CPL/Simulator
5
0
Fork 3
Code Issues 1 Pull Requests Actions Packages Projects Releases Activity

Compare commits

merge into: CPL:main
Branches Tags
CPL:main
CPL:sergey
CPL:Dana
dmarkova:main
dmarkova:Dana
dmarkova:sergey
...
pull from: dmarkova:main
Branches Tags
dmarkova:main
dmarkova:Dana
dmarkova:sergey
CPL:main
CPL:sergey
CPL:Dana

1 Commits
main ... main

Author SHA1 Message Date
Dana Markova
1f97891439 add webSocket 2025-04-22 13:56:43 +03:00
2 changed files with 1051 additions and 998 deletions
Show Stats Expand all files Collapse all files

1668
DroneSimulator/FormMain.Designer.cs generated
View File

File diff suppressed because it is too large Load Diff

381
DroneSimulator/FormMain.cs
View File

@ -8,201 +8,210 @@ using System.Runtime.InteropServices;
using System.CodeDom;
using System.Linq;
using System.Net.WebSockets;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DroneSimulator
{
public partial class Form_Main : Form
{
Screen2D screen2D = null;
NetServerClients netServerClient = new NetServerClients();
NetServerVisual netServerVisual = new NetServerVisual();
List<Drone> AllDrones = new List<Drone>();
public Form_Main()
public partial class Form_Main : Form
{
InitializeComponent();
}
Screen2D screen2D = null;
private void ClientConnectionCallback(object o)
{
NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
NetServerClients netServerClient = new NetServerClients();
NetServerVisual netServerVisual = new NetServerVisual();
Invoke((MethodInvoker)delegate
{
label_Clients_Num.Text = data.Count.ToString();
});
if (data.Connect)
{
Drone drone = new Drone(data.ID);
drone.Create(1.0f, 0.5f, 1.0f);
screen2D.CreateDrone(Color.Red, data.ID);
AllDrones.Add(drone);
}
else
{
foreach (Drone drone in AllDrones)
List<Drone> AllDrones = new List<Drone>();
private ClientWebSocket _webSocket;
private CancellationTokenSource _cts;
private bool _isRunning;
public Form_Main()
{
if (drone.ID != data.ID) continue;
drone.Close();
screen2D.RemoveDrone(data.ID);
AllDrones.Remove(drone);
break;
InitializeComponent();
}
}
}
private void ClientReceiveCallback(object o)
{
NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
Drone? drone = null;
foreach (Drone d in AllDrones)
{
if (d.ID != data.ID) continue;
drone = d;
break;
}
if (drone == null) return;
List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
if (send == null) return;
try
{
foreach (byte[]? b in send)
private void ClientConnectionCallback(object o)
{
if (b != null) data.Client?.Send(b);
NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
Invoke((MethodInvoker)delegate
{
label_Clients_Num.Text = data.Count.ToString();
});
if (data.Connect)
{
Drone drone = new Drone(data.ID);
drone.Create(1.0f, 0.5f, 1.0f);
screen2D.CreateDrone(Color.Red, data.ID);
AllDrones.Add(drone);
}
else
{
foreach (Drone drone in AllDrones)
{
if (drone.ID != data.ID) continue;
drone.Close();
screen2D.RemoveDrone(data.ID);
AllDrones.Remove(drone);
break;
}
}
}
}
catch { }
private void ClientReceiveCallback(object o)
{
NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
Drone? drone = null;
foreach (Drone d in AllDrones)
{
if (d.ID != data.ID) continue;
drone = d;
break;
}
if (drone == null) return;
List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
if (send == null) return;
try
{
foreach (byte[]? b in send)
{
if (b != null) data.Client?.Send(b);
}
}
catch { }
}
private void button_Client_Start_Click(object sender, EventArgs e)
{
var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
switch (done)
{
case NetServerClients.ServerState.Error:
{
MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
case NetServerClients.ServerState.Start:
{
button_Client_Start.Text = "Stop";
button_Client_Start.BackColor = Color.LimeGreen;
break;
}
case NetServerClients.ServerState.Stop:
{
label_Clients_Num.Text = "0";
button_Client_Start.Text = "Start";
button_Client_Start.BackColor = Color.Transparent;
break;
}
}
if (done != NetServerClients.ServerState.Start) return;
pictureBox_2D.Image = null;
screen2D = new Screen2D(DrawCallback);
}
private void exitToolStripMenuItem_Click(object sender, EventArgs e)
{
Close();
}
private void DrawCallback(Bitmap bmp)
{
Invoke((MethodInvoker)delegate
{
if (pictureBox_2D.Image == null) pictureBox_2D.Image = bmp;
pictureBox_2D.Refresh();
});
}
private void timer_Test_Tick(object sender, EventArgs e)
{
if (screen2D == null) return;
foreach (Drone d in AllDrones)
{
screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
}
screen2D.DrawScene();
}
private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
{
foreach (Drone d in AllDrones) d.Close();
}
private void VisualConnectionCallback(object o)
{
NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;
Invoke((MethodInvoker)delegate
{
label_Clients_Num.Text = data.Count.ToString();
});
if (data.Connect)
{
//---
}
else
{
//---
}
}
private void VisualReceiveCallback(object o)
{
NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
foreach (Drone d in AllDrones)
{
Drone.DataVisual v = d.GetVisual();
try { data.Client.Send(Drone.getBytes(v)); }
catch { }
}
}
private void button_Visual_Start_Click(object sender, EventArgs e)
{
var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
switch (done)
{
case NetServerVisual.ServerState.Error:
{
MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
case NetServerVisual.ServerState.Start:
{
button_Visual_Start.Text = "Stop";
button_Visual_Start.BackColor = Color.LimeGreen;
break;
}
case NetServerVisual.ServerState.Stop:
{
label_Visual_Num.Text = "0";
button_Visual_Start.Text = "Start";
button_Visual_Start.BackColor = Color.Transparent;
break;
}
}
}
}
private void button_Client_Start_Click(object sender, EventArgs e)
{
var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
switch (done)
{
case NetServerClients.ServerState.Error:
{
MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
case NetServerClients.ServerState.Start:
{
button_Client_Start.Text = "Stop";
button_Client_Start.BackColor = Color.LimeGreen;
break;
}
case NetServerClients.ServerState.Stop:
{
label_Clients_Num.Text = "0";
button_Client_Start.Text = "Start";
button_Client_Start.BackColor = Color.Transparent;
break;
}
}
if (done != NetServerClients.ServerState.Start) return;
pictureBox_2D.Image = null;
screen2D = new Screen2D(DrawCallback);
}
private void exitToolStripMenuItem_Click(object sender, EventArgs e)
{
Close();
}
private void DrawCallback(Bitmap bmp)
{
Invoke((MethodInvoker)delegate
{
if (pictureBox_2D.Image == null) pictureBox_2D.Image = bmp;
pictureBox_2D.Refresh();
});
}
private void timer_Test_Tick(object sender, EventArgs e)
{
if (screen2D == null) return;
foreach (Drone d in AllDrones)
{
screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
}
screen2D.DrawScene();
}
private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
{
foreach (Drone d in AllDrones) d.Close();
}
private void VisualConnectionCallback(object o)
{
NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;
Invoke((MethodInvoker)delegate
{
label_Clients_Num.Text = data.Count.ToString();
});
if (data.Connect)
{
//---
}
else
{
//---
}
}
private void VisualReceiveCallback(object o)
{
NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
foreach (Drone d in AllDrones)
{
Drone.DataVisual v = d.GetVisual();
try { data.Client.Send(Drone.getBytes(v)); }
catch { }
}
}
private void button_Visual_Start_Click(object sender, EventArgs e)
{
var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
switch (done)
{
case NetServerVisual.ServerState.Error:
{
MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
case NetServerVisual.ServerState.Start:
{
button_Visual_Start.Text = "Stop";
button_Visual_Start.BackColor = Color.LimeGreen;
break;
}
case NetServerVisual.ServerState.Stop:
{
label_Visual_Num.Text = "0";
button_Visual_Start.Text = "Start";
button_Visual_Start.BackColor = Color.Transparent;
break;
}
}
}
}
}