Merge branch 'main' into devVlad

DroneClient/Drone.cs

@@ -1,62 +1,218 @@
-using System.Runtime.InteropServices;
+using System.Drawing;
+using System.Runtime.InteropServices;
 
 namespace DroneClient
 {
-    internal class Drone
+  internal class Drone
+  {
+
+    public float AccX, AccY, AccZ;
+    public float GyrX, GyrY, GyrZ;
+    public float PosX, PosY;
+    public float LaserRange;
+
+    public float MotorUL, MotorUR, MotorDL, MotorDR;
+
+    public static byte[] getBytes(object data)
     {
-        public struct DataOut
+      int size = Marshal.SizeOf(data);
-        {
+      byte[] arr = new byte[size];
-            public float AccX, AccY, AccZ;
-            public float GyrX, GyrY, GyrZ;
-            public float PosX, PosY;
-            public float LaserRange;
-        }
-
-        public struct DataIn
-        {
-            public float MotorUL, MotorUR, MotorDL, MotorDR;
-        }
-
-        public static byte[] getBytes(object data)
-        {
-            int size = Marshal.SizeOf(data);
-            byte[] arr = new byte[size];
-
-            IntPtr ptr = IntPtr.Zero;
-            try
-            {
-                ptr = Marshal.AllocHGlobal(size);
-                Marshal.StructureToPtr(data, ptr, true);
-                Marshal.Copy(ptr, arr, 0, size);
-            }
-            finally
-            {
-                Marshal.FreeHGlobal(ptr);
-            }
-            return arr;
-        }
-
-        public static object fromBytes(byte[] arr, Type type)
-        {
-            object mem = new object();
-
-            int size = Marshal.SizeOf(type);
-            IntPtr ptr = IntPtr.Zero;
-            try
-            {
-                ptr = Marshal.AllocHGlobal(size);
-
-                Marshal.Copy(arr, 0, ptr, size);
-
-                mem = Marshal.PtrToStructure(ptr, type);
-            }
-            finally
-            {
-                Marshal.FreeHGlobal(ptr);
-            }
-
-            return mem;
-        }
 
+      IntPtr ptr = IntPtr.Zero;
+      try
+      {
+        ptr = Marshal.AllocHGlobal(size);
+        Marshal.StructureToPtr(data, ptr, true);
+        Marshal.Copy(ptr, arr, 0, size);
+      }
+      finally
+      {
+        Marshal.FreeHGlobal(ptr);
+      }
+      return arr;
     }
+
+    public static object fromBytes(byte[] arr, Type type)
+    {
+      object mem = new object();
+
+      int size = Marshal.SizeOf(type);
+      IntPtr ptr = IntPtr.Zero;
+      try
+      {
+        ptr = Marshal.AllocHGlobal(size);
+
+        Marshal.Copy(arr, 0, ptr, size);
+
+        mem = Marshal.PtrToStructure(ptr, type);
+      }
+      finally
+      {
+        Marshal.FreeHGlobal(ptr);
+      }
+
+      return mem;
+    }
+
+    private byte[] SendDataMotor4()
+    {
+      DroneData.DataMotor4 mot4 = new DroneData.DataMotor4();
+
+      mot4.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMotor4));
+      mot4.Head.Mode = DroneData.DataMode.Response;
+      mot4.Head.Type = DroneData.DataType.DataMotor4;
+
+      mot4.UL = MotorUL;
+      mot4.UR = MotorUR;
+      mot4.DL = MotorDL;
+      mot4.DR = MotorDR;
+
+      return getBytes(mot4);
+    }
+
+    private byte[]? RecvDataIMU(byte[] data)
+    {
+      DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU));
+
+      AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
+      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+
+      return new byte[0];
+    }
+
+    private byte[]? RecvDataPos(byte[] data)
+    {
+      DroneData.DataPos pos = (DroneData.DataPos)fromBytes(data, typeof(DroneData.DataPos));
+
+      PosX = pos.Local.X; PosY = pos.Local.Y;
+      LaserRange = pos.LiDAR;
+
+      return new byte[0];
+    }
+
+    private byte[]? ClientRequestResponse(DroneData.DataHead head, byte[] body)
+    {
+      byte[] zero = new byte[0];
+
+      switch (head.Type)
+      {
+        case DroneData.DataType.DataIMU:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataIMU(body);
+            }
+          }
+
+        case DroneData.DataType.DataPos:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataPos(body);
+            }
+          }
+
+        case DroneData.DataType.DataMotor4:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataMotor4();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
+      }
+
+      return zero;
+    }
+
+    private const int DroneStreamCount = 512;
+    private byte[] DroneStreamData = new byte[DroneStreamCount];
+    private int DroneStreamIndex = 0;
+    private DroneData.DataHead DroneStreamHead = new DroneData.DataHead() { Mode = DroneData.DataMode.None, Size = 0, Type = DroneData.DataType.None };
+
+    public List<byte[]?>? DataStream(byte[]? data, int size)
+    {
+      List<byte[]?> ret = new List<byte[]?>();
+
+      if (data == null) return ret; // Последовательность не сформирована, ждать данных
+
+      if (size + DroneStreamIndex > DroneStreamCount) return null; // Ошибка переполнения, поток сломан (конец)
+
+      Array.Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
+      DroneStreamIndex += size;
+
+      while (true)
+      {
+        if (DroneStreamHead.Size == 0) // Заголовок ещё не получен
+        {
+          if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать
+          DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead));
+        }
+
+        if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный
+
+        byte[] body = new byte[DroneStreamHead.Size];
+
+        Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
+
+        int shift = DroneStreamHead.Size;
+
+        DroneStreamIndex -= shift;
+        Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные
+
+        DroneStreamHead.Size = 0; // Отменяем прошлый заголовок
+
+        ret.Add(ClientRequestResponse(DroneStreamHead, body));
+      }
+
+      return ret;
+    }
+
+    public byte[] SendReqest()
+    {
+      DroneData.DataHead imu = new DroneData.DataHead();
+      imu.Size = DroneData.DataHead.StrLen;
+      imu.Mode = DroneData.DataMode.Request;
+      imu.Type = DroneData.DataType.DataIMU;
+
+      DroneData.DataHead pos = new DroneData.DataHead();
+      pos.Size = DroneData.DataHead.StrLen;
+      pos.Mode = DroneData.DataMode.Request;
+      pos.Type = DroneData.DataType.DataPos;
+
+      byte[] si = getBytes(imu);
+      byte[] sp = getBytes(pos);
+      byte[] sm = SendDataMotor4();
+
+      byte[] send = new byte[si.Length + sp.Length + sm.Length];
+      si.CopyTo(send, 0);
+      sp.CopyTo(send, si.Length);
+      sm.CopyTo(send, si.Length + sp.Length);
+
+      return send;
+    }
+  }
 }

DroneClient/DroneData.cs

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

DroneClient/FormMain.cs

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

DroneClient/NetClient.cs

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

DroneSimulator/Drone.cs

@@ -1,5 +1,7 @@
-using System.Numerics;
+using System.CodeDom;
+using System.Numerics;
 using System.Runtime.InteropServices;
+using System.Security.Cryptography;
 
 namespace DroneSimulator
 {
@@ -12,8 +14,8 @@ namespace DroneSimulator
     public const float Dynamic = 10; // Динамика вращения
     public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
     public Quaternion Quat; // Основной кватернион
-    public float Power = 0; // Тяга всех двигателей
+    public float Power = 0; // Тяга всех двигателей (0-1)
-    public float MaxPower; // Тяга всех двигателей
+    public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
     public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
 
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
@@ -70,7 +72,7 @@ namespace DroneSimulator
       return mem;
     }
 
-    public struct DataOut
+    /*public struct DataOut
     {
       public float AccX, AccY, AccZ;
       public float GyrX, GyrY, GyrZ;
@@ -95,7 +97,7 @@ namespace DroneSimulator
     public struct DataIn
     {
       public float MotorUL, MotorUR, MotorDL, MotorDR;
-    }
+    }*/
 
     public struct DataVisual
     {
@@ -113,9 +115,7 @@ namespace DroneSimulator
     {
       while (DroneThread != null)
       {
-        float time = Environment.TickCount - Timer;
+        Action(Environment.TickCount);
-        Timer = Environment.TickCount;
-        Action(time / 1000);
         Thread.Sleep(1);
       }
     }
@@ -191,8 +191,11 @@ namespace DroneSimulator
       return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
     }
 
-    public void Action(float time)
+    public void Action(int tick)
     {
+      float time = (tick - Timer) / 1000.0f;
+      Timer = tick;
+
       if (!Active) return;
 
       float flow = Power;
@@ -281,5 +284,143 @@ namespace DroneSimulator
       AccPRY.X = ((ul + ur) - (dl + dr));
       AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
     }
+
+    private void RecvDataMotor4(byte[] data)
+    {
+      DroneData.DataMotor4 mot = (DroneData.DataMotor4)fromBytes(data, typeof(DroneData.DataMotor4));
+      /* обработка */
+      SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR);
+    }
+
+    private byte[] SendDataIMU()
+    {
+      DroneData.DataIMU imu = new DroneData.DataIMU();
+
+      imu.Head.Size = Marshal.SizeOf(typeof(DroneData.DataIMU));
+      imu.Head.Mode = DroneData.DataMode.Response;
+      imu.Head.Type = DroneData.DataType.DataIMU;
+
+      imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z;
+      imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z;
+      imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0;
+
+      return getBytes(imu);
+    }
+
+    private byte[] SendDataPos()
+    {
+      DroneData.DataPos pos = new DroneData.DataPos();
+
+      pos.Head.Size = Marshal.SizeOf(typeof(DroneData.DataPos));
+      pos.Head.Mode = DroneData.DataMode.Response;
+      pos.Head.Type = DroneData.DataType.DataPos;
+
+      pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z;
+      pos.LiDAR = LaserRange;
+
+      return getBytes(pos);
+    }
+
+    private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
+    {
+      byte[] zero = new byte[0];
+
+      switch (head.Type)
+      {
+        case DroneData.DataType.DataIMU:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataIMU();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
+
+        case DroneData.DataType.DataPos:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataPos();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
+
+        case DroneData.DataType.DataMotor4:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              RecvDataMotor4(body);
+              return zero;
+            }
+          }
+      }
+
+      return zero;
+    }
+
+    private const int DroneStreamCount = 512;
+    private byte[] DroneStreamData = new byte[DroneStreamCount];
+    private int DroneStreamIndex = 0;
+    private DroneData.DataHead DroneStreamHead = new DroneData.DataHead() { Mode = DroneData.DataMode.None, Size = 0, Type = DroneData.DataType.None };
+
+    public List<byte[]?>? DataStream(byte[]? data, int size)
+    {
+      List<byte[]?> ret = new List<byte[]?>();
+
+      if (data == null) return ret; // Последовательность не сформирована, ждать данных
+
+      if (size + DroneStreamIndex > DroneStreamCount) return null; // Ошибка переполнения, поток сломан (конец)
+
+      Array.Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
+      DroneStreamIndex += size;
+
+      while (true)
+      {
+        if (DroneStreamHead.Size == 0) // Заголовок ещё не получен
+        {
+          if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать
+          DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead));
+        }
+
+        if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный
+
+        byte[] body = new byte[DroneStreamHead.Size];
+
+        Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
+
+        int shift = DroneStreamHead.Size;
+
+        DroneStreamIndex -= shift;
+        Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные
+
+        DroneStreamHead.Size = 0; // Отменяем прошлый заголовок
+
+        ret.Add(ServerRequestResponse(DroneStreamHead, body));
+      }
+
+      return ret;
+    }
   }
 }

DroneSimulator/DroneData.cs

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

DroneSimulator/FormMain.cs

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

DroneSimulator/NetServerClients.cs

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

www.txt

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