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main ... Dana

Author SHA1 Message Date
Dana Markova
28b33ed671 test 2025-03-31 11:31:28 +03:00
130 changed files with 1269 additions and 4231 deletions
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4
.gitignore vendored
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@ -1,4 +0,0 @@
.vs/
obj/
bin/
x64/

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DroneClient/.vs/DroneClient/v17/DocumentLayout.backup.json Normal file
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@ -0,0 +1,12 @@
{
"Version": 1,
"WorkspaceRootPath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\",
"Documents": [],
"DocumentGroupContainers": [
{
"Orientation": 0,
"VerticalTabListWidth": 256,
"DocumentGroups": []
}
]
}

53
DroneClient/.vs/DroneClient/v17/DocumentLayout.json Normal file
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@ -0,0 +1,53 @@
{
"Version": 1,
"WorkspaceRootPath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\",
"Documents": [
{
"AbsoluteMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneClient.csproj|d:\\cpl\\simulator\\droneclient\\droneclient\\formmain.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
"RelativeMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneClient.csproj|solutionrelative:formmain.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
},
{
"AbsoluteMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneClient.csproj|d:\\cpl\\simulator\\droneclient\\droneclient\\formmain.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}|Form",
"RelativeMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneClient.csproj|solutionrelative:formmain.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}|Form"
}
],
"DocumentGroupContainers": [
{
"Orientation": 0,
"VerticalTabListWidth": 256,
"DocumentGroups": [
{
"DockedWidth": 200,
"SelectedChildIndex": 0,
"Children": [
{
"$type": "Document",
"DocumentIndex": 0,
"Title": "FormMain.cs",
"DocumentMoniker": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\FormMain.cs",
"RelativeDocumentMoniker": "FormMain.cs",
"ToolTip": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\FormMain.cs",
"RelativeToolTip": "FormMain.cs",
"ViewState": "AgIAACEAAAAAAAAAAAAYwCYAAAAOAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
"WhenOpened": "2025-03-27T13:11:11.045Z",
"EditorCaption": ""
},
{
"$type": "Document",
"DocumentIndex": 1,
"Title": "FormMain.cs [\u041A\u043E\u043D\u0441\u0442\u0440\u0443\u043A\u0442\u043E\u0440]",
"DocumentMoniker": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\FormMain.cs",
"RelativeDocumentMoniker": "FormMain.cs",
"ToolTip": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\FormMain.cs [\u041A\u043E\u043D\u0441\u0442\u0440\u0443\u043A\u0442\u043E\u0440]",
"RelativeToolTip": "FormMain.cs [\u041A\u043E\u043D\u0441\u0442\u0440\u0443\u043A\u0442\u043E\u0440]",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
"WhenOpened": "2025-03-27T13:11:01.471Z",
"EditorCaption": " [\u041A\u043E\u043D\u0441\u0442\u0440\u0443\u043A\u0442\u043E\u0440]"
}
]
}
]
}
]
}

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DroneClient/.vs/ProjectEvaluation/droneclient.metadata.v9.bin Normal file
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263
DroneClient/Drone.cs
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@ -1,21 +1,26 @@
using System.Diagnostics.Metrics;
using System.Drawing;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
namespace DroneClient
{
internal class Drone
{
public struct DataOut
{
public float AccX, AccY, AccZ;
public float GyrX, GyrY, GyrZ;
public float PosX, PosY;
public float LaserRange;
}
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;
public struct DataIn
{
public float MotorUL, MotorUR, MotorDL, MotorDR;
}
public static byte[] getBytes(object data)
{
@ -58,241 +63,5 @@ namespace DroneClient
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[]? RecvDataAcc(byte[] data)
{
DroneData.DataAcc imu = (DroneData.DataAcc)fromBytes(data, typeof(DroneData.DataAcc));
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)
{
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));
PosX = pos.Local.X; PosY = pos.Local.Y;
return new byte[0];
}
private byte[]? ClientRequestResponse(DroneData.DataHead head, byte[] body)
{
byte[] zero = new byte[0];
switch (head.Type)
{
case DroneData.DataType.DataAcc:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
// ... //
//
return zero;
}
else
{
// Пришли данные
return RecvDataAcc(body);
}
}
case DroneData.DataType.DataGyr:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
// ... //
//
return zero;
}
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);
}
}
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 acc = new DroneData.DataHead();
acc.Size = DroneData.DataHead.StrLen;
acc.Mode = DroneData.DataMode.Request;
acc.Type = DroneData.DataType.DataAcc;
DroneData.DataHead gyr = new DroneData.DataHead();
gyr.Size = DroneData.DataHead.StrLen;
gyr.Mode = DroneData.DataMode.Request;
gyr.Type = DroneData.DataType.DataGyr;
DroneData.DataHead range = new DroneData.DataHead();
range.Size = DroneData.DataHead.StrLen;
range.Mode = DroneData.DataMode.Request;
range.Type = DroneData.DataType.DataRange;
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;
}
return send;
}
}
}

100
DroneClient/DroneData.cs
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@ -1,100 +0,0 @@
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
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
// Input
DataMotor4 = 2001, DataMotor6 = 2002
};
public struct DataHead
{
public int Size;
public DataMode Mode;
public DataType Type;
public uint Time; // Îáùåå âðåìÿ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
}
public struct XYZ { public float X, Y, Z; }
public struct DataAcc
{
public DataHead Head;
public XYZ Acc;
public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
}
public struct DataGyr
{
public DataHead Head;
public XYZ Gyr;
public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
}
public struct DataMag
{
public DataHead Head;
public XYZ Mag;
public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
}
public struct DataLocal
{
public DataHead Head;
public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
}
public struct DataRange
{
public DataHead Head;
public float LiDAR; // Äàò÷èê ïîñàäêè
public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
}
public struct DataMotor4
{
public DataHead Head;
public float UL, UR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
}
public struct DataMotor6
{
public DataHead Head;
public float UL, UR, LL, RR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
}
}

43
DroneClient/FormMain.Designer.cs generated
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@ -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;
}
}

89
DroneClient/FormMain.cs
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@ -21,37 +21,34 @@ namespace DroneSimulator
if (!data.Connect)
{
try
Invoke((MethodInvoker)delegate
{
Invoke((MethodInvoker)delegate
{
button_Connect.Text = "Connect";
button_Connect.BackColor = Color.Transparent;
MessageBox.Show("Connection closed");
});
}
catch { }
button_Connect.Text = "Connect";
button_Connect.BackColor = Color.Transparent;
MessageBox.Show("Connection closed");
});
return;
}
byte[] send = Drone.getBytes(sendDrone);
data.Server.Send(send);
}
Drone dataDrone = new Drone();
Drone.DataIn sendDrone;
Drone.DataOut recvDrone;
private void ReceiveCallback(object o)
{
ReceiveData data = (ReceiveData)o;
List<byte[]?>? send = dataDrone.DataStream(data.Buffer, data.Size);
recvDrone = (Drone.DataOut)Drone.fromBytes(data.Buffer, typeof(Drone.DataOut));
if (send == null) return;
try
{
foreach (byte[]? b in send)
{
if (b != null) data.Server?.Send(b);
}
}
byte[] send = Drone.getBytes(sendDrone);
try { data.Server.Send(send); }
catch { }
}
@ -91,25 +88,17 @@ namespace DroneSimulator
private void timer_Test_Tick(object sender, EventArgs e)
{
label_Acc_X.Text = dataDrone.AccX.ToString();
label_Acc_Y.Text = dataDrone.AccY.ToString();
label_Acc_Z.Text = dataDrone.AccZ.ToString();
label_Acc_X.Text = recvDrone.AccX.ToString();
label_Acc_Y.Text = recvDrone.AccY.ToString();
label_Acc_Z.Text = recvDrone.AccZ.ToString();
label_time_acc.Text = dataDrone.TimeAcc.ToString();
label_Gyr_X.Text = recvDrone.GyrX.ToString();
label_Gyr_Y.Text = recvDrone.GyrY.ToString();
label_Gyr_Z.Text = recvDrone.GyrZ.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());
label_Pos_X.Text = recvDrone.PosX.ToString();
label_Pos_Y.Text = recvDrone.PosY.ToString();
label_Pos_L.Text = recvDrone.LaserRange.ToString();
}
private void trackBar_Power_Scroll(object sender, EventArgs e)
@ -118,44 +107,42 @@ namespace DroneSimulator
label_Pow.Text = pow.ToString();
dataDrone.MotorUL = dataDrone.MotorUR = dataDrone.MotorDL = dataDrone.MotorDR = pow;
sendDrone.MotorUL = sendDrone.MotorUR = sendDrone.MotorDL = sendDrone.MotorDR = pow;
}
private void button_UU_MouseDown(object sender, MouseEventArgs e)
{
const float pow = 0.1f;
if (sender == button_UU)
{
dataDrone.MotorUL -= pow; dataDrone.MotorUR -= pow;
dataDrone.MotorDL += pow; dataDrone.MotorDR += pow;
sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR -= 0.1f;
sendDrone.MotorDL += 0.1f; sendDrone.MotorDR += 0.1f;
}
if (sender == button_DD)
{
dataDrone.MotorUL += pow; dataDrone.MotorUR += pow;
dataDrone.MotorDL -= pow; dataDrone.MotorDR -= pow;
sendDrone.MotorUL += 0.1f; sendDrone.MotorUR += 0.1f;
sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR -= 0.1f;
}
if (sender == button_LL)
{
dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
}
if (sender == button_RR)
{
dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
}
if (sender == button_ML)
{
dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
}
if (sender == button_MR)
{
dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
}
}

44
DroneClient/NetClient.cs
View File

@ -1,4 +1,9 @@
using System.Net.Sockets;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Net.Sockets;
using System.Net;
namespace DroneSimulator
@ -26,7 +31,6 @@ namespace DroneSimulator
public byte[] buffer = new byte[size];
}
private bool Connected = false;
private Socket? ServerSocket = null;
private ServerData DataServer = new ServerData();
@ -39,9 +43,10 @@ namespace DroneSimulator
public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
{
if (Connected)
if (ServerSocket != null)
{
Close();
ServerSocket.Close();
ServerSocket = null;
return ClientState.Stop;
}
@ -51,26 +56,24 @@ namespace DroneSimulator
IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
try { ServerSocket.Connect(ep); }
catch { ServerSocket.Close(); return ClientState.Error; }
Connected = true;
try
{
ServerSocket.Connect(ep);
}
catch { ServerSocket.Close(); ServerSocket = null; return ClientState.Error; }
ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket });
ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket };
try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); }
catch { }
ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData);
return ClientState.Connected;
}
public void Close()
{
try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
ServerSocket?.Close();
Connected = false;
ServerSocket = null;
}
public void ReadCallback(IAsyncResult ar)
@ -79,28 +82,23 @@ namespace DroneSimulator
if (cd == null) return;
int bytes = 0;
try { bytes = ServerSocket.EndReceive(ar); } catch { }
try { bytes = ServerSocket.EndReceive(ar); }
catch { }
if (bytes == 0)
{
ServerSocket?.Close();
Connected = false;
if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
ServerSocket = null;
return;
}
ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }
catch { }
}
public void SendData(byte[] data)
{
try { ServerSocket?.Send(data); } catch { }
ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd);
}
}
}

3
DroneClient/README.md
View File

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

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@ -0,0 +1,23 @@
{
"runtimeTarget": {
"name": ".NETCoreApp,Version=v9.0",
"signature": ""
},
"compilationOptions": {},
"targets": {
".NETCoreApp,Version=v9.0": {
"DroneClient/1.0.0": {
"runtime": {
"DroneClient.dll": {}
}
}
}
},
"libraries": {
"DroneClient/1.0.0": {
"type": "project",
"serviceable": false,
"sha512": ""
}
}
}

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@ -0,0 +1,19 @@
{
"runtimeOptions": {
"tfm": "net9.0",
"frameworks": [
{
"name": "Microsoft.NETCore.App",
"version": "9.0.0"
},
{
"name": "Microsoft.WindowsDesktop.App",
"version": "9.0.0"
}
],
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4
DroneClient/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs Normal file
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@ -0,0 +1,4 @@
// <autogenerated />
using System;
using System.Reflection;
[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETCoreApp,Version=v9.0", FrameworkDisplayName = ".NET 9.0")]

25
DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfo.cs Normal file
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@ -0,0 +1,25 @@
//------------------------------------------------------------------------------
// <auto-generated>
// Этот код создан программой.
// Исполняемая версия:4.0.30319.42000
//
// Изменения в этом файле могут привести к неправильной работе и будут потеряны в случае
// повторной генерации кода.
// </auto-generated>
//------------------------------------------------------------------------------
using System;
using System.Reflection;
[assembly: System.Reflection.AssemblyCompanyAttribute("DroneClient")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")]
[assembly: System.Reflection.AssemblyProductAttribute("DroneClient")]
[assembly: System.Reflection.AssemblyTitleAttribute("DroneClient")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]
[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")]
[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")]
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22
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build_property.StartupObject =
build_property.ApplicationDefaultFont =
build_property.ApplicationHighDpiMode =
build_property.ApplicationUseCompatibleTextRendering =
build_property.ApplicationVisualStyles =
build_property.TargetFramework = net9.0-windows
build_property.TargetPlatformMinVersion = 7.0
build_property.UsingMicrosoftNETSdkWeb =
build_property.ProjectTypeGuids =
build_property.InvariantGlobalization =
build_property.PlatformNeutralAssembly =
build_property.EnforceExtendedAnalyzerRules =
build_property._SupportedPlatformList = Linux,macOS,Windows
build_property.RootNamespace = DroneClient
build_property.ProjectDir = D:\CPL\Simulator\DroneClient\DroneClient\
build_property.EnableComHosting =
build_property.EnableGeneratedComInterfaceComImportInterop =
build_property.CsWinRTUseWindowsUIXamlProjections = false
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build_property.EnableCodeStyleSeverity =

10
DroneClient/obj/Debug/net9.0-windows/DroneClient.GlobalUsings.g.cs Normal file
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@ -0,0 +1,10 @@
// <auto-generated/>
global using global::System;
global using global::System.Collections.Generic;
global using global::System.Drawing;
global using global::System.IO;
global using global::System.Linq;
global using global::System.Net.Http;
global using global::System.Threading;
global using global::System.Threading.Tasks;
global using global::System.Windows.Forms;

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25
DroneClient/obj/Debug/net9.0-windows/DroneClient.designer.runtimeconfig.json Normal file
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@ -0,0 +1,25 @@
{
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{
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{
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}
}
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DroneClient/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs Normal file
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//------------------------------------------------------------------------------
// <auto-generated>
// This code was generated by a tool.
// Runtime Version:4.0.30319.42000
//
// Changes to this file may cause incorrect behavior and will be lost if
// the code is regenerated.
// </auto-generated>
//------------------------------------------------------------------------------
using System;
using System.Reflection;
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[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
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global using global::System.Collections.Generic;
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global using global::System.IO;
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global using global::System.Threading;
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16
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106
DroneClientCpp/Client.cpp
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@ -1,106 +0,0 @@
#pragma once
#include "Client.h"
Client::Client(const char* ip, int port) : running(true), Connection(INVALID_SOCKET)
{
if (!ConnectToServer(ip, port))
{
std::cerr << "Failed to connect to server!" << std::endl;
}
}
Client::~Client()
{
Stop();
CloseConnection();
}
bool Client::ConnectToServer(const char* ip, int port)
{
WSAData wsaData;
WORD DLLVersion = MAKEWORD(2, 2);
if (WSAStartup(DLLVersion, &wsaData) != 0)
{
std::cerr << "Error: WSAStartup failed" << std::endl;
return false;
}
SOCKADDR_IN addr;
inet_pton(AF_INET, ip, &addr.sin_addr);
addr.sin_port = htons(port);
addr.sin_family = AF_INET;
Connection = socket(AF_INET, SOCK_STREAM, 0);
if (Connection == INVALID_SOCKET)
{
std::cerr << "Error: Failed to create socket" << std::endl;
WSACleanup();
return false;
}
if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
{
std::cerr << "Error: Failed to connect to server" << std::endl;
closesocket(Connection);
WSACleanup();
return false;
}
return true;
}
void Client::CloseConnection()
{
if (Connection != INVALID_SOCKET)
{
closesocket(Connection);
WSACleanup();
Connection = INVALID_SOCKET;
}
}
void Client::ReceiveHandler()
{
while (running)
{
DataIn tempData;
int result = recv(Connection, (char*)&tempData, sizeof(tempData), 0);
if (result <= 0)
{
std::cerr << "Error: Connection lost (recv failed)" << std::endl;
running = false;
break;
}
std::lock_guard<std::mutex> lock(dataMutex);
dataIn = tempData;
}
}
void Client::SendHandler()
{
while (running)
{
{
std::lock_guard<std::mutex> lock(dataMutex);
send(Connection, (char*)&dataOut, sizeof(dataOut), 0);
}
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
}
void Client::Start()
{
recvThread = std::thread(&Client::ReceiveHandler, this);
sendThread = std::thread(&Client::SendHandler, this);
}
void Client::Stop()
{
running = false;
if (recvThread.joinable()) recvThread.join();
if (sendThread.joinable()) sendThread.join();
}

44
DroneClientCpp/Client.h
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@ -1,44 +0,0 @@
#pragma once
#include <iostream>
#include <WinSock2.h>
#include <WS2tcpip.h>
#include <thread>
#include <atomic>
#include <mutex>
#pragma comment(lib, "Ws2_32.lib")
class Client
{
public:
Client(const char* ip, int port);
~Client();
void Start(); // Запуск потоков
void Stop(); // Остановка потоков
struct DataIn
{
float AccX, AccY, AccZ;
float GyrX, GyrY, GyrZ;
float PosX, PosY, LaserRange;
} dataIn;
struct DataOut
{
float MotorUL, MotorUR, MotorDL, MotorDR;
} dataOut;
bool ConnectToServer(const char* ip, int port);
void CloseConnection();
private:
std::atomic<bool> running;
std::mutex dataMutex;
SOCKET Connection;
std::thread recvThread;
std::thread sendThread;
void ReceiveHandler();
void SendHandler();
};

255
DroneClientCpp/Drone.cpp
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@ -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;
}
}

51
DroneClientCpp/Drone.h
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@ -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();
};
}

65
DroneClientCpp/DroneClient.h
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@ -1,65 +0,0 @@
#pragma once
#include <Windows.h>
#include <vcclr.h>
#using <System.dll>
#using <mscorlib.dll>
using namespace System;
using namespace System::Runtime::InteropServices;
namespace DroneClient {
public ref class Drone
{
public:
value struct DataOut
{
float AccX, AccY, AccZ;
float GyrX, GyrY, GyrZ;
float PosX, PosY;
float LaserRange;
};
value struct DataIn
{
float MotorUL, MotorUR, MotorDL, MotorDR;
};
static array<Byte>^ 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;
}
static Object^ FromBytes(array<Byte>^ arr, Type^ type)
{
int size = Marshal::SizeOf(type);
IntPtr ptr = IntPtr::Zero;
try
{
ptr = Marshal::AllocHGlobal(size);
Marshal::Copy(arr, 0, ptr, size);
return Marshal::PtrToStructure(ptr, type);
}
finally
{
Marshal::FreeHGlobal(ptr);
}
}
};
}

28
DroneClientCpp/DroneClientCpp.sln
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@ -1,28 +0,0 @@

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# Visual Studio Version 17
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
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|x64 = Debug|x64
Debug|x86 = Debug|x86
Release|x64 = Release|x64
Release|x86 = Release|x86
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.ActiveCfg = Debug|x64
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.Build.0 = Debug|x64
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.ActiveCfg = Debug|Win32
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.Build.0 = Debug|Win32
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.ActiveCfg = Release|x64
{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
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal

141
DroneClientCpp/DroneClientCpp.vcxproj
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@ -1,141 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<ItemGroup Label="ProjectConfigurations">
<ProjectConfiguration Include="Debug|Win32">
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@ -1,42 +0,0 @@
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@ -1,4 +0,0 @@
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<PropertyGroup />
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117
DroneClientCpp/DroneData.h
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@ -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);
};
}

12
DroneClientCpp/FormMain.cpp
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@ -1,12 +0,0 @@
#include "FormMain.h"
#include <Windows.h>
using namespace DroneClientCpp;
int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) {
Application::EnableVisualStyles();
Application::SetCompatibleTextRenderingDefault(false);
Application::Run(gcnew FormMain);
return 0;
}

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126
DroneClientCpp/FormMain.resx
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@ -1,126 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
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</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
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<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
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<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
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<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
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<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="backgroundWorker1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
<metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>310, 17</value>
</metadata>
</root>

12
DroneClientCpp/MyForm.cpp
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@ -1,12 +0,0 @@
#include "MyForm.h"
#include <Windows.h>
using namespace DroneClientCpp;
int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) {
Application::EnableVisualStyles();
Application::SetCompatibleTextRenderingDefault(false);
Application::Run(gcnew MyForm);
return 0;
}

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DroneClientCpp/MyForm.h
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120
DroneClientCpp/MyForm.resx
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@ -1,120 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>

105
DroneClientCpp/NetClient.cpp
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@ -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 (...) {}
}
}

68
DroneClientCpp/NetClient.h
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@ -1,68 +0,0 @@
#pragma once
#include <Windows.h>
#include <vcclr.h>
#using <System.dll>
#using <System.Net.dll>
using namespace System;
using namespace System::Net;
using namespace System::Net::Sockets;
namespace DroneSimulator {
public ref class NetClient
{
public:
ref class ConnectData
{
public:
bool Connect;
Socket^ Server;
ConnectData(bool connect, Socket^ server);
};
ref class ReceiveData
{
public:
array<Byte>^ Buffer;
int Size;
Socket^ Server;
ReceiveData(array<Byte>^ buffer, int size, Socket^ server);
};
private:
ref class ServerData
{
public:
literal 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
enum class ClientState { Error, Connected, Stop };
ClientState Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive);
void Close();
void Send(array<Byte>^ data);
private:
void ReadCallback(IAsyncResult^ ar);
};
}

11
DroneClientCpp/Source.cpp
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@ -1,11 +0,0 @@
#include "MyForm.h"
using namespace MyWinFormsApp; // ???????????? ???? ?????? ???????
[STAThread]
int main(array<String^>^ args) {
Application::EnableVisualStyles(); // ???????? ??????????? ????? ????????? ??????????
Application::SetCompatibleTextRenderingDefault(false); // ????????? ?????????? ??????
Application::Run(gcnew MyForm()); // ?????? ?????
return 0;
}

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DroneSimulator/.vs/DroneSimulator/v17/DocumentLayout.backup.json Normal file
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@ -0,0 +1,12 @@
{
"Version": 1,
"WorkspaceRootPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\",
"Documents": [],
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{
"Orientation": 0,
"VerticalTabListWidth": 256,
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@ -0,0 +1,37 @@
{
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"WorkspaceRootPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\",
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"RelativeMoniker": "D:0:0:{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}|DroneSimulator.csproj|solutionrelative:screen2d.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
}
],
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{
"Orientation": 0,
"VerticalTabListWidth": 256,
"DocumentGroups": [
{
"DockedWidth": 200,
"SelectedChildIndex": 0,
"Children": [
{
"$type": "Document",
"DocumentIndex": 0,
"Title": "Screen2D.cs",
"DocumentMoniker": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\Screen2D.cs",
"RelativeDocumentMoniker": "Screen2D.cs",
"ToolTip": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\Screen2D.cs",
"RelativeToolTip": "Screen2D.cs",
"ViewState": "AgIAAIgAAAAAAAAAAAAwwAAAAAAAAAAAAAAAAA==",
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"WhenOpened": "2025-03-27T13:13:30.215Z",
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332
DroneSimulator/Drone.cs
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@ -1,10 +1,11 @@
using System.CodeDom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Numerics;
using System.Runtime.InteropServices;
using System.Security.Cryptography;
using static DroneSimulator.Drone;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
using System.Text;
using System.Threading.Tasks;
using static System.Windows.Forms.AxHost;
namespace DroneSimulator
{
@ -14,19 +15,15 @@ namespace DroneSimulator
public float Mass; // Масса
public bool Active; // Живой?
public float Length; // Длинна лучей
public const float Dynamic = 10; // Динамика вращения
public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
public Quaternion Quat; // Основной кватернион
public float Power = 0; // Тяга всех двигателей (0-1)
public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
public float Power = 0; // Тяга всех двигателей
public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
public float LaserRange; // Имитация: Дальномер
private uint DataTimer;
private const float Gravity = 9.8f;
private const float Gravity = 1.0f;
private const float TO_GRAD = 180 / MathF.PI;
private const float TO_RADI = MathF.PI / 180;
@ -34,72 +31,71 @@ namespace DroneSimulator
private Thread DroneThread;
private int Timer;
private Random MainRandom = new Random();
private static int CounterID = 0;
RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
RealMode.Position RealPos = new RealMode.Position();
RealMode.Barometer RealBar = new RealMode.Barometer();
RealMode.Range RealRange = new RealMode.Range();
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;
IntPtr ptr = IntPtr.Zero;
try
public byte[] getBytes()
{
ptr = Marshal.AllocHGlobal(size);
Marshal.StructureToPtr(data, ptr, true);
Marshal.Copy(ptr, arr, 0, size);
int size = Marshal.SizeOf(this);
byte[] arr = new byte[size];
IntPtr ptr = IntPtr.Zero;
try
{
ptr = Marshal.AllocHGlobal(size);
Marshal.StructureToPtr(this, ptr, true);
Marshal.Copy(ptr, arr, 0, size);
}
finally
{
Marshal.FreeHGlobal(ptr);
}
return arr;
}
finally
{
Marshal.FreeHGlobal(ptr);
}
return arr;
}
public static object fromBytes(byte[] arr, Type type)
public struct DataIn
{
object mem = new object();
public float MotorUL, MotorUR, MotorDL, MotorDR;
int size = Marshal.SizeOf(type);
IntPtr ptr = IntPtr.Zero;
try
public void fromBytes(byte[] arr)
{
ptr = Marshal.AllocHGlobal(size);
DataIn mem = new DataIn();
Marshal.Copy(arr, 0, ptr, size);
int size = Marshal.SizeOf(mem);
IntPtr ptr = IntPtr.Zero;
try
{
ptr = Marshal.AllocHGlobal(size);
mem = Marshal.PtrToStructure(ptr, type);
Marshal.Copy(arr, 0, ptr, size);
mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType());
}
finally
{
Marshal.FreeHGlobal(ptr);
}
this = mem;
}
finally
{
Marshal.FreeHGlobal(ptr);
}
return mem;
}
public struct DataVisual
{
public int ID; // Идентификатор
public float W, X, Y, Z; // Кватернион вращения
public float PosX, PosY, PosZ; // Координаты в пространстве
}
public DataVisual GetVisual()
{
return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z };
}
private void ThreadFunction()
{
while (DroneThread != null)
{
Action(Environment.TickCount);
float time = Environment.TickCount - Timer;
Timer = Environment.TickCount;
Action(time / 100);
Thread.Sleep(1);
}
}
@ -108,7 +104,7 @@ namespace DroneSimulator
{
ID = id;
Active = false;
PosXYZ = Vector3.Zero;
PosXYZ = new Vector3(2000, 1000, 0);
SpdXYZ = Vector3.Zero;
AccXYZ = Vector3.Zero;
Quat = Quaternion.Identity;
@ -118,11 +114,10 @@ namespace DroneSimulator
DroneThread.Start();
}
public int Create(float power, float mass, float len)
public int Create(float mass, float len)
{
Mass = mass;
Mass = Range(mass);
Length = len;
MaxPower = power;
Active = true;
@ -175,30 +170,25 @@ 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(int tick)
public void Action(float time)
{
float time = (tick - Timer) / 1000.0f;
Timer = tick;
if (!Active) return;
float flow = Power;
if (PosXYZ.Z < 0.3f)
if (PosXYZ.Z < 100)
{
flow += flow * 0.1f; // Воздушная подушка
}
SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass);
AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass;
SpdPRY += AccPRY * time / (Mass * Length);
SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
PosXYZ += SpdXYZ * time;
AccXYZ /= Gravity; // Вернуть измерения в G
if (PosXYZ.Z < 0)
{
SpdPRY = Vector3.Zero;
@ -206,7 +196,7 @@ namespace DroneSimulator
SpdXYZ.Y = 0;
Quat = Quaternion.Identity;
}
else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
Vector4 ori = GetOrientation();
@ -219,7 +209,7 @@ namespace DroneSimulator
Active = false; // Сильно ударился о землю
}*/
/*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
/*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
{
Active = false; // Повредил винты при посадке
}*/
@ -232,13 +222,13 @@ namespace DroneSimulator
}
else
{
if (ori.W < 0)
/*if (ori.W < 0)
{
//Active = false; // Перевернулся вверх ногами
}
Active = false; // Перевернулся вверх ногами
}*/
Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
//grav = (Quat * grav) * Quaternion.Inverse(Quat); // Инерциальный акселерометр (тест)
grav = (Quat * grav) * Quaternion.Inverse(Quat);
Acc = new Vector3(grav.X, grav.Y, grav.Z);
Gyr = SpdPRY;
@ -248,14 +238,6 @@ namespace DroneSimulator
if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
else LaserRange = float.MaxValue;
}
RealAcc.Update(Acc, (uint)tick);
RealGyr.Update(Gyr, (uint)tick);
RealRange.Update(LaserRange, (uint)tick);
RealBar.Update(PosXYZ.Z * 11, (uint)tick);
RealPos.Update(PosXYZ, (uint)tick);
DataTimer = (uint)tick;
}
private float Range(float pow)
@ -263,7 +245,7 @@ namespace DroneSimulator
if (pow > 1) pow = 1;
if (pow < 0) pow = 0;
return pow * MaxPower;
return pow;
}
public void SetQadroPow(float ul, float ur, float dl, float dr)
@ -276,183 +258,5 @@ 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[] SendDataAcc()
{
DroneData.DataAcc acc = new DroneData.DataAcc();
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;
acc.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
acc.Time = RealAcc.timer;
return getBytes(acc);
}
private byte[] SendDataGyr()
{
DroneData.DataGyr gyr = new DroneData.DataGyr();
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;
gyr.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
gyr.Time = RealGyr.timer;
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 = RealRange.result;
range.Time = RealRange.timer;
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 = RealPos.result.X; local.Local.Y = RealPos.result.Y; local.Local.Z = RealPos.result.Z;
local.Time = RealPos.timer;
return getBytes(local);
}
private byte[] SendDataBarometer()
{
DroneData.DataBar bar = new DroneData.DataBar();
bar.Head.Size = Marshal.SizeOf(typeof(DroneData.DataBar));
bar.Head.Mode = DroneData.DataMode.Response;
bar.Head.Type = DroneData.DataType.DataBar;
bar.Head.Time = (uint)Environment.TickCount;
bar.Pressure = RealBar.result;
bar.Time = RealBar.timer;
return getBytes(bar);
}
private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
{
byte[] zero = new byte[0];
switch (head.Type)
{
case DroneData.DataType.DataAcc:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
return SendDataAcc();
}
else
{
// Пришли данные
// ... //
//
return zero;
}
}
case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
case DroneData.DataType.DataMag: if (head.Mode == DroneData.DataMode.Request) return SendDataMag(); else return zero;
case DroneData.DataType.DataRange: if (head.Mode == DroneData.DataMode.Request) return SendDataRange(); else return zero;
case DroneData.DataType.DataLocal: if (head.Mode == DroneData.DataMode.Request) return SendDataLocal(); else return zero;
case DroneData.DataType.DataBar: if (head.Mode == DroneData.DataMode.Request) return SendDataBarometer(); else return zero;
case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) 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;
}
}
}

110
DroneSimulator/DroneData.cs
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@ -1,110 +0,0 @@
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
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006,
// Input
DataMotor4 = 2001, DataMotor6 = 2002
};
public struct DataHead
{
public int Size;
public DataMode Mode;
public DataType Type;
public uint Time; // Общее время
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
}
public struct XYZ { public float X, Y, Z; }
public struct DataAcc
{
public DataHead Head;
public XYZ Acc;
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
}
public struct DataGyr
{
public DataHead Head;
public XYZ Gyr;
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
}
public struct DataMag
{
public DataHead Head;
public XYZ Mag;
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
}
public struct DataRange
{
public DataHead Head;
public float LiDAR; // Датчик посадки
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
}
public struct DataLocal
{
public DataHead Head;
public XYZ Local; // Локальные координаты
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
}
public struct DataBar
{
public DataHead Head;
public float Pressure; // Давление
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
}
public struct DataMotor4
{
public DataHead Head;
public float UL, UR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
}
public struct DataMotor6
{
public DataHead Head;
public float UL, UR, LL, RR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
}
}

1446
DroneSimulator/FormMain.Designer.cs generated
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File diff suppressed because it is too large Load Diff

167
DroneSimulator/FormMain.cs
View File

@ -1,12 +1,9 @@
using System.Text;
using System.Text;
using System.Numerics;
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
{
@ -15,23 +12,15 @@ namespace DroneSimulator
Screen2D screen2D = null;
NetServerClients netServerClient = new NetServerClients();
NetServerVisual netServerVisual = new NetServerVisual();
List<Drone> AllDrones = new List<Drone>();
public Form_Main()
{
InitializeComponent();
RealMode.RealSimulation = checkBox_Mode_Real.Checked;
numericUpDown_Acc_Update(null, null);
numericUpDown_Gyr_Update(null, null);
numericUpDown_Pos_Update(null, null);
numericUpDown_Bar_Update(null, null);
numericUpDown_Range_Update(null, null);
}
private void ClientConnectionCallback(object o)
private void ConnectionCallback(object o)
{
NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
@ -43,7 +32,7 @@ namespace DroneSimulator
if (data.Connect)
{
Drone drone = new Drone(data.ID);
drone.Create(1.0f, 0.5f, 1.0f);
drone.Create(0.5f, 10.0f);
screen2D.CreateDrone(Color.Red, data.ID);
@ -64,7 +53,7 @@ namespace DroneSimulator
}
}
private void ClientReceiveCallback(object o)
private void ReceiveCallback(object o)
{
NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
@ -79,27 +68,30 @@ namespace DroneSimulator
if (drone == null) return;
List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
Drone.DataIn id = new Drone.DataIn();
if (send == null) return;
try
{
foreach (byte[]? b in send)
{
if (b != null) data.Client?.Send(b);
}
}
catch { }
id.fromBytes(data.Buffer);
drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR);
Drone.DataOut od = new Drone.DataOut();
od.AccX= drone.Acc.X; od.AccY= drone.Acc.Y; od.AccZ= drone.Acc.Z;
od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z;
od.PosX= drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y;
od.LaserRange = drone.LaserRange;
data.Client.Send(od.getBytes());
}
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);
var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ConnectionCallback, ReceiveCallback);
switch (done)
{
case NetServerClients.ServerState.Error:
{
MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
MessageBox.Show("Error to start server");
break;
}
case NetServerClients.ServerState.Start:
@ -110,7 +102,6 @@ namespace DroneSimulator
}
case NetServerClients.ServerState.Stop:
{
label_Clients_Num.Text = "0";
button_Client_Start.Text = "Start";
button_Client_Start.BackColor = Color.Transparent;
break;
@ -146,130 +137,12 @@ namespace DroneSimulator
{
screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
}
screen2D.DrawScene();
}
private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
{
foreach (Drone d in AllDrones) d.Close();
}
private void VisualConnectionCallback(object o)
{
NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;
Invoke((MethodInvoker)delegate
{
label_Clients_Num.Text = data.Count.ToString();
});
if (data.Connect)
{
//---
}
else
{
//---
}
}
private void VisualReceiveCallback(object o)
{
NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
foreach (Drone d in AllDrones)
{
Drone.DataVisual v = d.GetVisual();
try { data.Client.Send(Drone.getBytes(v)); }
catch { }
}
}
private void button_Visual_Start_Click(object sender, EventArgs e)
{
var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
switch (done)
{
case NetServerVisual.ServerState.Error:
{
MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
case NetServerVisual.ServerState.Start:
{
button_Visual_Start.Text = "Stop";
button_Visual_Start.BackColor = Color.LimeGreen;
break;
}
case NetServerVisual.ServerState.Stop:
{
label_Visual_Num.Text = "0";
button_Visual_Start.Text = "Start";
button_Visual_Start.BackColor = Color.Transparent;
break;
}
}
}
private void numericUpDown_Bar_Update(object sender, EventArgs e)
{
try { RealMode.Barometer.Pressure = uint.Parse(textBox_Bar_Pressure.Text); }
catch
{
RealMode.Barometer.Pressure = 102258;
MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
RealMode.Barometer.Freq = (uint)numericUpDown_Bar_Freq.Value;
RealMode.Barometer.Noise = (float)numericUpDown_Bar_Noise.Value;
RealMode.Barometer.Lateness = (float)numericUpDown_Bar_Laten.Value;
RealMode.Barometer.Enable = checkBox_Bar_Enable.Checked;
}
private void checkBox_Mode_Real_CheckedChanged(object sender, EventArgs e)
{
RealMode.RealSimulation = checkBox_Mode_Real.Checked;
}
private void numericUpDown_Acc_Update(object sender, EventArgs e)
{
RealMode.Accelerometer.Freq = (uint)numericUpDown_Acc_Freq.Value;
RealMode.Accelerometer.Noise = (float)numericUpDown_Acc_Noise.Value;
RealMode.Accelerometer.Lateness = (float)numericUpDown_Acc_Laten.Value;
RealMode.Accelerometer.ScaleLeft = (float)numericUpDown_Acc_Scale_Left.Value;
RealMode.Accelerometer.ScaleRight = (float)numericUpDown_Acc_Scale_Rigth.Value;
}
private void numericUpDown_Gyr_Update(object sender, EventArgs e)
{
RealMode.Gyroscope.Freq = (uint)numericUpDown_Gyr_Freq.Value;
RealMode.Gyroscope.Noise = (float)numericUpDown_Gyr_Noise.Value;
RealMode.Gyroscope.Lateness = (float)numericUpDown_Gyr_Laten.Value;
RealMode.Gyroscope.Shift.X = (float)numericUpDown_Gyr_Shift_X.Value;
RealMode.Gyroscope.Shift.Y = (float)numericUpDown_Gyr_Shift_Y.Value;
RealMode.Gyroscope.Shift.Z = (float)numericUpDown_Gyr_Shift_Z.Value;
}
private void numericUpDown_Pos_Update(object sender, EventArgs e)
{
RealMode.Position.Freq = (uint)numericUpDown_Pos_Freq.Value;
RealMode.Position.Noise = (float)numericUpDown_Pos_Noise.Value;
RealMode.Position.Lateness = (float)numericUpDown_Pos_Laten.Value;
RealMode.Position.Enable = checkBox_Pos_Enable.Checked;
}
private void numericUpDown_Range_Update(object sender, EventArgs e)
{
RealMode.Range.Freq = (uint)numericUpDown_Range_Freq.Value;
RealMode.Range.Noise = (float)numericUpDown_Range_Noise.Value;
RealMode.Range.Lateness = (float)numericUpDown_Range_Laten.Value;
RealMode.Range.Enable = checkBox_Range_Enable.Checked;
RealMode.Range.MaxHeight = (float)numericUpDown_Range_Max.Value;
}
}
}

43
DroneSimulator/NetServerClients.cs
View File

@ -1,6 +1,10 @@
using System.Net.Sockets;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Net.Sockets;
using System.Net;
using System.Drawing;
namespace DroneSimulator
{
@ -17,9 +21,8 @@ namespace DroneSimulator
public class ReceiveData
{
public int ID;
public byte[] Buffer;
public byte[]? Buffer;
public int Size;
public Socket? Client;
@ -29,13 +32,13 @@ namespace DroneSimulator
{
public int ID;
public Socket? workSocket = null;
public const int count = 1024;
public byte[] buffer = new byte[count];
public const int BufferSize = 1024;
public byte[] buffer = new byte[BufferSize];
}
private int SocketID = 0;
private int SocketLimit;
private Socket? ServerSocket;
private Socket? ServerSocket = null;
private List<ClientData> ClientSockets = new List<ClientData>();
public delegate void ServerCallback(object o);
@ -43,21 +46,14 @@ namespace DroneSimulator
private ServerCallback? ConnectionCallback;
private ServerCallback? ReceiveCallback;
private bool Active = false;
public enum ServerState { Error, Start, Stop };
public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive)
{
if (Active)
if (ServerSocket != null)
{
ServerSocket?.Close();
foreach (ClientData c in ClientSockets)
{
try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { }
c.workSocket?.Close();
}
ClientSockets.Clear();
ServerSocket.Close();
foreach (ClientData c in ClientSockets) { c.workSocket?.Shutdown(SocketShutdown.Both); c.workSocket?.Close(); }
return ServerState.Stop;
}
@ -74,9 +70,8 @@ namespace DroneSimulator
ServerSocket.Bind(ip);
ServerSocket.Listen(10);
ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket);
Active = true;
}
catch { ServerSocket.Close(); return ServerState.Error; }
catch { ServerSocket.Close(); ServerSocket = null; return ServerState.Error; }
return ServerState.Start;
}
@ -89,7 +84,7 @@ namespace DroneSimulator
Socket handler;
try { handler = listener.EndAccept(ar); }
catch{ ServerSocket?.Close(); Active = false; return; }
catch{ ServerSocket?.Close(); ServerSocket = null; return; }
if (SocketLimit > ClientSockets.Count)
{
@ -103,7 +98,7 @@ namespace DroneSimulator
ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler });
handler.BeginReceive(clientData.buffer, 0, ClientData.count, 0, new AsyncCallback(ReadCallback), clientData);
handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData);
}
else handler.Close();
@ -132,11 +127,7 @@ namespace DroneSimulator
ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
try
{
cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.count, 0, new AsyncCallback(ReadCallback), cd);
}
catch { }
cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
}
}
}

134
DroneSimulator/NetServerVisual.cs
View File

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

333
DroneSimulator/RealMode.cs
View File

@ -1,333 +0,0 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Numerics;
using System.Reflection;
namespace DroneSimulator
{
internal class RealMode
{
public static bool RealSimulation;
internal class Accelerometer
{
public static uint Freq;
public static float Noise;
public static float ScaleLeft;
public static float ScaleRight;
public static float Lateness;
private uint last = 0;
private Random rand = new Random();
private const int count = 1000;
private Vector3[] laten = new Vector3[count];
private uint index = 0;
public uint timer = 0;
public Vector3 result;
public void Update(Vector3 value, uint time)
{
if (!RealSimulation)
{
result = value;
timer = time;
return;
}
float scale = (ScaleRight - ScaleLeft) / 2;
float shift = scale + ScaleLeft;
value.X = (value.X * scale) + shift;
value.Y = (value.Y * scale) + shift;
value.Z = (value.Z * scale) + shift;
int noise = (int)(Noise * 1000);
value.X += ((float)rand.Next(-noise, noise)) / 1000;
value.Y += ((float)rand.Next(-noise, noise)) / 1000;
value.Z += ((float)rand.Next(-noise, noise)) / 1000;
uint clock = (uint)(Lateness * 1000);
uint tick = time - last;
last = time;
while (tick != 0)
{
tick--;
laten[index++] = value;
if (index >= clock) index = 0;
}
value = laten[index];
uint freq = 1000 / Freq;
if (timer + freq < time)
{
result = value;
timer = time;
}
}
}
internal class Gyroscope
{
public static uint Freq;
public static float Noise;
public static Vector3 Shift;
public static float Lateness;
private uint last = 0;
private Random rand = new Random();
private const int count = 1000;
private Vector3[] laten = new Vector3[count];
private uint index = 0;
public uint timer = 0;
public Vector3 result;
public void Update(Vector3 value, uint time)
{
if (!RealSimulation)
{
result = value;
timer = time;
return;
}
value.X += Shift.X;
value.Y += Shift.Y;
value.Z += Shift.Z;
int noise = (int)(Noise * 1000);
value.X += ((float)rand.Next(-noise, noise)) / 1000;
value.Y += ((float)rand.Next(-noise, noise)) / 1000;
value.Z += ((float)rand.Next(-noise, noise)) / 1000;
uint clock = (uint)(Lateness * 1000);
uint tick = time - last;
last = time;
while (tick != 0)
{
tick--;
laten[index++] = value;
if (index >= clock) index = 0;
}
value = laten[index];
uint freq = 1000 / Freq;
if (timer + freq < time)
{
result = value;
timer = time;
}
}
}
internal class Magnetometer
{
}
internal class Position
{
public static bool Enable;
public static uint Freq;
public static float Noise;
public static float Lateness;
private uint last = 0;
private Random rand = new Random();
private const int count = 1000;
private Vector3[] laten = new Vector3[count];
private uint index = 0;
public uint timer = 0;
public Vector3 result;
public void Update(Vector3 value, uint time)
{
if (!RealSimulation)
{
result = value;
timer = time;
return;
}
if (!Enable)
{
result = Vector3.NaN;
return;
}
int noise = (int)(Noise * 1000);
value.X += ((float)rand.Next(-noise, noise)) / 1000;
value.Y += ((float)rand.Next(-noise, noise)) / 1000;
value.Z += ((float)rand.Next(-noise, noise)) / 1000;
uint clock = (uint)(Lateness * 1000);
uint tick = time - last;
last = time;
while (tick != 0)
{
tick--;
laten[index++] = value;
if (index >= clock) index = 0;
}
value = laten[index];
uint freq = 1000 / Freq;
if (timer + freq < time)
{
result = value;
timer = time;
}
}
}
internal class Barometer
{
public static bool Enable;
public static float Pressure;
public static uint Freq;
public static float Noise;
public static float Lateness;
private uint last = 0;
private Random rand = new Random();
private const int count = 1000;
private float[] laten = new float[count];
private uint index = 0;
public uint timer = 0;
public float result;
public void Update(float value, uint time)
{
value = Pressure - value;
if (!RealSimulation)
{
result = value;
timer = time;
return;
}
if (!Enable)
{
result = float.NaN;
return;
}
int noise = (int)(Noise * 1000);
value += ((float)rand.Next(-noise, noise)) / 1000;
uint clock = (uint)(Lateness * 1000);
uint tick = time - last;
last = time;
while (tick != 0)
{
tick--;
laten[index++] = value;
if (index >= clock) index = 0;
}
value = laten[index];
uint freq = 1000 / Freq;
if (timer + freq < time)
{
result = value;
timer = time;
}
}
}
internal class OpticalFlow
{
}
internal class Range
{
public static bool Enable;
public static float MaxHeight;
public static uint Freq;
public static float Noise;
public static float Lateness;
private uint last = 0;
private Random rand = new Random();
private const int count = 1000;
private float[] laten = new float[count];
private uint index = 0;
public uint timer = 0;
public float result;
public void Update(float value, uint time)
{
if (!RealSimulation)
{
result = value;
timer = time;
return;
}
if (!Enable)
{
result = float.NaN;
return;
}
if (value > MaxHeight) value = -1;
else
{
int noise = (int)(Noise * 1000);
value += ((float)rand.Next(-noise, noise)) / 1000;
}
uint clock = (uint)(Lateness * 1000);
uint tick = time - last;
last = time;
while (tick != 0)
{
tick--;
laten[index++] = value;
if (index >= clock) index = 0;
}
value = laten[index];
uint freq = 1000 / Freq;
if (timer + freq < time)
{
result = value;
timer = time;
}
}
}
}
}

14
DroneSimulator/Screen2D.cs
View File

@ -1,4 +1,10 @@
using System.Numerics;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Numerics;
using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
namespace DroneSimulator
{
@ -24,7 +30,6 @@ namespace DroneSimulator
public int Azimuth = 0;
}
private float Scale = 100;
private DrawCallback drawCallback;
private Bitmap MainArea = new Bitmap(4096, 2560);
private List<DroneInfo> DroneList = new List<DroneInfo>();
@ -162,11 +167,6 @@ namespace DroneSimulator
const float TO_GRAD = 180 / MathF.PI;
const float TO_RADI = MathF.PI / 180;
pos *= Scale;
pos.X += MainArea.Width / 2;
pos.Y += MainArea.Height / 2;
foreach (var d in DroneList)
{
if (d.ID != id) continue;

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