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main ... main

14 changed files with 190 additions and 2294 deletions
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130
DroneClient/Drone.cs
View File

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

49
DroneClient/DroneData.cs
View File

@ -12,7 +12,7 @@ namespace DroneData
None = 0, Head = 1,
// Output
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
DataIMU = 1001, DataPos = 1002,
// Input
DataMotor4 = 2001, DataMotor6 = 2002
@ -25,66 +25,32 @@ namespace DroneData
public DataMode Mode;
public DataType Type;
public uint Time; // Îáùåå âðåìÿ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
}
public struct XYZ { public float X, Y, Z; }
public struct DataAcc
public struct DataIMU
{
public DataHead Head;
public XYZ Acc;
public XYZ Acc, Gyr, Mag;
public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
}
public struct DataGyr
{
public DataHead Head;
public XYZ Gyr;
public uint Time; // 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 struct DataPos
{
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));
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
}
public struct DataMotor4
{
public DataHead Head;
public ulong Count;
public float UL, UR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
@ -93,6 +59,7 @@ namespace DroneData
public struct DataMotor6
{
public DataHead Head;
public ulong Count;
public float UL, UR, LL, RR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));

43
DroneClient/FormMain.Designer.cs generated
View File

@ -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;
}
}

6
DroneClient/FormMain.cs
View File

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

114
DroneClientCpp/Drone.cpp
View File

@ -59,89 +59,53 @@ namespace DroneClient {
return GetBytes(mot4);
}
array<Byte>^ Drone::RecvDataAcc(array<Byte>^ data)
// Реализация приватного метода RecvDataIMU
array<Byte>^ Drone::RecvDataIMU(array<Byte>^ data)
{
DroneData::DataAcc imu = (DroneData::DataAcc)FromBytes(data, DroneData::DataAcc::typeid);
DroneData::DataIMU imu = (DroneData::DataIMU)FromBytes(data, DroneData::DataIMU::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)
// Реализация приватного метода RecvDataPos
array<Byte>^ Drone::RecvDataPos(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);
DroneData::DataPos pos = (DroneData::DataPos)FromBytes(data, DroneData::DataPos::typeid);
PosX = pos.Local.X; PosY = pos.Local.Y;
LaserRange = pos.LiDAR;
return gcnew array<Byte>(0);
}
// Реализация приватного метода ClientRequestResponse
array<Byte>^ Drone::ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body)
{
array<Byte>^ zero = gcnew array<Byte>(0);
switch (head.Type)
{
case DroneData::DataType::DataAcc:
case DroneData::DataType::DataIMU:
if (head.Mode == DroneData::DataMode::Request)
{
return zero; // Запрос данных (не реализовано)
}
else
{
return RecvDataAcc(body); // Пришли данные
return RecvDataIMU(body); // Пришли данные
}
case DroneData::DataType::DataGyr:
case DroneData::DataType::DataPos:
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
return RecvDataPos(body); // Пришли данные
}
case DroneData::DataType::DataMotor4:
@ -169,7 +133,7 @@ namespace DroneClient {
}
// Реализация метода DataStream
List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
System::Collections::Generic::List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
{
System::Collections::Generic::List<array<Byte>^>^ ret = gcnew System::Collections::Generic::List<array<Byte>^>();
@ -209,46 +173,24 @@ namespace DroneClient {
// 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 imu;
imu.Size = DroneData::DataHead::StrLen;
imu.Mode = DroneData::DataMode::Request;
imu.Type = DroneData::DataType::DataIMU;
DroneData::DataHead^ gyr = gcnew DroneData::DataHead();
gyr->Size = DroneData::DataHead::StrLen;
gyr->Mode = DroneData::DataMode::Request;
gyr->Type = DroneData::DataType::DataGyr;
DroneData::DataHead pos;
pos.Size = DroneData::DataHead::StrLen;
pos.Mode = DroneData::DataMode::Request;
pos.Type = DroneData::DataType::DataPos;
DroneData::DataHead^ range = gcnew DroneData::DataHead();
range->Size = DroneData::DataHead::StrLen;
range->Mode = DroneData::DataMode::Request;
range->Type = DroneData::DataType::DataRange;
array<Byte>^ si = GetBytes(imu);
array<Byte>^ sp = GetBytes(pos);
array<Byte>^ sm = SendDataMotor4();
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;
}
array<Byte>^ send = gcnew array<Byte>(si->Length + sp->Length + sm->Length);
Array::Copy(si, 0, send, 0, si->Length);
Array::Copy(sp, 0, send, si->Length, sp->Length);
Array::Copy(sm, 0, send, si->Length + sp->Length, sm->Length);
return send;
}

9
DroneClientCpp/Drone.h
View File

@ -18,11 +18,8 @@ namespace DroneClient {
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;
@ -31,10 +28,8 @@ namespace DroneClient {
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>^ RecvDataIMU(array<Byte>^ data);
array<Byte>^ RecvDataPos(array<Byte>^ data);
array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);
literal int DroneStreamCount = 512;

60
DroneClientCpp/DroneData.h
View File

@ -16,23 +16,17 @@ namespace DroneData {
public enum class DataType : unsigned short
{
None = 0, Head = 1,
// Output
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
// Input
DataIMU = 1001, DataPos = 1002,
DataMotor4 = 2001, DataMotor6 = 2002
};
public value struct DataHead
{
public:
long Size;
int Size;
DataMode Mode;
DataType Type;
unsigned long Time;
static const int StrLen = sizeof(DataHead);
};
@ -42,65 +36,30 @@ namespace DroneData {
float X, Y, Z;
};
public value struct DataAcc
public value struct DataIMU
{
public:
DataHead Head;
XYZ Acc;
XYZ Acc, Gyr, Mag;
unsigned long Time;
static const int StrLen = sizeof(DataAcc);
static const int StrLen = sizeof(DataIMU);
};
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 value struct DataPos
{
public:
DataHead Head;
XYZ Local;
float LiDAR;
unsigned long Time;
static const int StrLen = sizeof(DataLocal);
static const int StrLen = sizeof(DataPos);
};
public value struct DataMotor4
{
public:
DataHead Head;
unsigned long long Count;
float UL, UR, DL, DR;
static const int StrLen = sizeof(DataMotor4);
@ -110,6 +69,7 @@ namespace DroneData {
{
public:
DataHead Head;
unsigned long long Count;
float UL, UR, LL, RR, DL, DR;
static const int StrLen = sizeof(DataMotor6);

BIN
DroneClientCpp/FormMain.h
View File

Binary file not shown.

14
DroneClientCpp/NetClient.cpp
View File

@ -40,7 +40,7 @@ namespace DroneSimulator {
IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port);
ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
try { if (ServerSocket) ServerSocket->Connect(ep); }
try { ServerSocket->Connect(ep); }
catch (...) { ServerSocket->Close(); return ClientState::Error; }
Connected = true;
@ -49,7 +49,7 @@ namespace DroneSimulator {
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); }
try { ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
catch (...) {}
return ClientState::Connected;
@ -58,9 +58,9 @@ namespace DroneSimulator {
// Реализация метода Close
void NetClient::Close()
{
try { if(ServerSocket) ServerSocket->Shutdown(SocketShutdown::Both); }
try { ServerSocket->Shutdown(SocketShutdown::Both); }
catch (...) {}
if(ServerSocket) ServerSocket->Close();
ServerSocket->Close();
Connected = false;
}
@ -69,7 +69,7 @@ namespace DroneSimulator {
{
if (ServerSocket != nullptr && Connected)
{
try { if (ServerSocket) ServerSocket->Send(data); }
try { ServerSocket->Send(data); }
catch (...) {}
}
}
@ -86,7 +86,7 @@ namespace DroneSimulator {
if (bytes == 0)
{
if (ServerSocket) ServerSocket->Close();
ServerSocket->Close();
Connected = false;
if (ServerSocket != nullptr)
@ -99,7 +99,7 @@ namespace DroneSimulator {
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); }
try { ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
catch (...) {}
}
}

188
DroneSimulator/Drone.cs
View File

@ -2,9 +2,6 @@
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;
namespace DroneSimulator
{
@ -24,8 +21,6 @@ namespace DroneSimulator
public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
public float LaserRange; // Имитация: Дальномер
private uint DataTimer;
private const float Gravity = 9.8f;
private const float TO_GRAD = 180 / MathF.PI;
@ -34,13 +29,7 @@ namespace DroneSimulator
private Thread DroneThread;
private int Timer;
private Random MainRandom = new Random();
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();
private static int CounterID = 0;
public static byte[] getBytes(object data)
{
@ -83,6 +72,33 @@ namespace DroneSimulator
return mem;
}
/*public struct DataOut
{
public float AccX, AccY, AccZ;
public float GyrX, GyrY, GyrZ;
public float PosX, PosY;
public float LaserRange;
}
public DataOut GetDataOut()
{
DataOut data = new DataOut();
data.AccX = Acc.X; data.AccY = Acc.Y; data.AccZ = Acc.Z;
data.GyrX = Gyr.X; data.GyrY = Gyr.Y; data.GyrZ = Gyr.Z;
data.PosX = PosXYZ.X; data.PosY = PosXYZ.Y;
data.LaserRange = LaserRange;
return data;
}
public struct DataIn
{
public float MotorUL, MotorUR, MotorDL, MotorDR;
}*/
public struct DataVisual
{
public int ID; // Идентификатор
@ -248,14 +264,6 @@ 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)
@ -284,94 +292,33 @@ namespace DroneSimulator
SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR);
}
private byte[] SendDataAcc()
private byte[] SendDataIMU()
{
DroneData.DataAcc acc = new DroneData.DataAcc();
DroneData.DataIMU imu = new DroneData.DataIMU();
acc.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
acc.Head.Mode = DroneData.DataMode.Response;
acc.Head.Type = DroneData.DataType.DataAcc;
acc.Head.Time = (uint)Environment.TickCount;
imu.Head.Size = Marshal.SizeOf(typeof(DroneData.DataIMU));
imu.Head.Mode = DroneData.DataMode.Response;
imu.Head.Type = DroneData.DataType.DataIMU;
acc.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
acc.Time = RealAcc.timer;
imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z;
imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z;
imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0;
return getBytes(acc);
return getBytes(imu);
}
private byte[] SendDataGyr()
private byte[] SendDataPos()
{
DroneData.DataGyr gyr = new DroneData.DataGyr();
DroneData.DataPos pos = new DroneData.DataPos();
gyr.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGyr));
gyr.Head.Mode = DroneData.DataMode.Response;
gyr.Head.Type = DroneData.DataType.DataGyr;
gyr.Head.Time = (uint)Environment.TickCount;
pos.Head.Size = Marshal.SizeOf(typeof(DroneData.DataPos));
pos.Head.Mode = DroneData.DataMode.Response;
pos.Head.Type = DroneData.DataType.DataPos;
gyr.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
gyr.Time = RealGyr.timer;
pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z;
pos.LiDAR = LaserRange;
return getBytes(gyr);
}
private byte[] SendDataMag()
{
DroneData.DataMag mag = new DroneData.DataMag();
mag.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMag));
mag.Head.Mode = DroneData.DataMode.Response;
mag.Head.Type = DroneData.DataType.DataMag;
mag.Head.Time = (uint)Environment.TickCount;
mag.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0;
mag.Time = DataTimer;
return getBytes(mag);
}
private byte[] SendDataRange()
{
DroneData.DataRange range = new DroneData.DataRange();
range.Head.Size = Marshal.SizeOf(typeof(DroneData.DataRange));
range.Head.Mode = DroneData.DataMode.Response;
range.Head.Type = DroneData.DataType.DataRange;
range.Head.Time = (uint)Environment.TickCount;
range.LiDAR = 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);
return getBytes(pos);
}
private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
@ -380,12 +327,12 @@ namespace DroneSimulator
switch (head.Type)
{
case DroneData.DataType.DataAcc:
case DroneData.DataType.DataIMU:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
return SendDataAcc();
return SendDataIMU();
}
else
{
@ -396,17 +343,38 @@ namespace DroneSimulator
}
}
case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
case DroneData.DataType.DataPos:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
return SendDataPos();
}
else
{
// Пришли данные
// ... //
//
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;
case DroneData.DataType.DataMotor4:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
// ... //
//
return zero;
}
else
{
// Пришли данные
RecvDataMotor4(body);
return zero;
}
}
}
return zero;

65
DroneSimulator/DroneData.cs
View File

@ -1,4 +1,4 @@
using System.Runtime.InteropServices;
using System.Runtime.InteropServices;
namespace DroneData
{
@ -12,7 +12,7 @@ namespace DroneData
None = 0, Head = 1,
// Output
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006,
DataIMU = 1001, DataPos = 1002,
// Input
DataMotor4 = 2001, DataMotor6 = 2002
@ -25,76 +25,32 @@ namespace DroneData
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 struct DataIMU
{
public DataHead Head;
public XYZ Acc;
public XYZ Acc, Gyr, Mag;
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
}
public struct DataGyr
public struct DataPos
{
public DataHead Head;
public XYZ Gyr;
public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
public float LiDAR; // Äàò÷èê ïîñàäêè
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));
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
}
public struct DataMotor4
{
public DataHead Head;
public ulong Count;
public float UL, UR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
@ -103,6 +59,7 @@ namespace DroneData
public struct DataMotor6
{
public DataHead Head;
public ulong Count;
public float UL, UR, LL, RR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));

1390
DroneSimulator/FormMain.Designer.cs generated
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File diff suppressed because it is too large Load Diff

69
DroneSimulator/FormMain.cs
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@ -1,4 +1,4 @@
using System.Text;
using System.Text;
using System.Numerics;
using System.Windows.Forms;
using static System.Net.Mime.MediaTypeNames;
@ -22,13 +22,6 @@ namespace DroneSimulator
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)
@ -211,65 +204,5 @@ namespace DroneSimulator
}
}
}
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;
}
}
}

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;
}
}
}
}
}