;
-
-      return gcnew array<Byte>(0);
-    }
-
-    array<Byte>^ Drone::RecvDataLocal(array<Byte>^ data)
-    {
-        DroneData::DataLocal pos = (DroneData::DataLocal)FromBytes(data, DroneData::DataLocal::typeid);
-
-        PosX = pos.Local.X; PosY = pos.Local.Y;
-
-        return gcnew array<Byte>(0);
-    }
-
-    array<Byte>^ Drone::ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body)
-    {
-        array<Byte>^ zero = gcnew array<Byte>(0);
-
-        switch (head.Type)
-        {
-        case DroneData::DataType::DataAcc:
-            if (head.Mode == DroneData::DataMode::Request)
-            {
-                return zero; // Запрос данных (не реализовано)
-            }
-            else
-            {
-                return RecvDataAcc(body); // Пришли данные
-            }
-
-        case DroneData::DataType::DataGyr:
-          if (head.Mode == DroneData::DataMode::Request)
-          {
-            return zero; // Запрос данных (не реализовано)
-          }
-          else
-          {
-            return RecvDataGyr(body); // Пришли данные
-          }
-
-        case DroneData::DataType::DataRange:
-            if (head.Mode == DroneData::DataMode::Request)
-            {
-                return zero; // Запрос данных (не реализовано)
-            }
-            else
-            {
-                return RecvDataRange(body); // Пришли данные
-            }
-
-        case DroneData::DataType::DataLocal:
-          if (head.Mode == DroneData::DataMode::Request)
-          {
-            return zero; // Запрос данных (не реализовано)
-          }
-          else
-          {
-            return RecvDataLocal(body); // Пришли данные
-          }
-
-        case DroneData::DataType::DataMotor4:
-            if (head.Mode == DroneData::DataMode::Request)
-            {
-                return SendDataMotor4(); // Запрос данных
-            }
-            else
-            {
-                return zero; // Пришли данные (не реализовано)
-            }
-        }
-
-        return zero;
-    }
-
-    // Реализация конструктора
-    Drone::Drone()
-    {
-        DroneStreamData = gcnew array<Byte>(DroneStreamCount); // Инициализация массива
-        DroneStreamIndex = 0;
-        DroneStreamHead.Mode = DroneData::DataMode::None;
-        DroneStreamHead.Size = 0;
-        DroneStreamHead.Type = DroneData::DataType::None;
-    }
-
-    // Реализация метода DataStream
-    List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
-    {
-        System::Collections::Generic::List<array<Byte>^>^ ret = gcnew System::Collections::Generic::List<array<Byte>^>();
-
-        if (data == nullptr) return ret; // Последовательность не сформирована
-
-        if (size + DroneStreamIndex > DroneStreamCount) return nullptr; // Ошибка переполнения
-
-        Array::Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
-        DroneStreamIndex += size;
-
-        while (true)
-        {
-            if (DroneStreamHead.Size == 0) // Заголовок еще не получен
-            {
-                if (DroneStreamIndex < DroneData::DataHead::StrLen) return ret;
-                DroneStreamHead = (DroneData::DataHead)FromBytes(DroneStreamData, DroneData::DataHead::typeid);
-            }
-
-            if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет еще не полный
-
-            array<Byte>^ body = gcnew array<Byte>(DroneStreamHead.Size);
-            Array::Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
-
-            int shift = DroneStreamHead.Size;
-
-            DroneStreamIndex -= shift;
-            Array::Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвиг массива
-
-            DroneStreamHead.Size = 0; // Сброс заголовка
-
-            ret->Add(ClientRequestResponse(DroneStreamHead, body));
-        }
-
-        return ret;
-    }
-
-    // Реализация метода SendRequest
-    array<Byte>^ Drone::SendRequest()
-    {
-      DroneData::DataHead^ acc = gcnew DroneData::DataHead();
-      acc->Size = DroneData::DataHead::StrLen;
-      acc->Mode = DroneData::DataMode::Request;
-      acc->Type = DroneData::DataType::DataAcc;
-
-      DroneData::DataHead^ gyr = gcnew DroneData::DataHead();
-      gyr->Size = DroneData::DataHead::StrLen;
-      gyr->Mode = DroneData::DataMode::Request;
-      gyr->Type = DroneData::DataType::DataGyr;
-
-      DroneData::DataHead^ range = gcnew DroneData::DataHead();
-      range->Size = DroneData::DataHead::StrLen;
-      range->Mode = DroneData::DataMode::Request;
-      range->Type = DroneData::DataType::DataRange;
-
-      DroneData::DataHead^ local = gcnew DroneData::DataHead();
-      local->Size = DroneData::DataHead::StrLen;
-      local->Mode = DroneData::DataMode::Request;
-      local->Type = DroneData::DataType::DataLocal;
-
-      List<array<byte>^>^ list = gcnew List<array<byte>^>();
-
-      list->Add(GetBytes(acc));
-      list->Add(GetBytes(gyr));
-      list->Add(GetBytes(range));
-      list->Add(GetBytes(local));
-      list->Add(SendDataMotor4());
-
-      int count = 0;
-
-      for each(array<byte>^ d in list) count += d->Length;
-
-      array<byte>^ send = gcnew array<byte>(count);
-
-      count = 0;
-      for each (array<byte> ^ d in list)
-      {
-        d->CopyTo(send, count);
-        count += d->Length;
-      }
-
-      return send;
-    }
-}

DroneClientCpp/Drone.h

@@ -1,51 +0,0 @@
-#pragma once
-
-#include "DroneData.h"
-#include <Windows.h>
-#include <vcclr.h>
-
-#using <System.dll>
-#using <mscorlib.dll>
-
-using namespace System;
-using namespace System::Collections::Generic;
-using namespace System::Runtime::InteropServices;
-
-namespace DroneClient {
-
-    public ref class Drone
-    {
-    public:
-        float AccX, AccY, AccZ;
-        float GyrX, GyrY, GyrZ;
-        unsigned int TimeAcc, TimeGyr;
-
-        float PosX, PosY;
-        float LaserRange;
-        unsigned int TimeRange;
-
-        float MotorUL, MotorUR, MotorDL, MotorDR;
-
-        static array<Byte>^ GetBytes(Object^ data);
-        static Object^ FromBytes(array<Byte>^ arr, Type^ type);
-
-    private:
-        array<Byte>^ SendDataMotor4();
-        array<Byte>^ RecvDataAcc(array<Byte>^ data);
-        array<Byte>^ RecvDataGyr(array<Byte>^ data);
-        array<Byte>^ RecvDataRange(array<Byte>^ data);
-        array<Byte>^ RecvDataLocal(array<Byte>^ data);
-        array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);
-
-        literal int DroneStreamCount = 512;
-        array<Byte>^ DroneStreamData;
-        int DroneStreamIndex;
-        DroneData::DataHead DroneStreamHead;
-
-    public:
-        Drone(); // Конструктор для инициализации
-
-        System::Collections::Generic::List<array<Byte>^>^ DataStream(array<Byte>^ data, int size);
-        array<Byte>^ SendRequest();
-    };
-}

DroneClientCpp/DroneClientCpp.sln

@@ -5,6 +5,8 @@ VisualStudioVersion = 17.12.35527.113
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DroneClientCpp", "DroneClientCpp.vcxproj", "{690C304C-A70B-4B0F-BF61-8C51290BF444}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TestClientConnection", "..\TestClientConnection\TestClientConnection.vcxproj", "{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|x64 = Debug|x64
@@ -21,6 +23,14 @@ Global
 		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.Build.0 = Release|x64
 		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.ActiveCfg = Release|Win32
 		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.Build.0 = Release|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x64.ActiveCfg = Debug|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x64.Build.0 = Debug|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x86.ActiveCfg = Debug|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x86.Build.0 = Debug|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x64.ActiveCfg = Release|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x64.Build.0 = Release|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x86.ActiveCfg = Release|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

DroneClientCpp/DroneClientCpp.vcxproj

@@ -118,13 +118,10 @@
     <Reference Include="System.Xml" />
   </ItemGroup>
   <ItemGroup>
-    <ClCompile Include="Drone.cpp" />
     <ClCompile Include="FormMain.cpp" />
-    <ClCompile Include="NetClient.cpp" />
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="Drone.h" />
-    <ClInclude Include="DroneData.h" />
+    <ClInclude Include="DroneClient.h" />
     <ClInclude Include="FormMain.h">
       <FileType>CppForm</FileType>
     </ClInclude>

DroneClientCpp/DroneClientCpp.vcxproj.filters

@@ -18,12 +18,6 @@
     <ClCompile Include="FormMain.cpp">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
-    <ClCompile Include="NetClient.cpp">
-      <Filter>Исходные файлы</Filter>
-    </ClCompile>
-    <ClCompile Include="Drone.cpp">
-      <Filter>Исходные файлы</Filter>
-    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="FormMain.h">
@@ -32,10 +26,7 @@
     <ClInclude Include="NetClient.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
-    <ClInclude Include="DroneData.h">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
-    <ClInclude Include="Drone.h">
+    <ClInclude Include="DroneClient.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
   </ItemGroup>

DroneClientCpp/DroneClientCpp.vcxproj.user

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <PropertyGroup />
-</Project>

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")];

DroneClientCpp/DroneData.h

@@ -1,117 +0,0 @@
-#pragma once
-
-#include <Windows.h>
-#include <vcclr.h>
-
-using namespace System;
-using namespace System::Runtime::InteropServices;
-
-namespace DroneData {
-
-    public enum class DataMode : unsigned short
-    {
-        None = 0, Response = 1, Request = 2
-    };
-
-    public enum class DataType : unsigned short
-    {
-      None = 0, Head = 1,
-
-      // Output
-      DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
-
-      // Input
-      DataMotor4 = 2001, DataMotor6 = 2002
-    };
-
-    public value struct DataHead
-    {
-    public:
-      long Size;
-        DataMode Mode;
-        DataType Type;
-
-        unsigned long Time;
-
-        static const int StrLen = sizeof(DataHead);
-    };
-
-    public value struct XYZ
-    {
-    public:
-        float X, Y, Z;
-    };
-
-    public value struct DataAcc
-    {
-    public:
-        DataHead Head;
-        XYZ Acc;
-
-        unsigned long Time;
-
-        static const int StrLen = sizeof(DataAcc);
-    };
-
-    public value struct DataGyr
-    {
-    public:
-      DataHead Head;
-      XYZ Gyr;
-
-      unsigned long Time;
-
-      static const int StrLen = sizeof(DataGyr);
-    };
-
-    public value struct DataMag
-    {
-    public:
-      DataHead Head;
-      XYZ Mag;
-
-      unsigned long Time;
-
-      static const int StrLen = sizeof(DataMag);
-    };
-
-    public value struct DataRange
-    {
-    public:
-        DataHead Head;
-        float LiDAR;
-
-        unsigned long Time;
-
-        static const int StrLen = sizeof(DataRange);
-    };
-
-    public value struct DataLocal
-    {
-    public:
-      DataHead Head;
-      XYZ Local;
-
-      unsigned long Time;
-
-      static const int StrLen = sizeof(DataLocal);
-    };
-
-    public value struct DataMotor4
-    {
-    public:
-        DataHead Head;
-        float UL, UR, DL, DR;
-
-        static const int StrLen = sizeof(DataMotor4);
-    };
-
-    public value struct DataMotor6
-    {
-    public:
-        DataHead Head;
-        float UL, UR, LL, RR, DL, DR;
-
-        static const int StrLen = sizeof(DataMotor6);
-    };
-}

DroneClientCpp/NetClient.cpp

@@ -1,105 +0,0 @@
-#include "NetClient.h"
-
-namespace DroneSimulator {
-
-    // Конструктор ConnectData
-    NetClient::ConnectData::ConnectData(bool connect, Socket^ server)
-    {
-        Connect = connect;
-        Server = server;
-    }
-
-    // Конструктор ReceiveData
-    NetClient::ReceiveData::ReceiveData(array<Byte>^ buffer, int size, Socket^ server)
-    {
-        Buffer = buffer;
-        Size = size;
-        Server = server;
-    }
-
-    // Конструктор NetClient
-    NetClient::NetClient()
-    {
-        Connected = false;
-        ServerSocket = nullptr;
-        DataServer = gcnew ServerData(); // Инициализация DataServer
-    }
-
-    // Реализация метода Connect
-    NetClient::ClientState NetClient::Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive)
-    {
-        if (Connected)
-        {
-            Close();
-            return ClientState::Stop;
-        }
-
-        ConnectionCallback = Connection;
-        ReceiveCallback = Receive;
-
-        IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port);
-        ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
-
-        try { if (ServerSocket) ServerSocket->Connect(ep); }
-        catch (...) { ServerSocket->Close(); return ClientState::Error; }
-
-        Connected = true;
-
-        ConnectionCallback(gcnew ConnectData(true, ServerSocket));
-
-        ReceiveData^ receiveData = gcnew ReceiveData(DataServer->buffer, ServerData::size, ServerSocket);
-
-        try { if (ServerSocket) ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
-        catch (...) {}
-
-        return ClientState::Connected;
-    }
-
-    // Реализация метода Close
-    void NetClient::Close()
-    {
-        try { if(ServerSocket) ServerSocket->Shutdown(SocketShutdown::Both); }
-        catch (...) {}
-        if(ServerSocket) ServerSocket->Close();
-        Connected = false;
-    }
-
-    // Реализация метода Send
-    void NetClient::Send(array<Byte>^ data)
-    {
-        if (ServerSocket != nullptr && Connected)
-        {
-            try { if (ServerSocket) ServerSocket->Send(data); }
-            catch (...) {}
-        }
-    }
-
-    // Реализация метода ReadCallback
-    void NetClient::ReadCallback(IAsyncResult^ ar)
-    {
-        ReceiveData^ cd = (ReceiveData^)ar->AsyncState;
-        if (cd == nullptr) return;
-
-        int bytes = 0;
-        try { bytes = ServerSocket->EndReceive(ar); }
-        catch (...) {}
-
-        if (bytes == 0)
-        {
-          if (ServerSocket) ServerSocket->Close();
-            Connected = false;
-
-            if (ServerSocket != nullptr)
-            {
-                ConnectionCallback(gcnew ConnectData(false, nullptr));
-            }
-
-            return;
-        }
-
-        ReceiveCallback(gcnew ReceiveData(cd->Buffer, bytes, ServerSocket));
-
-        try { if (ServerSocket) ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
-        catch (...) {}
-    }
-}

DroneClientCpp/NetClient.h

@@ -1,4 +1,5 @@
-#pragma once
+// NetClient.h
+#pragma once
 
 #include <Windows.h>
 #include <vcclr.h>
@@ -9,60 +10,247 @@
 using namespace System;
 using namespace System::Net;
 using namespace System::Net::Sockets;
+using namespace System::Runtime::InteropServices;
 
-namespace DroneSimulator {
-
+namespace DroneSimulator
+{
     public ref class NetClient
     {
     public:
+        // Вложенный класс для данных подключения
         ref class ConnectData
         {
         public:
-            bool Connect;
-            Socket^ Server;
-
-            ConnectData(bool connect, Socket^ server);
+            property bool Connect;
+            property Socket^ Server;
         };
 
+        // Вложенный класс для данных приема
         ref class ReceiveData
         {
         public:
-            array<Byte>^ Buffer;
-            int Size;
-            Socket^ Server;
-
-            ReceiveData(array<Byte>^ buffer, int size, Socket^ server);
+            property array<Byte>^ Buffer;
+            property int Size;
+            property Socket^ Server;
         };
 
+        // Состояния клиента
+        enum class ClientState { Error, Connected, Stop };
+
+        // Делегат для callback-функций
+        delegate void ClientCallback(Object^ o);
+
+        NetClient()
+        {
+            Connected = false;
+            ServerSocket = nullptr;
+            DataServer = gcnew ServerData();
+        }
+
+        ~NetClient()
+        {
+            // Вызываем Close() для корректного закрытия соединения
+            Close();
+
+            // Дополнительная очистка ресурсов
+            if (DataServer != nullptr)
+            {
+                // Очищаем буфер данных
+                DataServer->buffer = nullptr;
+                DataServer = nullptr;
+            }
+
+            // Обнуляем callback-делегаты
+            ConnectionCallback = nullptr;
+            ReceiveCallback = nullptr;
+        }
+
+        ClientState Connect(String^ addr, int port, ClientCallback^ connectionCallback, ClientCallback^ receiveCallback)
+        {
+            if (Connected)
+            {
+                Disconnect();
+                return ClientState::Stop;
+            }
+
+            ConnectionCallback = connectionCallback;
+            ReceiveCallback = receiveCallback;
+
+            try
+            {
+                IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(addr), port);
+                ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
+                ServerSocket->Connect(ep);
+
+                Connected = true;
+
+                // Уведомление о подключении
+                ConnectData^ connectData = gcnew ConnectData();
+                connectData->Connect = true;
+                connectData->Server = ServerSocket;
+                ConnectionCallback(connectData);
+
+                // Начало приема данных
+                ReceiveData^ receiveData = gcnew ReceiveData();
+                receiveData->Buffer = DataServer->buffer;
+                receiveData->Size = ServerData::size;
+                receiveData->Server = ServerSocket;
+
+                ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData);
+
+                return ClientState::Connected;
+            }
+            catch (Exception^)
+            {
+                if (ServerSocket != nullptr)
+                {
+                    ServerSocket->Close();
+                }
+                return ClientState::Error;
+            }
+        }
+
+        void Close()
+        {
+            Disconnect();
+        }
+
     private:
         ref class ServerData
         {
         public:
-            literal int size = 1024;
+            static const int size = 1024;
             array<Byte>^ buffer = gcnew array<Byte>(size);
         };
 
         bool Connected;
         Socket^ ServerSocket;
         ServerData^ DataServer;
-
-    public:
-        delegate void ClientCallback(Object^ o);
-
-    private:
         ClientCallback^ ConnectionCallback;
         ClientCallback^ ReceiveCallback;
 
-    public:
-        NetClient(); // Добавлен конструктор
+        void Disconnect()
+        {
+            if (ServerSocket != nullptr)
+            {
+                try { ServerSocket->Shutdown(SocketShutdown::Both); }
+                catch (...) {}
+                ServerSocket->Close();
+                ServerSocket = nullptr;
+            }
+            Connected = false;
+        }
 
-        enum class ClientState { Error, Connected, Stop };
+        void ReadCallback(IAsyncResult^ ar)
+        {
+            try
+            {
+                // Проверка на null входного параметра
+                if (ar == nullptr) return;
 
-        ClientState Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive);
-        void Close();
-        void Send(array<Byte>^ data);
+                // Безопасное приведение типа
+                ReceiveData^ cd = dynamic_cast<ReceiveData^>(ar->AsyncState);
+                if (cd == nullptr || ServerSocket == nullptr || !ServerSocket->Connected)
+                {
+                    Disconnect();
+                    return;
+                }
 
-    private:
-        void ReadCallback(IAsyncResult^ ar);
+                int bytes = 0;
+                try
+                {
+                    bytes = ServerSocket->EndReceive(ar);
+                }
+                catch (ObjectDisposedException^)
+                {
+                    // Сокет был закрыт
+                    Disconnect();
+                    return;
+                }
+                catch (SocketException^ ex)
+                {
+                    // Логирование ошибки сокета
+                    System::Diagnostics::Debug::WriteLine(
+                        "Socket receive error: " + ex->Message);
+                    Disconnect();
+                    return;
+                }
+                catch (...)
+                {
+                    Disconnect();
+                    return;
+                }
+
+                // Проверка на разрыв соединения
+                if (bytes == 0)
+                {
+                    Disconnect();
+
+                    if (ConnectionCallback != nullptr)
+                    {
+                        ConnectData^ disconnectData = gcnew ConnectData();
+                        disconnectData->Connect = false;
+                        disconnectData->Server = nullptr;
+                        ConnectionCallback(disconnectData);
+                    }
+                    return;
+                }
+
+                // Вызов callback получения данных
+                if (ReceiveCallback != nullptr && cd->Buffer != nullptr)
+                {
+                    try
+                    {
+                        ReceiveCallback(cd);
+                    }
+                    catch (Exception^ ex)
+                    {
+                        System::Diagnostics::Debug::WriteLine(
+                            "ReceiveCallback error: " + ex->Message);
+                    }
+                }
+
+                // Продолжаем прием данных
+                if (ServerSocket != nullptr && ServerSocket->Connected)
+                {
+                    try
+                    {
+                        IAsyncResult^ result = ServerSocket->BeginReceive(
+                            cd->Buffer,
+                            0,
+                            ServerData::size,
+                            SocketFlags::None,
+                            gcnew AsyncCallback(this, &NetClient::ReadCallback),
+                            cd);
+
+                        // Проверка на ошибку асинхронной операции
+                        if (result == nullptr)
+                        {
+                            Disconnect();
+                        }
+                    }
+                    catch (ObjectDisposedException^)
+                    {
+                        Disconnect();
+                    }
+                    catch (SocketException^ ex)
+                    {
+                        System::Diagnostics::Debug::WriteLine(
+                            "BeginReceive error: " + ex->Message);
+                        Disconnect();
+                    }
+                    catch (...)
+                    {
+                        Disconnect();
+                    }
+                }
+            }
+            catch (Exception^ ex)
+            {
+                System::Diagnostics::Debug::WriteLine(
+                    "ReadCallback general error: " + ex->Message);
+                Disconnect();
+            }
+        }
     };
 }

DroneSimulator/Drone.cs

@@ -21,8 +21,6 @@ namespace DroneSimulator
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
     public float LaserRange; // Имитация: Дальномер
 
-    private uint DataTimer;
-
     private const float Gravity = 9.8f;
 
     private const float TO_GRAD = 180 / MathF.PI;
@@ -74,6 +72,33 @@ namespace DroneSimulator
       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
@@ -239,8 +264,6 @@ namespace DroneSimulator
         if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
         else LaserRange = float.MaxValue;
       }
-
-      DataTimer = (uint)tick;
     }
 
     private float Range(float pow)
@@ -269,79 +292,33 @@ namespace DroneSimulator
       SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR);
     }
 
-    private byte[] SendDataAcc()
+    private byte[] SendDataIMU()
     {
-      DroneData.DataAcc acc = new DroneData.DataAcc();
+      DroneData.DataIMU imu = new DroneData.DataIMU();
 
-      acc.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
-      acc.Head.Mode = DroneData.DataMode.Response;
-      acc.Head.Type = DroneData.DataType.DataAcc;
-      acc.Head.Time = (uint)Environment.TickCount;
+      imu.Head.Size = Marshal.SizeOf(typeof(DroneData.DataIMU));
+      imu.Head.Mode = DroneData.DataMode.Response;
+      imu.Head.Type = DroneData.DataType.DataIMU;
 
-      acc.Acc.X = Acc.X; acc.Acc.Y = Acc.Y; acc.Acc.Z = Acc.Z;
-      acc.Time = DataTimer;
+      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(acc);
+      return getBytes(imu);
     }
 
-    private byte[] SendDataGyr()
+    private byte[] SendDataPos()
     {
-      DroneData.DataGyr gyr = new DroneData.DataGyr();
+      DroneData.DataPos pos = new DroneData.DataPos();
 
-      gyr.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGyr));
-      gyr.Head.Mode = DroneData.DataMode.Response;
-      gyr.Head.Type = DroneData.DataType.DataGyr;
-      gyr.Head.Time = (uint)Environment.TickCount;
+      pos.Head.Size = Marshal.SizeOf(typeof(DroneData.DataPos));
+      pos.Head.Mode = DroneData.DataMode.Response;
+      pos.Head.Type = DroneData.DataType.DataPos;
 
-      gyr.Gyr.X = Gyr.X; gyr.Gyr.Y = Gyr.Y; gyr.Gyr.Z = Gyr.Z;
-      gyr.Time = DataTimer;
+      pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z;
+      pos.LiDAR = LaserRange;
 
-      return getBytes(gyr);
-    }
-
-    private byte[] SendDataMag()
-    {
-      DroneData.DataMag mag = new DroneData.DataMag();
-
-      mag.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMag));
-      mag.Head.Mode = DroneData.DataMode.Response;
-      mag.Head.Type = DroneData.DataType.DataMag;
-      mag.Head.Time = (uint)Environment.TickCount;
-
-      mag.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0;
-      mag.Time = DataTimer;
-
-      return getBytes(mag);
-    }
-
-    private byte[] SendDataRange()
-    {
-      DroneData.DataRange range = new DroneData.DataRange();
-
-      range.Head.Size = Marshal.SizeOf(typeof(DroneData.DataRange));
-      range.Head.Mode = DroneData.DataMode.Response;
-      range.Head.Type = DroneData.DataType.DataRange;
-      range.Head.Time = (uint)Environment.TickCount;
-
-      range.LiDAR = LaserRange;
-      range.Time = DataTimer;
-
-      return getBytes(range);
-    }
-
-    private byte[] SendDataLocal()
-    {
-      DroneData.DataLocal local = new DroneData.DataLocal();
-
-      local.Head.Size = Marshal.SizeOf(typeof(DroneData.DataLocal));
-      local.Head.Mode = DroneData.DataMode.Response;
-      local.Head.Type = DroneData.DataType.DataLocal;
-      local.Head.Time = (uint)Environment.TickCount;
-
-      local.Local.X = PosXYZ.X; local.Local.Y = PosXYZ.Y; local.Local.Z = PosXYZ.Z;
-      local.Time = DataTimer;
-
-      return getBytes(local);
+      return getBytes(pos);
     }
 
     private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
@@ -350,12 +327,12 @@ namespace DroneSimulator
 
       switch (head.Type)
       {
-        case DroneData.DataType.DataAcc:
+        case DroneData.DataType.DataIMU:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
               // Запрос данных
-              return SendDataAcc();
+              return SendDataIMU();
             }
             else
             {
@@ -366,60 +343,12 @@ namespace DroneSimulator
             }
           }
 
-        case DroneData.DataType.DataGyr:
+        case DroneData.DataType.DataPos:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
               // Запрос данных
-              return SendDataGyr();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
-
-        case DroneData.DataType.DataMag:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataMag();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
-
-        case DroneData.DataType.DataRange:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataRange();
-            }
-            else
-            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
-            }
-          }
-
-        case DroneData.DataType.DataLocal:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              return SendDataLocal();
+              return SendDataPos();
             }
             else
             {

DroneSimulator/DroneData.cs

@@ -12,7 +12,7 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, 
+    DataIMU = 1001, DataPos = 1002, 
 
     // Input
     DataMotor4 = 2001, DataMotor6 = 2002
@@ -25,66 +25,32 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
-
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
 
   public struct XYZ { public float X, Y, Z; }
 
-  public struct DataAcc
+  public struct DataIMU
   {
     public DataHead Head;
-    public XYZ Acc;
+    public XYZ Acc, Gyr, Mag;
 
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
   }
 
-  public struct DataGyr
-  {
-    public DataHead Head;
-    public XYZ Gyr;
-
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
-  }
-
-  public struct DataMag
-  {
-    public DataHead Head;
-    public XYZ Mag;
-
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
-  }
-
-  public struct DataLocal
+  public struct DataPos
   {
     public DataHead Head;
     public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
-  }
-
-  public struct DataRange
-  {
-    public DataHead Head;
     public float LiDAR; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-    public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
+    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));
@@ -93,6 +59,7 @@ namespace DroneData
   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.Designer.cs

@@ -61,37 +61,6 @@
       comboBox_Drone_Rotor = new ComboBox();
       comboBox_Drone = new ComboBox();
       timer_Test = new System.Windows.Forms.Timer(components);
-      textBox_GPS_Lat = new TextBox();
-      label2 = new Label();
-      groupBox_GPS = new GroupBox();
-      textBox_GPS_Lon = new TextBox();
-      label4 = new Label();
-      numericUpDown_GPS_Freq = new NumericUpDown();
-      label_GPS_Frequency = new Label();
-      label6 = new Label();
-      groupBox_Barometer = new GroupBox();
-      numericUpDown_Bar_Freq = new NumericUpDown();
-      label5 = new Label();
-      label7 = new Label();
-      label8 = new Label();
-      numericUpDown_Bar_Accur = new NumericUpDown();
-      label9 = new Label();
-      label10 = new Label();
-      textBox_GPS_Accur = new NumericUpDown();
-      label11 = new Label();
-      groupBox1 = new GroupBox();
-      label12 = new Label();
-      numericUpDown_OF_Accur = new NumericUpDown();
-      label13 = new Label();
-      numericUpDown_OF_Freq = new NumericUpDown();
-      label14 = new Label();
-      label15 = new Label();
-      checkBox_GPS_Enable = new CheckBox();
-      label16 = new Label();
-      numericUpDown1 = new NumericUpDown();
-      label17 = new Label();
-      checkBox_OF_Enable = new CheckBox();
-      checkBox_Bar_Enable = new CheckBox();
       menuStrip_Menu.SuspendLayout();
       groupBox_Screen.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit();
@@ -103,19 +72,8 @@
       groupBox_Clients.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit();
-      tabPage_Model.SuspendLayout();
       groupBox_Navi.SuspendLayout();
       panel1.SuspendLayout();
-      groupBox_GPS.SuspendLayout();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Freq).BeginInit();
-      groupBox_Barometer.SuspendLayout();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).BeginInit();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).BeginInit();
-      ((System.ComponentModel.ISupportInitialize)textBox_GPS_Accur).BeginInit();
-      groupBox1.SuspendLayout();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).BeginInit();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).BeginInit();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown1).BeginInit();
       SuspendLayout();
       // 
       // menuStrip_Menu
@@ -368,9 +326,6 @@
       // 
       // tabPage_Model
       // 
-      tabPage_Model.Controls.Add(groupBox1);
-      tabPage_Model.Controls.Add(groupBox_Barometer);
-      tabPage_Model.Controls.Add(groupBox_GPS);
       tabPage_Model.Location = new Point(4, 24);
       tabPage_Model.Name = "tabPage_Model";
       tabPage_Model.Padding = new Padding(3);
@@ -447,341 +402,6 @@
       timer_Test.Interval = 10;
       timer_Test.Tick += timer_Test_Tick;
       // 
-      // textBox_GPS_Lat
-      // 
-      textBox_GPS_Lat.Location = new Point(37, 22);
-      textBox_GPS_Lat.Name = "textBox_GPS_Lat";
-      textBox_GPS_Lat.Size = new Size(92, 23);
-      textBox_GPS_Lat.TabIndex = 0;
-      textBox_GPS_Lat.Text = "47.2125649";
-      // 
-      // label2
-      // 
-      label2.AutoSize = true;
-      label2.Location = new Point(5, 25);
-      label2.Name = "label2";
-      label2.Size = new Size(26, 15);
-      label2.TabIndex = 1;
-      label2.Text = "Lat:";
-      // 
-      // groupBox_GPS
-      // 
-      groupBox_GPS.Controls.Add(checkBox_GPS_Enable);
-      groupBox_GPS.Controls.Add(label10);
-      groupBox_GPS.Controls.Add(textBox_GPS_Accur);
-      groupBox_GPS.Controls.Add(label11);
-      groupBox_GPS.Controls.Add(numericUpDown_GPS_Freq);
-      groupBox_GPS.Controls.Add(label6);
-      groupBox_GPS.Controls.Add(label_GPS_Frequency);
-      groupBox_GPS.Controls.Add(label4);
-      groupBox_GPS.Controls.Add(textBox_GPS_Lon);
-      groupBox_GPS.Controls.Add(label2);
-      groupBox_GPS.Controls.Add(textBox_GPS_Lat);
-      groupBox_GPS.Dock = DockStyle.Top;
-      groupBox_GPS.Enabled = false;
-      groupBox_GPS.Location = new Point(3, 3);
-      groupBox_GPS.Name = "groupBox_GPS";
-      groupBox_GPS.Size = new Size(204, 112);
-      groupBox_GPS.TabIndex = 2;
-      groupBox_GPS.TabStop = false;
-      groupBox_GPS.Text = "GPS";
-      // 
-      // textBox_GPS_Lon
-      // 
-      textBox_GPS_Lon.Location = new Point(37, 51);
-      textBox_GPS_Lon.Name = "textBox_GPS_Lon";
-      textBox_GPS_Lon.Size = new Size(92, 23);
-      textBox_GPS_Lon.TabIndex = 2;
-      textBox_GPS_Lon.Text = "38.9160740";
-      // 
-      // label4
-      // 
-      label4.AutoSize = true;
-      label4.Location = new Point(5, 54);
-      label4.Name = "label4";
-      label4.Size = new Size(30, 15);
-      label4.TabIndex = 3;
-      label4.Text = "Lon:";
-      // 
-      // numericUpDown_GPS_Freq
-      // 
-      numericUpDown_GPS_Freq.Location = new Point(135, 51);
-      numericUpDown_GPS_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
-      numericUpDown_GPS_Freq.Name = "numericUpDown_GPS_Freq";
-      numericUpDown_GPS_Freq.Size = new Size(40, 23);
-      numericUpDown_GPS_Freq.TabIndex = 4;
-      numericUpDown_GPS_Freq.Value = new decimal(new int[] { 10, 0, 0, 0 });
-      // 
-      // label_GPS_Frequency
-      // 
-      label_GPS_Frequency.AutoSize = true;
-      label_GPS_Frequency.Location = new Point(135, 25);
-      label_GPS_Frequency.Name = "label_GPS_Frequency";
-      label_GPS_Frequency.Size = new Size(62, 15);
-      label_GPS_Frequency.TabIndex = 5;
-      label_GPS_Frequency.Tag = "#frequency";
-      label_GPS_Frequency.Text = "Frequency";
-      // 
-      // label6
-      // 
-      label6.AutoSize = true;
-      label6.Location = new Point(176, 54);
-      label6.Name = "label6";
-      label6.Size = new Size(21, 15);
-      label6.TabIndex = 6;
-      label6.Text = "Hz";
-      // 
-      // groupBox_Barometer
-      // 
-      groupBox_Barometer.Controls.Add(checkBox_Bar_Enable);
-      groupBox_Barometer.Controls.Add(label9);
-      groupBox_Barometer.Controls.Add(numericUpDown_Bar_Accur);
-      groupBox_Barometer.Controls.Add(label8);
-      groupBox_Barometer.Controls.Add(numericUpDown_Bar_Freq);
-      groupBox_Barometer.Controls.Add(label5);
-      groupBox_Barometer.Controls.Add(label7);
-      groupBox_Barometer.Dock = DockStyle.Top;
-      groupBox_Barometer.Location = new Point(3, 115);
-      groupBox_Barometer.Name = "groupBox_Barometer";
-      groupBox_Barometer.Size = new Size(204, 88);
-      groupBox_Barometer.TabIndex = 3;
-      groupBox_Barometer.TabStop = false;
-      groupBox_Barometer.Tag = "#barometer";
-      groupBox_Barometer.Text = "Barometer";
-      // 
-      // numericUpDown_Bar_Freq
-      // 
-      numericUpDown_Bar_Freq.Location = new Point(69, 22);
-      numericUpDown_Bar_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
-      numericUpDown_Bar_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
-      numericUpDown_Bar_Freq.Name = "numericUpDown_Bar_Freq";
-      numericUpDown_Bar_Freq.Size = new Size(40, 23);
-      numericUpDown_Bar_Freq.TabIndex = 7;
-      numericUpDown_Bar_Freq.Value = new decimal(new int[] { 50, 0, 0, 0 });
-      // 
-      // label5
-      // 
-      label5.AutoSize = true;
-      label5.Location = new Point(111, 24);
-      label5.Name = "label5";
-      label5.Size = new Size(21, 15);
-      label5.TabIndex = 9;
-      label5.Text = "Hz";
-      // 
-      // label7
-      // 
-      label7.AutoSize = true;
-      label7.Location = new Point(6, 24);
-      label7.Name = "label7";
-      label7.Size = new Size(62, 15);
-      label7.TabIndex = 8;
-      label7.Tag = "#frequency";
-      label7.Text = "Frequency";
-      // 
-      // label8
-      // 
-      label8.AutoSize = true;
-      label8.Location = new Point(7, 53);
-      label8.Name = "label8";
-      label8.Size = new Size(56, 15);
-      label8.TabIndex = 10;
-      label8.Tag = "#accuracy";
-      label8.Text = "Accuracy";
-      // 
-      // numericUpDown_Bar_Accur
-      // 
-      numericUpDown_Bar_Accur.DecimalPlaces = 1;
-      numericUpDown_Bar_Accur.Location = new Point(69, 51);
-      numericUpDown_Bar_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
-      numericUpDown_Bar_Accur.Name = "numericUpDown_Bar_Accur";
-      numericUpDown_Bar_Accur.Size = new Size(40, 23);
-      numericUpDown_Bar_Accur.TabIndex = 11;
-      numericUpDown_Bar_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 });
-      // 
-      // label9
-      // 
-      label9.AutoSize = true;
-      label9.Location = new Point(112, 53);
-      label9.Name = "label9";
-      label9.Size = new Size(20, 15);
-      label9.TabIndex = 12;
-      label9.Text = "Pa";
-      // 
-      // label10
-      // 
-      label10.AutoSize = true;
-      label10.Location = new Point(111, 82);
-      label10.Name = "label10";
-      label10.Size = new Size(18, 15);
-      label10.TabIndex = 15;
-      label10.Text = "m";
-      // 
-      // textBox_GPS_Accur
-      // 
-      textBox_GPS_Accur.DecimalPlaces = 1;
-      textBox_GPS_Accur.Location = new Point(68, 80);
-      textBox_GPS_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
-      textBox_GPS_Accur.Name = "textBox_GPS_Accur";
-      textBox_GPS_Accur.Size = new Size(40, 23);
-      textBox_GPS_Accur.TabIndex = 14;
-      textBox_GPS_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 });
-      // 
-      // label11
-      // 
-      label11.AutoSize = true;
-      label11.Location = new Point(6, 82);
-      label11.Name = "label11";
-      label11.Size = new Size(56, 15);
-      label11.TabIndex = 13;
-      label11.Tag = "#accuracy";
-      label11.Text = "Accuracy";
-      // 
-      // groupBox1
-      // 
-      groupBox1.Controls.Add(checkBox_OF_Enable);
-      groupBox1.Controls.Add(label17);
-      groupBox1.Controls.Add(numericUpDown1);
-      groupBox1.Controls.Add(label16);
-      groupBox1.Controls.Add(label12);
-      groupBox1.Controls.Add(numericUpDown_OF_Accur);
-      groupBox1.Controls.Add(label13);
-      groupBox1.Controls.Add(numericUpDown_OF_Freq);
-      groupBox1.Controls.Add(label14);
-      groupBox1.Controls.Add(label15);
-      groupBox1.Dock = DockStyle.Top;
-      groupBox1.Enabled = false;
-      groupBox1.Location = new Point(3, 203);
-      groupBox1.Name = "groupBox1";
-      groupBox1.Size = new Size(204, 114);
-      groupBox1.TabIndex = 4;
-      groupBox1.TabStop = false;
-      groupBox1.Text = "Optical flow";
-      // 
-      // label12
-      // 
-      label12.AutoSize = true;
-      label12.Location = new Point(111, 53);
-      label12.Name = "label12";
-      label12.Size = new Size(28, 15);
-      label12.TabIndex = 18;
-      label12.Text = "Deg";
-      // 
-      // numericUpDown_OF_Accur
-      // 
-      numericUpDown_OF_Accur.DecimalPlaces = 1;
-      numericUpDown_OF_Accur.Location = new Point(69, 51);
-      numericUpDown_OF_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
-      numericUpDown_OF_Accur.Name = "numericUpDown_OF_Accur";
-      numericUpDown_OF_Accur.Size = new Size(40, 23);
-      numericUpDown_OF_Accur.TabIndex = 17;
-      numericUpDown_OF_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 });
-      // 
-      // label13
-      // 
-      label13.AutoSize = true;
-      label13.Location = new Point(7, 53);
-      label13.Name = "label13";
-      label13.Size = new Size(56, 15);
-      label13.TabIndex = 16;
-      label13.Tag = "#accuracy";
-      label13.Text = "Accuracy";
-      // 
-      // numericUpDown_OF_Freq
-      // 
-      numericUpDown_OF_Freq.Location = new Point(69, 22);
-      numericUpDown_OF_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 });
-      numericUpDown_OF_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
-      numericUpDown_OF_Freq.Name = "numericUpDown_OF_Freq";
-      numericUpDown_OF_Freq.Size = new Size(40, 23);
-      numericUpDown_OF_Freq.TabIndex = 13;
-      numericUpDown_OF_Freq.Value = new decimal(new int[] { 100, 0, 0, 0 });
-      // 
-      // label14
-      // 
-      label14.AutoSize = true;
-      label14.Location = new Point(112, 24);
-      label14.Name = "label14";
-      label14.Size = new Size(21, 15);
-      label14.TabIndex = 15;
-      label14.Text = "Hz";
-      // 
-      // label15
-      // 
-      label15.AutoSize = true;
-      label15.Location = new Point(6, 24);
-      label15.Name = "label15";
-      label15.Size = new Size(62, 15);
-      label15.TabIndex = 14;
-      label15.Tag = "#frequency";
-      label15.Text = "Frequency";
-      // 
-      // checkBox_GPS_Enable
-      // 
-      checkBox_GPS_Enable.AutoSize = true;
-      checkBox_GPS_Enable.Checked = true;
-      checkBox_GPS_Enable.CheckState = CheckState.Checked;
-      checkBox_GPS_Enable.Location = new Point(158, 87);
-      checkBox_GPS_Enable.Name = "checkBox_GPS_Enable";
-      checkBox_GPS_Enable.Size = new Size(39, 19);
-      checkBox_GPS_Enable.TabIndex = 16;
-      checkBox_GPS_Enable.Tag = "#en";
-      checkBox_GPS_Enable.Text = "En";
-      checkBox_GPS_Enable.UseVisualStyleBackColor = true;
-      // 
-      // label16
-      // 
-      label16.AutoSize = true;
-      label16.Location = new Point(1, 82);
-      label16.Name = "label16";
-      label16.Size = new Size(67, 15);
-      label16.TabIndex = 19;
-      label16.Tag = "#max_height";
-      label16.Text = "Max height";
-      // 
-      // numericUpDown1
-      // 
-      numericUpDown1.Location = new Point(68, 80);
-      numericUpDown1.Minimum = new decimal(new int[] { 1, 0, 0, 0 });
-      numericUpDown1.Name = "numericUpDown1";
-      numericUpDown1.Size = new Size(40, 23);
-      numericUpDown1.TabIndex = 20;
-      numericUpDown1.Value = new decimal(new int[] { 8, 0, 0, 0 });
-      // 
-      // label17
-      // 
-      label17.AutoSize = true;
-      label17.Location = new Point(111, 82);
-      label17.Name = "label17";
-      label17.Size = new Size(18, 15);
-      label17.TabIndex = 21;
-      label17.Text = "m";
-      // 
-      // checkBox_OF_Enable
-      // 
-      checkBox_OF_Enable.AutoSize = true;
-      checkBox_OF_Enable.Checked = true;
-      checkBox_OF_Enable.CheckState = CheckState.Checked;
-      checkBox_OF_Enable.Location = new Point(158, 89);
-      checkBox_OF_Enable.Name = "checkBox_OF_Enable";
-      checkBox_OF_Enable.Size = new Size(39, 19);
-      checkBox_OF_Enable.TabIndex = 22;
-      checkBox_OF_Enable.Tag = "#en";
-      checkBox_OF_Enable.Text = "En";
-      checkBox_OF_Enable.UseVisualStyleBackColor = true;
-      // 
-      // checkBox_Bar_Enable
-      // 
-      checkBox_Bar_Enable.AutoSize = true;
-      checkBox_Bar_Enable.Checked = true;
-      checkBox_Bar_Enable.CheckState = CheckState.Checked;
-      checkBox_Bar_Enable.Location = new Point(158, 63);
-      checkBox_Bar_Enable.Name = "checkBox_Bar_Enable";
-      checkBox_Bar_Enable.Size = new Size(39, 19);
-      checkBox_Bar_Enable.TabIndex = 17;
-      checkBox_Bar_Enable.Tag = "#en";
-      checkBox_Bar_Enable.Text = "En";
-      checkBox_Bar_Enable.UseVisualStyleBackColor = true;
-      // 
       // Form_Main
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
@@ -811,22 +431,8 @@
       groupBox_Clients.PerformLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit();
-      tabPage_Model.ResumeLayout(false);
       groupBox_Navi.ResumeLayout(false);
       panel1.ResumeLayout(false);
-      groupBox_GPS.ResumeLayout(false);
-      groupBox_GPS.PerformLayout();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Freq).EndInit();
-      groupBox_Barometer.ResumeLayout(false);
-      groupBox_Barometer.PerformLayout();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).EndInit();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).EndInit();
-      ((System.ComponentModel.ISupportInitialize)textBox_GPS_Accur).EndInit();
-      groupBox1.ResumeLayout(false);
-      groupBox1.PerformLayout();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).EndInit();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).EndInit();
-      ((System.ComponentModel.ISupportInitialize)numericUpDown1).EndInit();
       ResumeLayout(false);
       PerformLayout();
     }
@@ -864,36 +470,5 @@
     private Label label1;
     private Label label_Visual_Num;
     private Label label3;
-    private GroupBox groupBox_GPS;
-    private TextBox textBox_GPS_Lon;
-    private Label label2;
-    private TextBox textBox_GPS_Lat;
-    private NumericUpDown numericUpDown_GPS_Freq;
-    private Label label6;
-    private Label label_GPS_Frequency;
-    private Label label4;
-    private GroupBox groupBox_Barometer;
-    private NumericUpDown numericUpDown_Bar_Freq;
-    private Label label5;
-    private Label label7;
-    private Label label9;
-    private NumericUpDown numericUpDown_Bar_Accur;
-    private Label label8;
-    private Label label10;
-    private NumericUpDown textBox_GPS_Accur;
-    private Label label11;
-    private GroupBox groupBox1;
-    private Label label12;
-    private NumericUpDown numericUpDown_OF_Accur;
-    private Label label13;
-    private NumericUpDown numericUpDown_OF_Freq;
-    private Label label14;
-    private Label label15;
-    private CheckBox checkBox_GPS_Enable;
-    private Label label17;
-    private NumericUpDown numericUpDown1;
-    private Label label16;
-    private CheckBox checkBox_OF_Enable;
-    private CheckBox checkBox_Bar_Enable;
   }
 }