Включён таймер

Почему-то каждый раз слетает
Переписанный код на c++/cli
2025-04-04 12:03:50 +03:00 · 2025-04-04 11:49:03 +03:00 · 2025-04-04 00:05:34 +03:00 · 2025-04-03 13:07:57 +03:00 · 2025-04-03 13:05:30 +03:00 · 2025-04-03 11:45:18 +03:00
32 changed files with 1354 additions and 5537 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1,4 +1,58 @@
-.vs/
-obj/
+# Файлы и папки Visual Studio
+*.obj
+*.exe
+*.pdb
+*.user
+*.aps
+*.pch
+*.vspscc
+*.vssscc
+*_i.c
+*_p.c
+*.ncb
+*.suo
+*.tlb
+*.tlh
+*.bak
+*.cache
+*.ilk
+*.log
+*.sbr
+*.scc
+*.idb
+*.tlog
+*.ipch
+*.db
+
+# Папки сборки
 bin/
-x64/
+obj/
+[Bb]in/
+[Oo]bj/
+Debug/
+Release/
+x64/
+x86/
+[Any CPU]/
+
+# Файлы кэша и настройки VS
+.vscode/
+*.code-workspace
+.vs/
+*.sln.docstates
+
+# NuGet
+packages/
+*.nupkg
+*.snupkg
+
+# Дополнительные временные файлы
+Thumbs.db
+*.DS_Store
+
+# Игнорировать файлы резервирования
+~$*
+
+# Опционально: игнорировать файлы конфигурации пользователя
+appsettings.json
+*.config.user
--- a/DroneClient/Drone.cs
+++ b/DroneClient/Drone.cs
@ -1,334 +1,62 @@
-using DroneData;
-using System.Diagnostics.Metrics;
-using System.Drawing;
-using System.Numerics;
-using System.Runtime.InteropServices;
+using System.Runtime.InteropServices;

 namespace DroneClient
 {
-  internal class Drone
-  {
-
-    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 Vector2 OF = Vector2.Zero;
-
-    public float MotorUL, MotorUR, MotorDL, MotorDR;
-
-    public static byte[] getBytes(object data)
+    internal class Drone
    {
-      int size = Marshal.SizeOf(data);
-      byte[] arr = new byte[size];
-
-      IntPtr ptr = IntPtr.Zero;
-      try
-      {
-        ptr = Marshal.AllocHGlobal(size);
-        Marshal.StructureToPtr(data, ptr, true);
-        Marshal.Copy(ptr, arr, 0, size);
-      }
-      finally
-      {
-        Marshal.FreeHGlobal(ptr);
-      }
-      return arr;
-    }
-
-    public static object fromBytes(byte[] arr, Type type)
-    {
-      object mem = new object();
-
-      int size = Marshal.SizeOf(type);
-      IntPtr ptr = IntPtr.Zero;
-      try
-      {
-        ptr = Marshal.AllocHGlobal(size);
-
-        Marshal.Copy(arr, 0, ptr, size);
-
-        mem = Marshal.PtrToStructure(ptr, type);
-      }
-      finally
-      {
-        Marshal.FreeHGlobal(ptr);
-      }
-
-      return mem;
-    }
-
-    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[]? RecvDataOF(byte[] data)
-    {
-      DroneData.DataOF of = (DroneData.DataOF)fromBytes(data, typeof(DroneData.DataOF));
-
-      OF.X = of.X;
-      OF.Y = of.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.DataOF:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
-            {
-              // Запрос данных
-              // ... //
-              //
-              return zero;
-            }
-            else
-            {
-              // Пришли данные
-              return RecvDataOF(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
+        public struct DataOut
        {
-          if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать
-          DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead));
+            public float AccX, AccY, AccZ;
+            public float GyrX, GyrY, GyrZ;
+            public float PosX, PosY;
+            public float LaserRange;
        }

-        if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный
+        public struct DataIn
+        {
+            public float MotorUL, MotorUR, MotorDL, MotorDR;
+        }

-        byte[] body = new byte[DroneStreamHead.Size];
+        public static byte[] getBytes(object data)
+        {
+            int size = Marshal.SizeOf(data);
+            byte[] arr = new byte[size];

-        Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.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;
+        }

-        int shift = DroneStreamHead.Size;
+        public static object fromBytes(byte[] arr, Type type)
+        {
+            object mem = new object();

-        DroneStreamIndex -= shift;
-        Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные
+            int size = Marshal.SizeOf(type);
+            IntPtr ptr = IntPtr.Zero;
+            try
+            {
+                ptr = Marshal.AllocHGlobal(size);

-        DroneStreamHead.Size = 0; // Отменяем прошлый заголовок
+                Marshal.Copy(arr, 0, ptr, size);

-        ret.Add(ClientRequestResponse(DroneStreamHead, body));
-      }
+                mem = Marshal.PtrToStructure(ptr, type);
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(ptr);
+            }
+
+            return mem;
+        }

-      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;
-
-      DroneData.DataHead of = new DroneData.DataHead();
-      of.Size = DroneData.DataHead.StrLen;
-      of.Mode = DroneData.DataMode.Request;
-      of.Type = DroneData.DataType.DataOF;
-
-      List<byte[]> list = new List<byte[]>();
-
-      list.Add(getBytes(acc));
-      list.Add(getBytes(gyr));
-      list.Add(getBytes(range));
-      list.Add(getBytes(local));
-      list.Add(getBytes(of));
-      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;
-    }
-  }
 }
--- a/DroneClient/DroneData.cs
+++ b/DroneClient/DroneData.cs
@ -1,123 +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, DataOF = 1007,
-
-    // Input
-    DataMotor4 = 2001, DataMotor6 = 2002,
-
-    // State
-    DataQuat = 3001,
-  };
-
-  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 DataOF
-  {
-    public DataHead Head;
-    public float X, Y; // Угловой сдвиг
-
-    public uint Time; // Последнее время изменения данных
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
-  }
-
-  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));
-  }
-}
--- a/DroneClient/FormMain.Designer.cs
+++ b/DroneClient/FormMain.Designer.cs
@ -38,14 +38,12 @@
      label3 = new Label();
      label1 = new Label();
      groupBox2 = new GroupBox();
-      label_time_acc = new Label();
      label_Acc_Z = new Label();
      label7 = new Label();
      label_Acc_Y = new Label();
      label5 = new Label();
      label_Acc_X = new Label();
      groupBox3 = new GroupBox();
-      label_time_gyr = new Label();
      label_Gyr_Z = new Label();
      label9 = new Label();
      label_Gyr_Y = new Label();
@ -53,7 +51,6 @@
      label_Gyr_X = new Label();
      label13 = new Label();
      groupBox4 = new GroupBox();
-      label_time_range = new Label();
      label_Pos_L = new Label();
      label6 = new Label();
      label_Pos_Y = new Label();
@ -68,22 +65,12 @@
      label_Pow = new Label();
      button_ML = new Button();
      button_MR = new Button();
-      groupBox5 = new GroupBox();
-      label_time_of = new Label();
-      label_OF_Y = new Label();
-      label17 = new Label();
-      label_OF_X = new Label();
-      label19 = new Label();
-      trackBar_Value = new TrackBar();
-      label4 = new Label();
      groupBox1.SuspendLayout();
      ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit();
      groupBox2.SuspendLayout();
      groupBox3.SuspendLayout();
      groupBox4.SuspendLayout();
      ((System.ComponentModel.ISupportInitialize)trackBar_Power).BeginInit();
-      groupBox5.SuspendLayout();
-      ((System.ComponentModel.ISupportInitialize)trackBar_Value).BeginInit();
      SuspendLayout();
      // 
      // timer_Test
@ -102,7 +89,7 @@
      groupBox1.Dock = DockStyle.Top;
      groupBox1.Location = new Point(0, 0);
      groupBox1.Name = "groupBox1";
-      groupBox1.Size = new Size(446, 80);
+      groupBox1.Size = new Size(275, 80);
      groupBox1.TabIndex = 3;
      groupBox1.TabStop = false;
      groupBox1.Tag = "";
@ -169,7 +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);
@ -178,20 +164,11 @@
      groupBox2.Controls.Add(label1);
      groupBox2.Location = new Point(6, 86);
      groupBox2.Name = "groupBox2";
-      groupBox2.Size = new Size(100, 118);
+      groupBox2.Size = new Size(78, 100);
      groupBox2.TabIndex = 5;
      groupBox2.TabStop = false;
      groupBox2.Text = "Acc";
      // 
-      // 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_Acc_Z
      // 
      label_Acc_Z.AutoSize = true;
@ -239,29 +216,19 @@
      // 
      // groupBox3
      // 
-      groupBox3.Controls.Add(label_time_gyr);
      groupBox3.Controls.Add(label_Gyr_Z);
      groupBox3.Controls.Add(label9);
      groupBox3.Controls.Add(label_Gyr_Y);
      groupBox3.Controls.Add(label11);
      groupBox3.Controls.Add(label_Gyr_X);
      groupBox3.Controls.Add(label13);
-      groupBox3.Location = new Point(112, 86);
+      groupBox3.Location = new Point(95, 86);
      groupBox3.Name = "groupBox3";
-      groupBox3.Size = new Size(103, 118);
+      groupBox3.Size = new Size(78, 100);
      groupBox3.TabIndex = 6;
      groupBox3.TabStop = false;
      groupBox3.Text = "Gyr";
      // 
-      // 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";
-      // 
      // label_Gyr_Z
      // 
      label_Gyr_Z.AutoSize = true;
@ -318,29 +285,19 @@
      // 
      // groupBox4
      // 
-      groupBox4.Controls.Add(label_time_range);
      groupBox4.Controls.Add(label_Pos_L);
      groupBox4.Controls.Add(label6);
      groupBox4.Controls.Add(label_Pos_Y);
      groupBox4.Controls.Add(label10);
      groupBox4.Controls.Add(label_Pos_X);
      groupBox4.Controls.Add(label14);
-      groupBox4.Location = new Point(221, 86);
+      groupBox4.Location = new Point(188, 86);
      groupBox4.Name = "groupBox4";
-      groupBox4.Size = new Size(103, 118);
+      groupBox4.Size = new Size(78, 100);
      groupBox4.TabIndex = 7;
      groupBox4.TabStop = false;
      groupBox4.Text = "Pos";
      // 
-      // 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_Pos_L
      // 
      label_Pos_L.AutoSize = true;
@ -480,93 +437,11 @@
      button_MR.MouseDown += button_UU_MouseDown;
      button_MR.MouseUp += button_UU_MouseUp;
      // 
-      // groupBox5
-      // 
-      groupBox5.Controls.Add(label_time_of);
-      groupBox5.Controls.Add(label_OF_Y);
-      groupBox5.Controls.Add(label17);
-      groupBox5.Controls.Add(label_OF_X);
-      groupBox5.Controls.Add(label19);
-      groupBox5.Location = new Point(330, 86);
-      groupBox5.Name = "groupBox5";
-      groupBox5.Size = new Size(104, 118);
-      groupBox5.TabIndex = 24;
-      groupBox5.TabStop = false;
-      groupBox5.Text = "OF";
-      // 
-      // label_time_of
-      // 
-      label_time_of.AutoSize = true;
-      label_time_of.Location = new Point(6, 100);
-      label_time_of.Name = "label_time_of";
-      label_time_of.Size = new Size(13, 15);
-      label_time_of.TabIndex = 27;
-      label_time_of.Text = "0";
-      // 
-      // label_OF_Y
-      // 
-      label_OF_Y.AutoSize = true;
-      label_OF_Y.Location = new Point(19, 45);
-      label_OF_Y.Name = "label_OF_Y";
-      label_OF_Y.Size = new Size(13, 15);
-      label_OF_Y.TabIndex = 7;
-      label_OF_Y.Text = "0";
-      // 
-      // label17
-      // 
-      label17.AutoSize = true;
-      label17.Location = new Point(6, 45);
-      label17.Name = "label17";
-      label17.Size = new Size(17, 15);
-      label17.TabIndex = 6;
-      label17.Text = "Y:";
-      // 
-      // label_OF_X
-      // 
-      label_OF_X.AutoSize = true;
-      label_OF_X.Location = new Point(19, 19);
-      label_OF_X.Name = "label_OF_X";
-      label_OF_X.Size = new Size(13, 15);
-      label_OF_X.TabIndex = 5;
-      label_OF_X.Text = "0";
-      // 
-      // label19
-      // 
-      label19.AutoSize = true;
-      label19.Location = new Point(6, 19);
-      label19.Name = "label19";
-      label19.Size = new Size(17, 15);
-      label19.TabIndex = 4;
-      label19.Text = "X:";
-      // 
-      // trackBar_Value
-      // 
-      trackBar_Value.Location = new Point(349, 240);
-      trackBar_Value.Maximum = 100;
-      trackBar_Value.Minimum = 1;
-      trackBar_Value.Name = "trackBar_Value";
-      trackBar_Value.Orientation = Orientation.Vertical;
-      trackBar_Value.Size = new Size(45, 195);
-      trackBar_Value.TabIndex = 25;
-      trackBar_Value.Value = 1;
-      // 
-      // label4
-      // 
-      label4.AutoSize = true;
-      label4.Location = new Point(347, 219);
-      label4.Name = "label4";
-      label4.Size = new Size(47, 15);
-      label4.TabIndex = 26;
-      label4.Text = "POWER";
-      // 
      // Form_Main
      // 
      AutoScaleDimensions = new SizeF(7F, 15F);
      AutoScaleMode = AutoScaleMode.Font;
-      ClientSize = new Size(446, 447);
-      Controls.Add(label4);
-      Controls.Add(trackBar_Value);
-      Controls.Add(groupBox5);
+      ClientSize = new Size(275, 447);
      Controls.Add(button_MR);
      Controls.Add(button_ML);
      Controls.Add(label_Pow);
@ -593,9 +468,6 @@
      groupBox4.ResumeLayout(false);
      groupBox4.PerformLayout();
      ((System.ComponentModel.ISupportInitialize)trackBar_Power).EndInit();
-      groupBox5.ResumeLayout(false);
-      groupBox5.PerformLayout();
-      ((System.ComponentModel.ISupportInitialize)trackBar_Value).EndInit();
      ResumeLayout(false);
      PerformLayout();
    }
@ -637,16 +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;
-    private GroupBox groupBox5;
-    private Label label_time_of;
-    private Label label_OF_Y;
-    private Label label17;
-    private Label label_OF_X;
-    private Label label19;
-    private TrackBar trackBar_Value;
  }
 }
--- a/DroneClient/FormMain.cs
+++ b/DroneClient/FormMain.cs
@ -1,4 +1,4 @@
-using System.Text;
+using System.Text;
 using System.Numerics;
 using System.Windows.Forms;
 using static DroneSimulator.NetClient;
@ -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 { }
    }

@ -91,30 +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();
-
-      label_OF_X.Text = dataDrone.OF.X.ToString();
-      label_OF_Y.Text = dataDrone.OF.Y.ToString();
-
-      label_time_of.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)
@ -123,44 +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)
    {
-      float pow = ((float)trackBar_Value.Value) / 10.0f;
-
      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;
      }
    }

--- a/DroneClient/NetClient.cs
+++ b/DroneClient/NetClient.cs
@ -1,106 +1,103 @@
-using System.Net.Sockets;
-using System.Net;
+using System.Net;
+using System.Net.Sockets;

 namespace DroneSimulator
 {
-  internal class NetClient
-  {
-    public class ConnectData
+    internal class NetClient
    {
-      public bool Connect;
+        public class ConnectData
+        {
+            public bool Connect;

-      public Socket? Server;
+            public Socket? Server;
+        }
+
+        public class ReceiveData
+        {
+            public byte[]? Buffer;
+            public int Size;
+
+            public Socket? Server;
+        }
+
+        private class ServerData
+        {
+            public const int size = 1024;
+            public byte[] buffer = new byte[size];
+        }
+
+        private bool Connected = false;
+        private Socket? ServerSocket = null;
+        private ServerData DataServer = new ServerData();
+
+        public delegate void ClientCallback(object o);
+
+        private ClientCallback? ConnectionCallback;
+        private ClientCallback? ReceiveCallback;
+
+        public enum ClientState { Error, Connected, Stop };
+
+        public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
+        {
+            if (Connected)
+            {
+                try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
+                ServerSocket?.Close();
+                Connected = false;
+                return ClientState.Stop;
+            }
+
+            ConnectionCallback = Connection;
+            ReceiveCallback = Receive;
+
+            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;
+
+            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 { }
+
+            return ClientState.Connected;
+        }
+
+        public void Close()
+        {
+            try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
+            ServerSocket?.Close();
+            Connected = false;
+        }
+
+        public void ReadCallback(IAsyncResult ar)
+        {
+            ReceiveData cd = (ReceiveData)ar.AsyncState;
+            if (cd == null) return;
+
+            int bytes = 0;
+            try { bytes = ServerSocket.EndReceive(ar); } catch { }
+
+            if (bytes == 0)
+            {
+                ServerSocket?.Close();
+
+                Connected = false;
+
+                if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = 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 class ReceiveData
-    {
-      public byte[]? Buffer;
-      public int Size;
-
-      public Socket? Server;
-    }
-
-    private class ServerData
-    {
-      public const int size = 1024;
-      public byte[] buffer = new byte[size];
-    }
-
-    private bool Connected = false;
-    private Socket? ServerSocket = null;
-    private ServerData DataServer = new ServerData();
-
-    public delegate void ClientCallback(object o);
-
-    private ClientCallback? ConnectionCallback;
-    private ClientCallback? ReceiveCallback;
-
-    public enum ClientState { Error, Connected, Stop };
-
-    public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
-    {
-      if (Connected)
-      {
-        Close();
-        return ClientState.Stop;
-      }
-
-      ConnectionCallback = Connection;
-      ReceiveCallback = Receive;
-
-      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;
-
-      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 { }
-
-      return ClientState.Connected;
-    }
-
-    public void Close()
-    {
-      try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
-      ServerSocket?.Close();
-      Connected = false;
-    }
-
-    public void ReadCallback(IAsyncResult ar)
-    {
-      ReceiveData cd = (ReceiveData)ar.AsyncState;
-      if (cd == null) return;
-
-      int bytes = 0;
-      try { bytes = ServerSocket.EndReceive(ar); } catch {  }
-
-      if (bytes == 0)
-      {
-        ServerSocket?.Close();
-
-        Connected = false;
-
-        if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = 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 { }
-    }
-  }
 }
--- a/DroneClient/README.md
+++ b/DroneClient/README.md
@ -1,3 +0,0 @@
-# Client
-
-Образец клиента для подключения к симулятору.
--- a/DroneClientCpp/Drone.cpp
+++ b/DroneClientCpp/Drone.cpp
@ -1,255 +0,0 @@
-#include "Drone.h"
-
-namespace DroneClient {
-
-    // Реализация статического метода GetBytes
-    array<Byte>^ Drone::GetBytes(Object^ data)
-    {
-        int size = Marshal::SizeOf(data);
-        array<Byte>^ arr = gcnew array<Byte>(size);
-
-        IntPtr ptr = IntPtr::Zero;
-        try
-        {
-            ptr = Marshal::AllocHGlobal(size);
-            Marshal::StructureToPtr(data, ptr, true);
-            Marshal::Copy(ptr, arr, 0, size);
-        }
-        finally
-        {
-            Marshal::FreeHGlobal(ptr);
-        }
-        return arr;
-    }
-
-    // Реализация статического метода FromBytes
-    Object^ Drone::FromBytes(array<Byte>^ arr, Type^ type)
-    {
-        Object^ mem = gcnew Object();
-
-        int size = Marshal::SizeOf(type);
-        IntPtr ptr = IntPtr::Zero;
-        try
-        {
-            ptr = Marshal::AllocHGlobal(size);
-            Marshal::Copy(arr, 0, ptr, size);
-            mem = Marshal::PtrToStructure(ptr, type);
-        }
-        finally
-        {
-            Marshal::FreeHGlobal(ptr);
-        }
-        return mem;
-    }
-
-    // Реализация приватного метода SendDataMotor4
-    array<Byte>^ Drone::SendDataMotor4()
-    {
-        DroneData::DataMotor4 mot4;
-
-        mot4.Head.Size = Marshal::SizeOf(DroneData::DataMotor4::typeid);
-        mot4.Head.Mode = DroneData::DataMode::Response;
-        mot4.Head.Type = DroneData::DataType::DataMotor4;
-
-        mot4.UL = MotorUL;
-        mot4.UR = MotorUR;
-        mot4.DL = MotorDL;
-        mot4.DR = MotorDR;
-
-        return GetBytes(mot4);
-    }
-
-    array<Byte>^ Drone::RecvDataAcc(array<Byte>^ data)
-    {
-        DroneData::DataAcc imu = (DroneData::DataAcc)FromBytes(data, DroneData::DataAcc::typeid);
-
-        AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
-        TimeAcc = imu.Time;
-
-        return gcnew array<Byte>(0);
-    }
-
-    array<Byte>^ Drone::RecvDataGyr(array<Byte>^ data)
-    {
-      DroneData::DataGyr imu = (DroneData::DataGyr)FromBytes(data, DroneData::DataGyr::typeid);
-
-      GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
-      TimeGyr = imu.Time;
-
-      return gcnew array<Byte>(0);
-    }
-
-    array<Byte>^ Drone::RecvDataRange(array<Byte>^ data)
-    {
-      DroneData::DataRange pos = (DroneData::DataRange)FromBytes(data, DroneData::DataRange::typeid);
-
-      LaserRange = pos.LiDAR;
-      TimeRange = pos.Time;
-
-      return gcnew array<Byte>(0);
-    }
-
-    array<Byte>^ Drone::RecvDataLocal(array<Byte>^ data)
-    {
-        DroneData::DataLocal pos = (DroneData::DataLocal)FromBytes(data, DroneData::DataLocal::typeid);
-
-        PosX = pos.Local.X; PosY = pos.Local.Y;
-
-        return gcnew array<Byte>(0);
-    }
-
-    array<Byte>^ Drone::ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body)
-    {
-        array<Byte>^ zero = gcnew array<Byte>(0);
-
-        switch (head.Type)
-        {
-        case DroneData::DataType::DataAcc:
-            if (head.Mode == DroneData::DataMode::Request)
-            {
-                return zero; // Запрос данных (не реализовано)
-            }
-            else
-            {
-                return RecvDataAcc(body); // Пришли данные
-            }
-
-        case DroneData::DataType::DataGyr:
-          if (head.Mode == DroneData::DataMode::Request)
-          {
-            return zero; // Запрос данных (не реализовано)
-          }
-          else
-          {
-            return RecvDataGyr(body); // Пришли данные
-          }
-
-        case DroneData::DataType::DataRange:
-            if (head.Mode == DroneData::DataMode::Request)
-            {
-                return zero; // Запрос данных (не реализовано)
-            }
-            else
-            {
-                return RecvDataRange(body); // Пришли данные
-            }
-
-        case DroneData::DataType::DataLocal:
-          if (head.Mode == DroneData::DataMode::Request)
-          {
-            return zero; // Запрос данных (не реализовано)
-          }
-          else
-          {
-            return RecvDataLocal(body); // Пришли данные
-          }
-
-        case DroneData::DataType::DataMotor4:
-            if (head.Mode == DroneData::DataMode::Request)
-            {
-                return SendDataMotor4(); // Запрос данных
-            }
-            else
-            {
-                return zero; // Пришли данные (не реализовано)
-            }
-        }
-
-        return zero;
-    }
-
-    // Реализация конструктора
-    Drone::Drone()
-    {
-        DroneStreamData = gcnew array<Byte>(DroneStreamCount); // Инициализация массива
-        DroneStreamIndex = 0;
-        DroneStreamHead.Mode = DroneData::DataMode::None;
-        DroneStreamHead.Size = 0;
-        DroneStreamHead.Type = DroneData::DataType::None;
-    }
-
-    // Реализация метода DataStream
-    List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
-    {
-        System::Collections::Generic::List<array<Byte>^>^ ret = gcnew System::Collections::Generic::List<array<Byte>^>();
-
-        if (data == nullptr) return ret; // Последовательность не сформирована
-
-        if (size + DroneStreamIndex > DroneStreamCount) return nullptr; // Ошибка переполнения
-
-        Array::Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
-        DroneStreamIndex += size;
-
-        while (true)
-        {
-            if (DroneStreamHead.Size == 0) // Заголовок еще не получен
-            {
-                if (DroneStreamIndex < DroneData::DataHead::StrLen) return ret;
-                DroneStreamHead = (DroneData::DataHead)FromBytes(DroneStreamData, DroneData::DataHead::typeid);
-            }
-
-            if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет еще не полный
-
-            array<Byte>^ body = gcnew array<Byte>(DroneStreamHead.Size);
-            Array::Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
-
-            int shift = DroneStreamHead.Size;
-
-            DroneStreamIndex -= shift;
-            Array::Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвиг массива
-
-            DroneStreamHead.Size = 0; // Сброс заголовка
-
-            ret->Add(ClientRequestResponse(DroneStreamHead, body));
-        }
-
-        return ret;
-    }
-
-    // Реализация метода SendRequest
-    array<Byte>^ Drone::SendRequest()
-    {
-      DroneData::DataHead^ acc = gcnew DroneData::DataHead();
-      acc->Size = DroneData::DataHead::StrLen;
-      acc->Mode = DroneData::DataMode::Request;
-      acc->Type = DroneData::DataType::DataAcc;
-
-      DroneData::DataHead^ gyr = gcnew DroneData::DataHead();
-      gyr->Size = DroneData::DataHead::StrLen;
-      gyr->Mode = DroneData::DataMode::Request;
-      gyr->Type = DroneData::DataType::DataGyr;
-
-      DroneData::DataHead^ range = gcnew DroneData::DataHead();
-      range->Size = DroneData::DataHead::StrLen;
-      range->Mode = DroneData::DataMode::Request;
-      range->Type = DroneData::DataType::DataRange;
-
-      DroneData::DataHead^ local = gcnew DroneData::DataHead();
-      local->Size = DroneData::DataHead::StrLen;
-      local->Mode = DroneData::DataMode::Request;
-      local->Type = DroneData::DataType::DataLocal;
-
-      List<array<byte>^>^ list = gcnew List<array<byte>^>();
-
-      list->Add(GetBytes(acc));
-      list->Add(GetBytes(gyr));
-      list->Add(GetBytes(range));
-      list->Add(GetBytes(local));
-      list->Add(SendDataMotor4());
-
-      int count = 0;
-
-      for each(array<byte>^ d in list) count += d->Length;
-
-      array<byte>^ send = gcnew array<byte>(count);
-
-      count = 0;
-      for each (array<byte> ^ d in list)
-      {
-        d->CopyTo(send, count);
-        count += d->Length;
-      }
-
-      return send;
-    }
-}
--- a/DroneClientCpp/Drone.h
+++ b/DroneClientCpp/Drone.h
@ -1,51 +0,0 @@
-#pragma once
-
-#include "DroneData.h"
-#include <Windows.h>
-#include <vcclr.h>
-
-#using <System.dll>
-#using <mscorlib.dll>
-
-using namespace System;
-using namespace System::Collections::Generic;
-using namespace System::Runtime::InteropServices;
-
-namespace DroneClient {
-
-    public ref class Drone
-    {
-    public:
-        float AccX, AccY, AccZ;
-        float GyrX, GyrY, GyrZ;
-        unsigned int TimeAcc, TimeGyr;
-
-        float PosX, PosY;
-        float LaserRange;
-        unsigned int TimeRange;
-
-        float MotorUL, MotorUR, MotorDL, MotorDR;
-
-        static array<Byte>^ GetBytes(Object^ data);
-        static Object^ FromBytes(array<Byte>^ arr, Type^ type);
-
-    private:
-        array<Byte>^ SendDataMotor4();
-        array<Byte>^ RecvDataAcc(array<Byte>^ data);
-        array<Byte>^ RecvDataGyr(array<Byte>^ data);
-        array<Byte>^ RecvDataRange(array<Byte>^ data);
-        array<Byte>^ RecvDataLocal(array<Byte>^ data);
-        array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);
-
-        literal int DroneStreamCount = 512;
-        array<Byte>^ DroneStreamData;
-        int DroneStreamIndex;
-        DroneData::DataHead DroneStreamHead;
-
-    public:
-        Drone(); // Конструктор для инициализации
-
-        System::Collections::Generic::List<array<Byte>^>^ DataStream(array<Byte>^ data, int size);
-        array<Byte>^ SendRequest();
-    };
-}
--- a/DroneClientCpp/DroneClientCpp.sln
+++ b/DroneClientCpp/DroneClientCpp.sln
@ -5,6 +5,8 @@ VisualStudioVersion = 17.12.35527.113
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DroneClientCpp", "DroneClientCpp.vcxproj", "{690C304C-A70B-4B0F-BF61-8C51290BF444}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TestClientConnection", "..\TestClientConnection\TestClientConnection.vcxproj", "{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|x64 = Debug|x64
@ -21,6 +23,14 @@ Global
 		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.Build.0 = Release|x64
 		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.ActiveCfg = Release|Win32
 		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.Build.0 = Release|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x64.ActiveCfg = Debug|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x64.Build.0 = Debug|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x86.ActiveCfg = Debug|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x86.Build.0 = Debug|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x64.ActiveCfg = Release|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x64.Build.0 = Release|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x86.ActiveCfg = Release|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
--- a/DroneClientCpp/DroneClientCpp.vcxproj
+++ b/DroneClientCpp/DroneClientCpp.vcxproj
@ -118,13 +118,10 @@
    <Reference Include="System.Xml" />
  </ItemGroup>
  <ItemGroup>
-    <ClCompile Include="Drone.cpp" />
    <ClCompile Include="FormMain.cpp" />
-    <ClCompile Include="NetClient.cpp" />
  </ItemGroup>
  <ItemGroup>
-    <ClInclude Include="Drone.h" />
-    <ClInclude Include="DroneData.h" />
+    <ClInclude Include="DroneClient.h" />
    <ClInclude Include="FormMain.h">
      <FileType>CppForm</FileType>
    </ClInclude>
--- a/DroneClientCpp/DroneClientCpp.vcxproj.filters
+++ b/DroneClientCpp/DroneClientCpp.vcxproj.filters
@ -18,12 +18,6 @@
    <ClCompile Include="FormMain.cpp">
      <Filter>Исходные файлы</Filter>
    </ClCompile>
-    <ClCompile Include="NetClient.cpp">
-      <Filter>Исходные файлы</Filter>
-    </ClCompile>
-    <ClCompile Include="Drone.cpp">
-      <Filter>Исходные файлы</Filter>
-    </ClCompile>
  </ItemGroup>
  <ItemGroup>
    <ClInclude Include="FormMain.h">
@ -32,10 +26,7 @@
    <ClInclude Include="NetClient.h">
      <Filter>Файлы заголовков</Filter>
    </ClInclude>
-    <ClInclude Include="DroneData.h">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
-    <ClInclude Include="Drone.h">
+    <ClInclude Include="DroneClient.h">
      <Filter>Файлы заголовков</Filter>
    </ClInclude>
  </ItemGroup>
--- a/DroneClientCpp/DroneClientCpp.vcxproj.user
+++ b/DroneClientCpp/DroneClientCpp.vcxproj.user
@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <PropertyGroup />
-</Project>
--- a/DroneClientCpp/DroneData.h
+++ b/DroneClientCpp/DroneData.h
@ -1,117 +0,0 @@
-#pragma once
-
-#include <Windows.h>
-#include <vcclr.h>
-
-using namespace System;
-using namespace System::Runtime::InteropServices;
-
-namespace DroneData {
-
-    public enum class DataMode : unsigned short
-    {
-        None = 0, Response = 1, Request = 2
-    };
-
-    public enum class DataType : unsigned short
-    {
-      None = 0, Head = 1,
-
-      // Output
-      DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
-
-      // Input
-      DataMotor4 = 2001, DataMotor6 = 2002
-    };
-
-    public value struct DataHead
-    {
-    public:
-      long Size;
-        DataMode Mode;
-        DataType Type;
-
-        unsigned long Time;
-
-        static const int StrLen = sizeof(DataHead);
-    };
-
-    public value struct XYZ
-    {
-    public:
-        float X, Y, Z;
-    };
-
-    public value struct DataAcc
-    {
-    public:
-        DataHead Head;
-        XYZ Acc;
-
-        unsigned long Time;
-
-        static const int StrLen = sizeof(DataAcc);
-    };
-
-    public value struct DataGyr
-    {
-    public:
-      DataHead Head;
-      XYZ Gyr;
-
-      unsigned long Time;
-
-      static const int StrLen = sizeof(DataGyr);
-    };
-
-    public value struct DataMag
-    {
-    public:
-      DataHead Head;
-      XYZ Mag;
-
-      unsigned long Time;
-
-      static const int StrLen = sizeof(DataMag);
-    };
-
-    public value struct DataRange
-    {
-    public:
-        DataHead Head;
-        float LiDAR;
-
-        unsigned long Time;
-
-        static const int StrLen = sizeof(DataRange);
-    };
-
-    public value struct DataLocal
-    {
-    public:
-      DataHead Head;
-      XYZ Local;
-
-      unsigned long Time;
-
-      static const int StrLen = sizeof(DataLocal);
-    };
-
-    public value struct DataMotor4
-    {
-    public:
-        DataHead Head;
-        float UL, UR, DL, DR;
-
-        static const int StrLen = sizeof(DataMotor4);
-    };
-
-    public value struct DataMotor6
-    {
-    public:
-        DataHead Head;
-        float UL, UR, LL, RR, DL, DR;
-
-        static const int StrLen = sizeof(DataMotor6);
-    };
-}
--- a/DroneClientCpp/FormMain.h
+++ b/DroneClientCpp/FormMain.h
--- a/DroneClientCpp/NetClient.cpp
+++ b/DroneClientCpp/NetClient.cpp
@ -1,105 +0,0 @@
-#include "NetClient.h"
-
-namespace DroneSimulator {
-
-    // Конструктор ConnectData
-    NetClient::ConnectData::ConnectData(bool connect, Socket^ server)
-    {
-        Connect = connect;
-        Server = server;
-    }
-
-    // Конструктор ReceiveData
-    NetClient::ReceiveData::ReceiveData(array<Byte>^ buffer, int size, Socket^ server)
-    {
-        Buffer = buffer;
-        Size = size;
-        Server = server;
-    }
-
-    // Конструктор NetClient
-    NetClient::NetClient()
-    {
-        Connected = false;
-        ServerSocket = nullptr;
-        DataServer = gcnew ServerData(); // Инициализация DataServer
-    }
-
-    // Реализация метода Connect
-    NetClient::ClientState NetClient::Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive)
-    {
-        if (Connected)
-        {
-            Close();
-            return ClientState::Stop;
-        }
-
-        ConnectionCallback = Connection;
-        ReceiveCallback = Receive;
-
-        IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port);
-        ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
-
-        try { if (ServerSocket) ServerSocket->Connect(ep); }
-        catch (...) { ServerSocket->Close(); return ClientState::Error; }
-
-        Connected = true;
-
-        ConnectionCallback(gcnew ConnectData(true, ServerSocket));
-
-        ReceiveData^ receiveData = gcnew ReceiveData(DataServer->buffer, ServerData::size, ServerSocket);
-
-        try { if (ServerSocket) ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
-        catch (...) {}
-
-        return ClientState::Connected;
-    }
-
-    // Реализация метода Close
-    void NetClient::Close()
-    {
-        try { if(ServerSocket) ServerSocket->Shutdown(SocketShutdown::Both); }
-        catch (...) {}
-        if(ServerSocket) ServerSocket->Close();
-        Connected = false;
-    }
-
-    // Реализация метода Send
-    void NetClient::Send(array<Byte>^ data)
-    {
-        if (ServerSocket != nullptr && Connected)
-        {
-            try { if (ServerSocket) ServerSocket->Send(data); }
-            catch (...) {}
-        }
-    }
-
-    // Реализация метода ReadCallback
-    void NetClient::ReadCallback(IAsyncResult^ ar)
-    {
-        ReceiveData^ cd = (ReceiveData^)ar->AsyncState;
-        if (cd == nullptr) return;
-
-        int bytes = 0;
-        try { bytes = ServerSocket->EndReceive(ar); }
-        catch (...) {}
-
-        if (bytes == 0)
-        {
-          if (ServerSocket) ServerSocket->Close();
-            Connected = false;
-
-            if (ServerSocket != nullptr)
-            {
-                ConnectionCallback(gcnew ConnectData(false, nullptr));
-            }
-
-            return;
-        }
-
-        ReceiveCallback(gcnew ReceiveData(cd->Buffer, bytes, ServerSocket));
-
-        try { if (ServerSocket) ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
-        catch (...) {}
-    }
-}
--- a/DroneClientCpp/NetClient.h
+++ b/DroneClientCpp/NetClient.h
@ -1,4 +1,5 @@
-#pragma once
+// NetClient.h
+#pragma once

 #include <Windows.h>
 #include <vcclr.h>
@ -9,60 +10,247 @@
 using namespace System;
 using namespace System::Net;
 using namespace System::Net::Sockets;
+using namespace System::Runtime::InteropServices;

-namespace DroneSimulator {
-
+namespace DroneSimulator
+{
    public ref class NetClient
    {
    public:
+        // Вложенный класс для данных подключения
        ref class ConnectData
        {
        public:
-            bool Connect;
-            Socket^ Server;
-
-            ConnectData(bool connect, Socket^ server);
+            property bool Connect;
+            property Socket^ Server;
        };

+        // Вложенный класс для данных приема
        ref class ReceiveData
        {
        public:
-            array<Byte>^ Buffer;
-            int Size;
-            Socket^ Server;
-
-            ReceiveData(array<Byte>^ buffer, int size, Socket^ server);
+            property array<Byte>^ Buffer;
+            property int Size;
+            property Socket^ Server;
        };

+        // Состояния клиента
+        enum class ClientState { Error, Connected, Stop };
+
+        // Делегат для callback-функций
+        delegate void ClientCallback(Object^ o);
+
+        NetClient()
+        {
+            Connected = false;
+            ServerSocket = nullptr;
+            DataServer = gcnew ServerData();
+        }
+
+        ~NetClient()
+        {
+            // Вызываем Close() для корректного закрытия соединения
+            Close();
+
+            // Дополнительная очистка ресурсов
+            if (DataServer != nullptr)
+            {
+                // Очищаем буфер данных
+                DataServer->buffer = nullptr;
+                DataServer = nullptr;
+            }
+
+            // Обнуляем callback-делегаты
+            ConnectionCallback = nullptr;
+            ReceiveCallback = nullptr;
+        }
+
+        ClientState Connect(String^ addr, int port, ClientCallback^ connectionCallback, ClientCallback^ receiveCallback)
+        {
+            if (Connected)
+            {
+                Disconnect();
+                return ClientState::Stop;
+            }
+
+            ConnectionCallback = connectionCallback;
+            ReceiveCallback = receiveCallback;
+
+            try
+            {
+                IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(addr), port);
+                ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
+                ServerSocket->Connect(ep);
+
+                Connected = true;
+
+                // Уведомление о подключении
+                ConnectData^ connectData = gcnew ConnectData();
+                connectData->Connect = true;
+                connectData->Server = ServerSocket;
+                ConnectionCallback(connectData);
+
+                // Начало приема данных
+                ReceiveData^ receiveData = gcnew ReceiveData();
+                receiveData->Buffer = DataServer->buffer;
+                receiveData->Size = ServerData::size;
+                receiveData->Server = ServerSocket;
+
+                ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData);
+
+                return ClientState::Connected;
+            }
+            catch (Exception^)
+            {
+                if (ServerSocket != nullptr)
+                {
+                    ServerSocket->Close();
+                }
+                return ClientState::Error;
+            }
+        }
+
+        void Close()
+        {
+            Disconnect();
+        }
+
    private:
        ref class ServerData
        {
        public:
-            literal int size = 1024;
+            static const int size = 1024;
            array<Byte>^ buffer = gcnew array<Byte>(size);
        };

        bool Connected;
        Socket^ ServerSocket;
        ServerData^ DataServer;
-
-    public:
-        delegate void ClientCallback(Object^ o);
-
-    private:
        ClientCallback^ ConnectionCallback;
        ClientCallback^ ReceiveCallback;

-    public:
-        NetClient(); // Добавлен конструктор
+        void Disconnect()
+        {
+            if (ServerSocket != nullptr)
+            {
+                try { ServerSocket->Shutdown(SocketShutdown::Both); }
+                catch (...) {}
+                ServerSocket->Close();
+                ServerSocket = nullptr;
+            }
+            Connected = false;
+        }

-        enum class ClientState { Error, Connected, Stop };
+        void ReadCallback(IAsyncResult^ ar)
+        {
+            try
+            {
+                // Проверка на null входного параметра
+                if (ar == nullptr) return;

-        ClientState Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive);
-        void Close();
-        void Send(array<Byte>^ data);
+                // Безопасное приведение типа
+                ReceiveData^ cd = dynamic_cast<ReceiveData^>(ar->AsyncState);
+                if (cd == nullptr || ServerSocket == nullptr || !ServerSocket->Connected)
+                {
+                    Disconnect();
+                    return;
+                }

-    private:
-        void ReadCallback(IAsyncResult^ ar);
+                int bytes = 0;
+                try
+                {
+                    bytes = ServerSocket->EndReceive(ar);
+                }
+                catch (ObjectDisposedException^)
+                {
+                    // Сокет был закрыт
+                    Disconnect();
+                    return;
+                }
+                catch (SocketException^ ex)
+                {
+                    // Логирование ошибки сокета
+                    System::Diagnostics::Debug::WriteLine(
+                        "Socket receive error: " + ex->Message);
+                    Disconnect();
+                    return;
+                }
+                catch (...)
+                {
+                    Disconnect();
+                    return;
+                }
+
+                // Проверка на разрыв соединения
+                if (bytes == 0)
+                {
+                    Disconnect();
+
+                    if (ConnectionCallback != nullptr)
+                    {
+                        ConnectData^ disconnectData = gcnew ConnectData();
+                        disconnectData->Connect = false;
+                        disconnectData->Server = nullptr;
+                        ConnectionCallback(disconnectData);
+                    }
+                    return;
+                }
+
+                // Вызов callback получения данных
+                if (ReceiveCallback != nullptr && cd->Buffer != nullptr)
+                {
+                    try
+                    {
+                        ReceiveCallback(cd);
+                    }
+                    catch (Exception^ ex)
+                    {
+                        System::Diagnostics::Debug::WriteLine(
+                            "ReceiveCallback error: " + ex->Message);
+                    }
+                }
+
+                // Продолжаем прием данных
+                if (ServerSocket != nullptr && ServerSocket->Connected)
+                {
+                    try
+                    {
+                        IAsyncResult^ result = ServerSocket->BeginReceive(
+                            cd->Buffer,
+                            0,
+                            ServerData::size,
+                            SocketFlags::None,
+                            gcnew AsyncCallback(this, &NetClient::ReadCallback),
+                            cd);
+
+                        // Проверка на ошибку асинхронной операции
+                        if (result == nullptr)
+                        {
+                            Disconnect();
+                        }
+                    }
+                    catch (ObjectDisposedException^)
+                    {
+                        Disconnect();
+                    }
+                    catch (SocketException^ ex)
+                    {
+                        System::Diagnostics::Debug::WriteLine(
+                            "BeginReceive error: " + ex->Message);
+                        Disconnect();
+                    }
+                    catch (...)
+                    {
+                        Disconnect();
+                    }
+                }
+            }
+            catch (Exception^ ex)
+            {
+                System::Diagnostics::Debug::WriteLine(
+                    "ReadCallback general error: " + ex->Message);
+                Disconnect();
+            }
+        }
    };
 }
--- a/DroneSimulator/Area.cs
+++ b/DroneSimulator/Area.cs
@ -1,27 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Numerics;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace DroneSimulator
-{
-  internal class Area
-  {
-    public struct Poisition
-    {
-      public struct Freeze{ public static bool X, Y, Z; }
-    }
-
-    public struct Wind
-    {
-      public static bool Enable;
-      public struct Speed { public static float From, To; }
-      public static float Direction;
-      public static float Density;
-      public static float PosResist;
-      public static float RotResist;
-    }
-  }
-}
--- a/DroneSimulator/Drone.cs
+++ b/DroneSimulator/Drone.cs
@ -1,579 +1,256 @@
 using System.Numerics;
 using System.Runtime.InteropServices;
-using static System.Net.Mime.MediaTypeNames;

 namespace DroneSimulator
 {
-  internal class Drone
-  {
-    public int ID;
-
-    public bool Active; // Живой?
-    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 Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
-
-    public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
-    public float LaserRange; // Имитация: Дальномер
-
-    public Vector4 Orientation;
-
-    private uint DataTimer;
-
-    private const float Gravity = 9.8f;
-
-    private const float TO_GRAD = 180 / MathF.PI;
-    private const float TO_RADI = MathF.PI / 180;
-
-    private Thread DroneThread;
-    private int Timer;
-
-    private Vector2 MoveOF = Vector2.Zero;
-
-    public struct Physics
+    internal class Drone
    {
-      static public float Mass; // Масса
-      static public float Length; // Длинна лучей
-      static public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
-    }
+        public int ID;
+        public float Mass; // Масса
+        public bool Active; // Живой?
+        public float Length; // Длинна лучей
+        public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
+        public Quaternion Quat; // Основной кватернион
+        public float Power = 0; // Тяга всех двигателей
+        public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw

-    private RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
-    private RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
-    private RealMode.Position RealPos = new RealMode.Position();
-    private RealMode.Barometer RealBar = new RealMode.Barometer();
-    private RealMode.Range RealRange = new RealMode.Range();
-    private RealMode.OpticalFlow RealOF = new RealMode.OpticalFlow();
+        public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
+        public float LaserRange; // Имитация: Дальномер

-    public static byte[] getBytes(object data)
-    {
-      int size = Marshal.SizeOf(data);
-      byte[] arr = new byte[size];
+        private const float Gravity = 1.0f;

-      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;
-    }
+        private const float TO_GRAD = 180 / MathF.PI;
+        private const float TO_RADI = MathF.PI / 180;

-    public static object fromBytes(byte[] arr, Type type)
-    {
-      object mem = new object();
+        private Thread DroneThread;
+        private int Timer;

-      int size = Marshal.SizeOf(type);
-      IntPtr ptr = IntPtr.Zero;
-      try
-      {
-        ptr = Marshal.AllocHGlobal(size);
+        private static int CounterID = 0;

-        Marshal.Copy(arr, 0, ptr, size);

-        mem = Marshal.PtrToStructure(ptr, type);
-      }
-      finally
-      {
-        Marshal.FreeHGlobal(ptr);
-      }

-      return mem;
-    }
-
-    public VisualData.VisualDrone GetVisual(int count, int index)
-    {
-      VisualData.VisualDrone drone = new VisualData.VisualDrone();
-
-      drone.Head.Size = Marshal.SizeOf(typeof(VisualData.VisualDrone));
-      drone.Head.Type = VisualData.VisualHead.VisualType.Drone;
-
-      drone.Count = count;
-      drone.Index = index;
-
-      drone.ID = ID;
-      drone.Color.A = 255; drone.Color.R = 255; drone.Color.G = 0; drone.Color.B = 0;
-
-      drone.Rotate.X = Quat.X; drone.Rotate.Y = Quat.Y; drone.Rotate.Z = Quat.Z; drone.Rotate.W = Quat.W;
-      drone.Position.X = PosXYZ.X; drone.Position.Y = PosXYZ.Y; drone.Position.Z = PosXYZ.Z;
-      drone.Scale = 1.0f;
-
-      drone.State = VisualData.VisualDrone.DroneState.Active;
-
-      drone.Power = Power;
-
-      return drone;
-    }
-
-    private void ThreadFunction()
-    {
-      while (DroneThread != null)
-      {
-        Action(Environment.TickCount);
-        Thread.Sleep(1);
-      }
-    }
-
-    public Drone(int id)
-    {
-      ID = id;
-      Active = false;
-      PosXYZ = Vector3.Zero;
-      SpdXYZ = Vector3.Zero;
-      AccXYZ = Vector3.Zero;
-      Quat = Quaternion.Identity;
-
-      DroneThread = new Thread(new ThreadStart(ThreadFunction));
-      Timer = Environment.TickCount;
-      DroneThread.Start();
-    }
-
-    public int Create()
-    {
-      Active = true;
-
-      return ID;
-    }
-
-    public void Close()
-    {
-      DroneThread = null;
-    }
-
-    private float GetAngle(float a1, float a2, float az)
-    {
-      if (a2 == 0.0f && az == 0.0f)
-      {
-        if (a1 > 0) return 90;
-        if (a1 < 0) return -90;
-        return 0;
-      }
-      return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD;
-    }
-
-    public void Rotate(float x, float y, float z)
-    {
-      x = x * MathF.PI / 180;
-      y = y * MathF.PI / 180;
-      z = -z * MathF.PI / 180;
-
-      Quaternion map = Quat;
-      Quaternion spd = new Quaternion(x, y, z, 0);
-      Quaternion aq = spd * map;
-
-      map.W -= 0.5f * aq.W;
-      map.X -= 0.5f * aq.X;
-      map.Y -= 0.5f * aq.Y;
-      map.Z -= 0.5f * aq.Z;
-
-      Quat = Quaternion.Normalize(map);
-    }
-
-    public Vector4 GetOrientation()
-    {
-      Quaternion grav = new Quaternion(0, 0, 1, 0);
-
-      grav = Quat * grav * Quaternion.Inverse(Quat);
-
-      float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD;
-      if (yaw < 0.0f) yaw = 360.0f + yaw;
-
-      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)
-    {
-      float time = (tick - Timer) / 1000.0f;
-      Timer = tick;
-
-      if (!Active) return;
-
-      float flow = Power;
-
-      if (PosXYZ.Z < 0.3f)
-      {
-        flow += flow * 0.1f; // Воздушная подушка
-      }
-
-      
-
-      float wind_x = 0, wind_y = 0, wind_z = 0;
-      float wind_p = 0, wind_r = 0, wind_w = 0;
-
-      if (Area.Wind.Enable)
-      {
-        Quaternion dir = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), Area.Wind.Direction * TO_RADI * 2);
-
-        Quaternion spd = new Quaternion(0, Area.Wind.Speed.From, 0, 0) * dir;
-
-        float spd_x = spd.X - SpdXYZ.X;
-        float spd_y = spd.Y - SpdXYZ.Y;
-        float spd_z = spd.Z - SpdXYZ.Z;
-
-        wind_x = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_x * MathF.Abs(spd_x));
-        wind_y = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_y * MathF.Abs(spd_y));
-        wind_z = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_z * MathF.Abs(spd_z));
-
-        wind_p = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.X * MathF.Abs(SpdPRY.X));
-        wind_r = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.Y * MathF.Abs(SpdPRY.Y));
-        wind_w = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.Z * MathF.Abs(SpdPRY.Z));
-
-        AccPRY.X -= wind_p; AccPRY.Y -= wind_r; AccPRY.Z -= wind_w;
-      }
-
-      SpdPRY += AccPRY * (Dynamic * time / (Physics.Mass * Physics.Length));
-
-      Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
-      AccXYZ = new Vector3(pow.X + wind_x, pow.Y + wind_y, pow.Z + wind_z) * (Gravity / Physics.Mass);
-      SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
-      PosXYZ += SpdXYZ * time;
-
-      AccXYZ /= Gravity; // Вернуть измерения в G
-
-      if (Area.Poisition.Freeze.X) { SpdXYZ.X = 0; PosXYZ.X = 0; }
-      if (Area.Poisition.Freeze.Y) { SpdXYZ.Y = 0; PosXYZ.Y = 0; }
-      if (Area.Poisition.Freeze.Z) { SpdXYZ.Z = 0; PosXYZ.Z = 5; }
-
-      if (PosXYZ.Z < 0)
-      {
-        SpdPRY = Vector3.Zero;
-        SpdXYZ.X = 0;
-        SpdXYZ.Y = 0;
-        Quat = Quaternion.Identity;
-      }
-      else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
-
-      Vector4 ori = GetOrientation();
-
-      Orientation = ori;
-
-      if (PosXYZ.Z < 0)
-      {
-        PosXYZ.Z = 0;
-
-        /*if (SpdXYZ.Z < -5)
+        public struct DataOut
        {
-          Active = false; // Сильно ударился о землю
-        }*/
+            public float AccX, AccY, AccZ;
+            public float GyrX, GyrY, GyrZ;
+            public float PosX, PosY;
+            public float LaserRange;

-        /*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
-        {
-          Active = false; // Повредил винты при посадке
-        }*/
+            public byte[] getBytes()
+            {
+                int size = Marshal.SizeOf(this);
+                byte[] arr = new byte[size];

-        SpdXYZ.Z = 0;
-
-        Acc = new Vector3(0, 0, 1);
-        Gyr = Vector3.Zero;
-        LaserRange = 0;
-      }
-      else
-      {
-        if (ori.W < 0)
-        {
-          //Active = false; // Перевернулся вверх ногами
+                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;
+            }
        }

-        Quaternion grav = Quat * new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0) * Quaternion.Inverse(Quat);
-        Acc = new Vector3(grav.X, grav.Y, grav.Z);
+        public struct DataIn
+        {
+            public float MotorUL, MotorUR, MotorDL, MotorDR;

-        Gyr = SpdPRY;
-
-        float tilt = MathF.Sqrt((ori.X * ori.X) + (ori.Y * ori.Y)) * TO_RADI;
-
-        if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
-        else LaserRange = float.MaxValue;
-      }
-
-      MoveOF.X += SpdXYZ.X - Gyr.Y;
-      MoveOF.Y += SpdXYZ.Y + Gyr.X;
-
-      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);
-      RealOF.Update(MoveOF, LaserRange, (uint)tick);
-
-      DataTimer = (uint)tick;
-    }
-
-    private float Range(float pow)
-    {
-      if (pow > 1) pow = 1;
-      if (pow < 0) pow = 0;
-
-      return pow * Physics.MaxPower;
-    }
-
-    public void SetQadroPow(float ul, float ur, float dl, float dr)
-    {
-      ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr);
-
-      Power = (ul + ur + dl + dr) / 4;
-
-      AccPRY.Y = ((ul + dl) - (ur + dr));
-      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[] SendDataOF()
-    {
-      DroneData.DataOF of = new DroneData.DataOF();
-
-      of.Head.Size = Marshal.SizeOf(typeof(DroneData.DataOF));
-      of.Head.Mode = DroneData.DataMode.Response;
-      of.Head.Type = DroneData.DataType.DataOF;
-      of.Head.Time = (uint)Environment.TickCount;
-
-      of.X = RealOF.result.X;
-      of.Y = RealOF.result.Y;
-      of.Time = RealBar.timer;
-
-      MoveOF = Vector2.Zero;
-
-      return getBytes(of);
-    }
-
-    private byte[] SendDataGPS()
-    {
-      DroneData.DataGPS gps = new DroneData.DataGPS();
-
-      gps.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGPS));
-      gps.Head.Mode = DroneData.DataMode.Response;
-      gps.Head.Type = DroneData.DataType.DataGPS;
-      gps.Head.Time = (uint)Environment.TickCount;
-
-      GPS.Point p = new GPS.Point();
-      p.x = PosXYZ.Y; p.y= PosXYZ.X;
-
-      GPS.GlobalCoords g = new GPS.GlobalCoords();
-      g.latitude=GPS.Home.Lat; g.longitude=GPS.Home.Lon;
-
-      g=GPS.localToGlobal(p, g);
-
-      gps.Lat = g.latitude; gps.Lon = g.longitude;
-
-      gps.Speed = MathF.Sqrt(SpdXYZ.X * SpdXYZ.X + SpdXYZ.Y * SpdXYZ.Y + SpdXYZ.Z * SpdXYZ.Z);
-      gps.Alt = GPS.Home.Alt + PosXYZ.Z;
-
-      DateTime tim = DateTime.Now;
-      gps.UTC = tim.Second + tim.Minute * 100 + tim.Hour * 10000;
-
-      gps.Fix = GPS.State.Fix;
-      gps.SatVisible = GPS.State.SatVisible;
-      gps.SatUsed = GPS.State.SatUsed;
-      gps.Noise = GPS.State.Noise;
-      gps.Hdop = GPS.State.Hdop;
-      gps.Vdop = GPS.State.Vdop;
-      gps.Pdop = GPS.State.Pdop;
-
-      return getBytes(gps);
-    }
-
-    private byte[] SendDataQuaternion()
-    {
-      DroneData.DataQuat quat = new DroneData.DataQuat();
-
-      quat.Head.Size = Marshal.SizeOf(typeof(DroneData.DataQuat));
-      quat.Head.Mode = DroneData.DataMode.Response;
-      quat.Head.Type = DroneData.DataType.DataQuat;
-      quat.Head.Time = (uint)Environment.TickCount;
-
-      quat.X = Quat.X; quat.Y = Quat.Y; quat.Z = Quat.Z; quat.W = Quat.W;
-
-      return getBytes(quat);
-    }
-
-    private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
-    {
-      byte[] zero = Array.Empty<byte>();
-
-      switch (head.Type)
-      {
-        case DroneData.DataType.DataAcc:
-          {
-            if (head.Mode == DroneData.DataMode.Request)
+            public void fromBytes(byte[] arr)
            {
-              // Запрос данных
-              return SendDataAcc();
+                DataIn mem = new DataIn();
+
+                int size = Marshal.SizeOf(mem);
+                IntPtr ptr = IntPtr.Zero;
+                try
+                {
+                    ptr = Marshal.AllocHGlobal(size);
+
+                    Marshal.Copy(arr, 0, ptr, size);
+
+                    mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType());
+                }
+                finally
+                {
+                    Marshal.FreeHGlobal(ptr);
+                }
+
+                this = mem;
+            }
+        }
+
+        private void ThreadFunction()
+        {
+            while (DroneThread != null)
+            {
+                float time = Environment.TickCount - Timer;
+                Timer = Environment.TickCount;
+                Action(time / 100);
+                Thread.Sleep(1);
+            }
+        }
+
+        public Drone(int id)
+        {
+            ID = id;
+            Active = false;
+            PosXYZ = new Vector3(2000, 1000, 0);
+            SpdXYZ = Vector3.Zero;
+            AccXYZ = Vector3.Zero;
+            Quat = Quaternion.Identity;
+
+            DroneThread = new Thread(new ThreadStart(ThreadFunction));
+            Timer = Environment.TickCount;
+            DroneThread.Start();
+        }
+
+        public int Create(float mass, float len)
+        {
+            Mass = Range(mass);
+            Length = len;
+
+            Active = true;
+
+            return ID;
+        }
+
+        public void Close()
+        {
+            DroneThread = null;
+        }
+
+        private float GetAngle(float a1, float a2, float az)
+        {
+            if (a2 == 0.0f && az == 0.0f)
+            {
+                if (a1 > 0) return 90;
+                if (a1 < 0) return -90;
+                return 0;
+            }
+            return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD;
+        }
+
+        public void Rotate(float x, float y, float z)
+        {
+            x = x * MathF.PI / 180;
+            y = y * MathF.PI / 180;
+            z = -z * MathF.PI / 180;
+
+            Quaternion map = Quat;
+            Quaternion spd = new Quaternion(x, y, z, 0);
+            Quaternion aq = spd * map;
+
+            map.W -= 0.5f * aq.W;
+            map.X -= 0.5f * aq.X;
+            map.Y -= 0.5f * aq.Y;
+            map.Z -= 0.5f * aq.Z;
+
+            Quat = Quaternion.Normalize(map);
+        }
+
+        public Vector4 GetOrientation()
+        {
+            Quaternion grav = new Quaternion(0, 0, 1, 0);
+
+            grav = (Quat * grav) * Quaternion.Inverse(Quat);
+
+            float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD;
+            if (yaw < 0.0f) yaw = 360.0f + yaw;
+
+            return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
+        }
+
+        public void Action(float time)
+        {
+            if (!Active) return;
+
+            float flow = Power;
+
+            if (PosXYZ.Z < 100)
+            {
+                flow += flow * 0.1f; // Воздушная подушка
+            }
+
+            Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
+            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;
+
+            if (PosXYZ.Z < 0)
+            {
+                SpdPRY = Vector3.Zero;
+                SpdXYZ.X = 0;
+                SpdXYZ.Y = 0;
+                Quat = Quaternion.Identity;
+            }
+            else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
+
+            Vector4 ori = GetOrientation();
+
+            if (PosXYZ.Z < 0)
+            {
+                PosXYZ.Z = 0;
+
+                /*if (SpdXYZ.Z < -5)
+                {
+                  Active = false; // Сильно ударился о землю
+                }*/
+
+                /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
+                {
+                  Active = false; // Повредил винты при посадке
+                }*/
+
+                SpdXYZ.Z = 0;
+
+                Acc = new Vector3(0, 0, 1);
+                Gyr = Vector3.Zero;
+                LaserRange = 0;
            }
            else
            {
-              // Пришли данные
-              // ... //
-              //
-              return zero;
+                /*if (ori.W < 0)
+                {
+                  Active = false; // Перевернулся вверх ногами
+                }*/
+
+                Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
+                grav = (Quat * grav) * Quaternion.Inverse(Quat);
+                Acc = new Vector3(grav.X, grav.Y, grav.Z);
+
+                Gyr = SpdPRY;
+
+                float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
+
+                if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
+                else LaserRange = float.MaxValue;
            }
-          }
-
-        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.DataOF: if (head.Mode == DroneData.DataMode.Request) return SendDataOF(); else return zero;
-
-        case DroneData.DataType.DataGPS: if (head.Mode == DroneData.DataMode.Request) return SendDataGPS(); else return zero;
-
-        case DroneData.DataType.DataQuat: if (head.Mode == DroneData.DataMode.Request) return SendDataQuaternion(); 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
+        private float Range(float pow)
+        {
+            if (pow > 1) pow = 1;
+            if (pow < 0) pow = 0;

-        byte[] body = new byte[DroneStreamHead.Size];
+            return pow;
+        }

-        Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
+        public void SetQadroPow(float ul, float ur, float dl, float dr)
+        {
+            ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr);

-        int shift = DroneStreamHead.Size;
+            Power = (ul + ur + dl + dr) / 4;

-        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;
+            AccPRY.Y = ((ul + dl) - (ur + dr));
+            AccPRY.X = ((ul + ur) - (dl + dr));
+            AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
+        }
    }
-  }
 }
--- a/DroneSimulator/DroneData.cs
+++ b/DroneSimulator/DroneData.cs
@ -1,152 +0,0 @@
-using System.Net;
-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, DataOF = 1007, DataGPS = 1008,
-
-    // Input
-    DataMotor4 = 2001, DataMotor6 = 2002,
-
-    // State
-    DataQuat = 3001,
-  };
-
-  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 DataOF
-  {
-    public DataHead Head;
-    public float X, Y; // Угловой сдвиг
-
-    public uint Time; // Последнее время изменения данных
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
-  }
-
-  public struct DataGPS
-  {
-    public DataHead Head;
-
-    public double Lat, Lon; // Координаты (градусы)
-    public float Alt; // Высота (метры)
-    public float Speed; // Скорость (м/с)
-    public int UTC; // Время UTC hhmmss
-
-    public byte Fix; // Тип решения 0-8 (NMEA Fix type)
-    public byte SatVisible; // Количество видимых спутников
-    public byte SatUsed; // Количество используемых спутников
-    public float Hdop, Vdop, Pdop; // Геометрический фактор
-    public float Noise; // Шум (db)
-
-    public uint Time; // Последнее время изменения данных
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
-  }
-
-  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));
-  }
-
-  public struct DataQuat
-  {
-    public DataHead Head;
-    public float X, Y, Z, W;
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataQuat));
-  }
-}
--- a/DroneSimulator/FormMain.Designer.cs
+++ b/DroneSimulator/FormMain.Designer.cs
--- a/DroneSimulator/FormMain.cs
+++ b/DroneSimulator/FormMain.cs
@ -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
 {
@ -15,27 +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();
-
-      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);
-      numericUpDown_OF_Update(null, null);
-      checkBox_Area_Freeze_CheckedChanged(null, null);
-      numericUpDown_Area_Wind_Update(null, null);
-      numericUpDown_GPS_ValueChanged(null, null);
-      numericUpDown_Physics_ValueChanged(null, null);
    }

-    private void ClientConnectionCallback(object o)
+    private void ConnectionCallback(object o)
    {
      NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;

@ -47,7 +32,7 @@ namespace DroneSimulator
      if (data.Connect)
      {
        Drone drone = new Drone(data.ID);
-        drone.Create();
+        drone.Create(0.5f, 10.0f);

        screen2D.CreateDrone(Color.Red, data.ID);

@ -68,7 +53,7 @@ namespace DroneSimulator
      }
    }

-    private void ClientReceiveCallback(object o)
+    private void ReceiveCallback(object o)
    {
      NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;

@ -83,27 +68,31 @@ 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);
-        }
-      }
+      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;
+
+      try { data.Client.Send(od.getBytes()); }
      catch { }
    }

    private void button_Client_Start_Click(object sender, EventArgs e)
    {
-      var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
+      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:
@ -144,213 +133,18 @@ namespace DroneSimulator

    private void timer_Test_Tick(object sender, EventArgs e)
    {
-      DateTime test = DateTime.Now;
-
-      int tim = test.Second + test.Minute * 100 + test.Hour * 10000;
-
-
      if (screen2D == null) return;

-      listBox_Drones.Items.Clear();
-
-      try
+      foreach (Drone d in AllDrones)
      {
-        foreach (Drone d in AllDrones)
-        {
-          screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
-
-          string line = "ID:" + d.ID.ToString() + " Pitch:" + ((int)d.Orientation.X).ToString() + " Roll:" + ((int)d.Orientation.Y).ToString() + " Yaw:" + ((int)d.Orientation.Z).ToString();
-
-          listBox_Drones.Items.Add(line);
-        }
+        screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
      }
-      catch { }
-
+     
      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_Visual_Num.Text = data.Count.ToString();
-      });
-
-      if (data.Connect)
-      {
-        //---
-      }
-      else
-      {
-        //---
-      }
-    }
-
-    private void VisualReceiveCallback(object o)
-    {
-      NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
-
-      int index = 0;
-
-      foreach (Drone d in AllDrones)
-      {
-        VisualData.VisualDrone v = d.GetVisual(AllDrones.Count, index++);
-
-        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)
-    {
-      RealMode.Barometer.RealSimulation = checkBox_Model_Bar_Real.Checked;
-
-      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 numericUpDown_Acc_Update(object sender, EventArgs e)
-    {
-      RealMode.Accelerometer.RealSimulation = checkBox_Model_Acc_Real.Checked;
-
-      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.RealSimulation = checkBox_Model_Gyr_Real.Checked;
-
-      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.RealSimulation = checkBox_Model_Pos_Real.Checked;
-
-      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.RealSimulation = checkBox_Model_Range_Real.Checked;
-
-      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;
-    }
-
-    private void numericUpDown_OF_Update(object sender, EventArgs e)
-    {
-      RealMode.OpticalFlow.RealSimulation = checkBox_Model_OF_Real.Checked;
-
-      RealMode.OpticalFlow.Freq = (uint)numericUpDown_OF_Freq.Value;
-      RealMode.OpticalFlow.Noise = (float)numericUpDown_OF_Noise.Value;
-      RealMode.OpticalFlow.Lateness = (float)numericUpDown_OF_Laten.Value;
-      RealMode.OpticalFlow.Enable = checkBox_OF_Enable.Checked;
-
-      RealMode.OpticalFlow.Lens = (uint)numericUpDown_OF_Lens.Value * 10;
-      RealMode.OpticalFlow.MaxHeight = (float)numericUpDown_OF_Len.Value;
-
-      RealMode.OpticalFlow.Error = (float)numericUpDown_OF_Error.Value * 10;
-      RealMode.OpticalFlow.Wait = (uint)numericUpDown_OF_Wait.Value * 1000;
-    }
-
-    private void checkBox_Area_Freeze_CheckedChanged(object sender, EventArgs e)
-    {
-      Area.Poisition.Freeze.X = checkBox_Area_Freeze_X.Checked;
-      Area.Poisition.Freeze.Y = checkBox_Area_Freeze_Y.Checked;
-      Area.Poisition.Freeze.Z = checkBox_Area_Freeze_Z.Checked;
-    }
-
-    private void numericUpDown_Area_Wind_Update(object sender, EventArgs e)
-    {
-      Area.Wind.Enable = checkBox_Area_Wind_Enable.Checked;
-      Area.Wind.Speed.From = (float)numericUpDown_Area_Wind_Speed_From.Value;
-      Area.Wind.Speed.To = (float)numericUpDown_Area_Wind_Speed_To.Value;
-      Area.Wind.Direction = (float)numericUpDown_Area_Wind_Direction.Value;
-      Area.Wind.Density = (float)numericUpDown_Area_Wind_Density.Value;
-      Area.Wind.PosResist = ((float)numericUpDown_Area_Wind_PosResist.Value) / 1000.0f;
-      Area.Wind.RotResist = ((float)numericUpDown_Area_Wind_RotResist.Value) / 1000.0f;
-    }
-
-    private void numericUpDown_GPS_ValueChanged(object sender, EventArgs e)
-    {
-      GPS.Home.Lat = (double)numericUpDown_GPS_Lat.Value;
-      GPS.Home.Lon = (double)numericUpDown_GPS_Lon.Value;
-      GPS.Home.Alt = (float)numericUpDown_GPS_Alt.Value;
-
-      GPS.State.Fix = (byte)numericUpDown_GPS_Fix.Value;
-      GPS.State.SatVisible = (byte)numericUpDown_GPS_Vis.Value;
-      GPS.State.SatUsed = (byte)numericUpDown_GPS_Use.Value;
-      GPS.State.Noise = (float)numericUpDown_GPS_Noise.Value;
-      GPS.State.Hdop = (float)numericUpDown_GPS_HDOP.Value;
-      GPS.State.Vdop = (float)numericUpDown_GPS_VDOP.Value;
-      GPS.State.Pdop = (float)numericUpDown_GPS_PDOP.Value;
-    }
-
-    private void numericUpDown_Physics_ValueChanged(object sender, EventArgs e)
-    {
-      Drone.Physics.Mass = (float)numericUpDown_Physics_Mass.Value;
-      Drone.Physics.Length = (float)numericUpDown_Physics_Length.Value;
-      Drone.Physics.MaxPower = (float)numericUpDown_Physics_Power.Value;
-    }
  }
 }
--- a/DroneSimulator/FormMain.resx
+++ b/DroneSimulator/FormMain.resx
@ -117,11 +117,14 @@
  <resheader name="writer">
    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
  </resheader>
+  <metadata name="menuStrip_Menu.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
  <metadata name="timer_Test.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
    <value>162, 5</value>
  </metadata>
  <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>78</value>
+    <value>25</value>
  </metadata>
  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
  <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
--- a/DroneSimulator/GPS.cs
+++ b/DroneSimulator/GPS.cs
@ -1,74 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Numerics;
-using System.Text;
-using System.Threading;
-using System.Threading.Tasks;
-
-namespace DroneSimulator
-{
-    internal class GPS
-    {
-        static double PI = 3.14159265358979323846;
-        public struct Home
-        {
-            public static double Lat, Lon;
-            public static float Alt;
-        }
-
-        public struct State
-        {
-            public static byte Fix; // Тип решения 0-8 (NMEA Fix type)
-            public static byte SatVisible; // Количество видимых спутников
-            public static byte SatUsed; // Количество используемых спутников
-            public static float Hdop, Vdop, Pdop; // Геометрический фактор
-            public static float Noise; // Шум (db)
-        }
-
-        public struct GlobalCoords
-        {
-            public double latitude, longitude;
-        }
-
-        public struct Point
-        {
-            public double x, y;
-        }
-
-        // Конвертация градусов в радианы
-        static double deg2rad(double deg)
-        {
-            return deg * PI / 180.0;
-        }
-
-        // Конвертация радиан в градусы
-        static double rad2deg(double rad)
-        {
-            return rad * 180.0 / PI;
-        }
-
-        // Перевод локальных координат в глобальные
-        public static GlobalCoords localToGlobal(Point local, GlobalCoords origin)
-        {
-            const double er = 6371000; // Radius of the earth in m
-
-            // Преобразование приращений координат
-            double dLat = local.x / er; // В радианах
-            double originLatRad = deg2rad(origin.latitude);
-
-            // Вычисление новой широты
-            double newLatRad = originLatRad + dLat;
-            double newLat = rad2deg(newLatRad);
-
-            // Вычисление новой долготы (с использованием средней широты для точности)
-            double avgLatRad = (originLatRad + newLatRad) / 2.0;
-            double dLon = local.y / (er * Math.Cos(avgLatRad)); // В радианах
-            double newLon = origin.longitude + rad2deg(dLon);
-            GlobalCoords coord = new GlobalCoords();
-            coord.latitude = newLat;
-            coord.longitude = newLon;
-            return coord;
-        }
-    }
-}
--- a/DroneSimulator/NetServerClients.cs
+++ b/DroneSimulator/NetServerClients.cs
@ -1,142 +1,140 @@
-using System.Net.Sockets;
-using System.Net;
-using System.Drawing;
+using System.Net;
+using System.Net.Sockets;

 namespace DroneSimulator
 {
-  internal class NetServerClients
-  {
-    public class ConnectData
+    internal class NetServerClients
    {
-      public int ID;
-      public bool Connect;
-      public int Count;
-
-      public Socket? Client;
-    }
-
-    public class ReceiveData
-    {
-      
-      public int ID;
-      public byte[] Buffer;
-      public int Size;
-
-      public Socket? Client;
-    }
-
-    private class ClientData
-    {
-      public int ID;
-      public Socket? workSocket = null;
-      public const int count = 1024;
-      public byte[] buffer = new byte[count];
-    }
-
-    private int SocketID = 0;
-    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)
+        public class ConnectData
        {
-          try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { }
-          c.workSocket?.Close();
+            public int ID;
+            public bool Connect;
+            public int Count;
+
+            public Socket? Client;
        }
-        ClientSockets.Clear();
-        return ServerState.Stop;
-      }

-      ConnectionCallback = Connection;
-      ReceiveCallback = Receive;
+        public class ReceiveData
+        {
+            public int ID;
+            public byte[]? Buffer;
+            public int Size;

-      SocketLimit = Limit;
+            public Socket? Client;
+        }

-      IPEndPoint ip = new(IPAddress.Any, Port);
-      ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+        private class ClientData
+        {
+            public int ID;
+            public Socket? workSocket = null;
+            public const int BufferSize = 1024;
+            public byte[] buffer = new byte[BufferSize];
+        }

-      try
-      {
-        ServerSocket.Bind(ip);
-        ServerSocket.Listen(10);
-        ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket);
-        Active = true;
-      }
-      catch { ServerSocket.Close(); return ServerState.Error; }
+        private int SocketID = 0;
+        private int SocketLimit;
+        private Socket? ServerSocket;
+        private List<ClientData> ClientSockets = new List<ClientData>();

-      return ServerState.Start;
+        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.ID = ++SocketID;
+
+                clientData.workSocket = handler;
+
+                ClientSockets.Add(clientData);
+
+                ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler });
+
+                handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData);
+            }
+            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 { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null });
+
+                return;
+            }
+
+            ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
+
+            try
+            {
+                cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
+            }
+            catch { }
+        }
    }
-
-    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.ID = ++SocketID;
-
-        clientData.workSocket = handler;
-
-        ClientSockets.Add(clientData);
-
-        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);
-      }
-      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 { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null });
-
-        return;
-      }
-
-      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 { }
-    }
-  }
 }
--- a/DroneSimulator/NetServerVisual.cs
+++ b/DroneSimulator/NetServerVisual.cs
@ -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 { }
-    }
-  }
-}
--- a/DroneSimulator/RealMode.cs
+++ b/DroneSimulator/RealMode.cs
@ -1,416 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Numerics;
-using System.Reflection;
-using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
-
-namespace DroneSimulator
-{
-  internal class RealMode
-  {
-    
-
-    internal class Accelerometer
-    {
-      public static uint Freq;
-      public static float Noise;
-      public static float ScaleLeft;
-      public static float ScaleRight;
-      public static float Lateness;
-      public static bool RealSimulation;
-
-      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;
-      public static bool RealSimulation;
-
-      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;
-      public static bool RealSimulation;
-
-      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 (!Enable)
-        {
-          result = Vector3.NaN;
-          return;
-        }
-
-        if (!RealSimulation)
-        {
-          result = value;
-          timer = time;
-          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;
-      public static bool RealSimulation;
-
-      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 (!Enable)
-        {
-          result = float.NaN;
-          return;
-        }
-
-        if (!RealSimulation)
-        {
-          result = value;
-          timer = time;
-          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
-    {
-      public static bool Enable;
-      public static float MaxHeight;
-      public static uint Freq;
-      public static float Noise;
-      public static float Lateness;
-      public static float Error;
-      public static uint Wait;
-      public static float Lens;
-      public static bool RealSimulation;
-
-      private uint last = 0;
-
-      private Random rand = new Random();
-
-      private const int count = 1000;
-      private Vector2[] laten = new Vector2[count];
-      private uint index = 0;
-
-      public uint delay = 0;
-
-      public uint timer = 0;
-      public Vector2 result;
-      public void Update(Vector2 value, float Range, uint time)
-      {
-        if (!Enable)
-        {
-          result = Vector2.NaN;
-          return;
-        }
-
-        if (!RealSimulation)
-        {
-          result = value;
-          timer = time;
-          return;
-        }
-
-        value *= Lens;
-
-        if (rand.Next(0, 1000) < (Error * 10))
-        {
-          value = Vector2.Zero;
-          delay = time + Wait;
-        }
-        else if (delay > time)
-        {
-          value = Vector2.Zero;
-        }
-
-        if (Range > MaxHeight) value = Vector2.Zero;
-        else
-        {
-          int noise = (int)(Noise * 1000);
-          value.X += ((float)rand.Next(-noise, noise)) / 1000;
-          value.Y += ((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 Range
-    {
-      public static bool Enable;
-      public static float MaxHeight;
-      public static uint Freq;
-      public static float Noise;
-      public static float Lateness;
-      public static bool RealSimulation;
-
-      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 (!Enable)
-        {
-          result = float.NaN;
-          return;
-        }
-
-        if (!RealSimulation)
-        {
-          result = value;
-          timer = time;
-          return;
-        }
-
-        if (value > MaxHeight) value = MaxHeight;
-        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;
-        }
-      }
-    }
-  }
-}
--- a/DroneSimulator/Screen2D.cs
+++ b/DroneSimulator/Screen2D.cs
@ -2,189 +2,179 @@

 namespace DroneSimulator
 {
-  internal class Screen2D
-  {
-
-    public delegate void DrawCallback(Bitmap bmp);
-
-    public Screen2D(DrawCallback callback)
+    internal class Screen2D
    {
-      drawCallback = callback;
-    }

-    private class DroneInfo
-    {
-      public int ID;
-      public Color RGB;
-      public Bitmap? Drone;
-      public Point PosXY;
-      public int Height = 0;
+        public delegate void DrawCallback(Bitmap bmp);

-      public PointF TiltXY = new Point(0, 0);
-      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>();
-
-    public static Bitmap DrawQadro(Color ColorFill)
-    {
-      Bitmap drone = new Bitmap(130, 130);
-
-      using (Graphics g = Graphics.FromImage(drone))
-      {
-        g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;
-
-        SolidBrush solidBrush = new SolidBrush(ColorFill);
-
-        Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) };
-        g.FillPolygon(solidBrush, mid);
-
-        g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35));
-        g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35));
-        g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35));
-        g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35));
-
-        g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10));
-
-        g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129));
-
-        solidBrush.Dispose();
-      }
-
-      return RotateImage(drone, 90);
-    }
-
-    private static Bitmap RotateImage(Bitmap bmp, float angle)
-    {
-      Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height);
-
-      using (Graphics g = Graphics.FromImage(rotatedImage))
-      {
-        // Set the rotation point to the center in the matrix
-        g.TranslateTransform(bmp.Width / 2, bmp.Height / 2);
-        // Rotate
-        g.RotateTransform(angle);
-        // Restore rotation point in the matrix
-        g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2);
-        // Draw the image on the bitmap
-        g.DrawImage(bmp, new Point(0, 0));
-      }
-
-      return rotatedImage;
-    }
-
-    public void CreateDrone(Color ColorFill, int ID)
-    {
-      DroneInfo info = new DroneInfo();
-      info.ID = ID;
-      info.RGB = ColorFill;
-      info.Drone = DrawQadro(ColorFill);
-
-      DroneList.Add(info);
-    }
-
-    public void RemoveDrone(int ID)
-    {
-      foreach (DroneInfo i in DroneList)
-      {
-        if (i.ID != ID) continue;
-        DroneList.Remove(i);
-        break;
-      }      
-    }
-
-    public void DrawScene()
-    {
-      using (Graphics g = Graphics.FromImage(MainArea))
-      {
-        g.Clear(Color.Gainsboro);
-        SolidBrush shadowBrush = new SolidBrush(Color.Black);
-        g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });
-
-        foreach (var d in DroneList)
+        public Screen2D(DrawCallback callback)
        {
-          try
-          {
-            if (d.Azimuth >= 360) d.Azimuth -= 360;
-            var bmp = RotateImage(d.Drone, d.Azimuth);
+            drawCallback = callback;
+        }

-            g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
+        private class DroneInfo
+        {
+            public int ID;
+            public Color RGB;
+            public Bitmap? Drone;
+            public Point PosXY;
+            public int Height = 0;

-            g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
+            public PointF TiltXY = new Point(0, 0);
+            public int Azimuth = 0;
+        }

-            //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
+        private DrawCallback drawCallback;
+        private Bitmap MainArea = new Bitmap(4096, 2560);
+        private List<DroneInfo> DroneList = new List<DroneInfo>();

-            float x1 = 0, y1 = 0;
-            float x2 = 130, y2 = 0;
-            float x3 = 0, y3 = 130;
+        public static Bitmap DrawQadro(Color ColorFill)
+        {
+            Bitmap drone = new Bitmap(130, 130);

+            using (Graphics g = Graphics.FromImage(drone))
+            {
+                g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;
+
+                SolidBrush solidBrush = new SolidBrush(ColorFill);
+
+                Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) };
+                g.FillPolygon(solidBrush, mid);
+
+                g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35));
+                g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35));
+                g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35));
+                g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35));
+
+                g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10));
+
+                g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129));
+
+                solidBrush.Dispose();
+            }
+
+            return RotateImage(drone, 90);
+        }
+
+        private static Bitmap RotateImage(Bitmap bmp, float angle)
+        {
+            Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height);
+
+            using (Graphics g = Graphics.FromImage(rotatedImage))
+            {
+                // Set the rotation point to the center in the matrix
+                g.TranslateTransform(bmp.Width / 2, bmp.Height / 2);
+                // Rotate
+                g.RotateTransform(angle);
+                // Restore rotation point in the matrix
+                g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2);
+                // Draw the image on the bitmap
+                g.DrawImage(bmp, new Point(0, 0));
+            }
+
+            return rotatedImage;
+        }
+
+        public void CreateDrone(Color ColorFill, int ID)
+        {
+            DroneInfo info = new DroneInfo();
+            info.ID = ID;
+            info.RGB = ColorFill;
+            info.Drone = DrawQadro(ColorFill);
+
+            DroneList.Add(info);
+        }
+
+        public void RemoveDrone(int ID)
+        {
+            foreach (DroneInfo i in DroneList)
+            {
+                if (i.ID != ID) continue;
+                DroneList.Remove(i);
+                break;
+            }
+        }
+
+        public void DrawScene()
+        {
+            using (Graphics g = Graphics.FromImage(MainArea))
+            {
+                g.Clear(Color.Gainsboro);
+                SolidBrush shadowBrush = new SolidBrush(Color.Black);
+                g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });
+
+                foreach (var d in DroneList)
+                {
+                    if (d.Azimuth >= 360) d.Azimuth -= 360;
+                    var bmp = RotateImage(d.Drone, d.Azimuth);
+
+                    g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
+
+                    g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
+
+                    //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
+
+                    float x1 = 0, y1 = 0;
+                    float x2 = 130, y2 = 0;
+                    float x3 = 0, y3 = 130;
+
+                    const float TO_RADI = MathF.PI / 180;
+
+                    Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
+                    Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
+
+                    tilt = tilt * rotate * rotate;
+
+                    if (tilt.Y > 0)
+                    {
+                        x1 = (int)(Math.Sin(tilt.Y) * 130);
+                        x3 = (int)(Math.Sin(tilt.Y) * 130);
+                    }
+                    else
+                    {
+                        x2 = (int)(Math.Cos(tilt.Y) * 130);
+                    }
+
+                    if (tilt.X > 0)
+                    {
+                        y1 = (int)(Math.Sin(tilt.X) * 130);
+                        y2 = (int)(Math.Sin(tilt.X) * 130);
+                    }
+                    else
+                    {
+                        y3 = (int)(Math.Cos(tilt.X) * 130);
+                    }
+
+                    PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
+                    PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
+                    PointF[] dest = { ul, ur, dl };
+
+                    g.DrawImage(bmp, dest);
+                }
+            }
+
+            drawCallback(MainArea);
+        }
+
+        public void Move(int id, Vector3 pos, Vector4 tilt)
+        {
+            const float TO_GRAD = 180 / MathF.PI;
            const float TO_RADI = MathF.PI / 180;

-            Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
-            Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
-
-            tilt = tilt * rotate * rotate;
-
-            if (tilt.Y > 0)
+            foreach (var d in DroneList)
            {
-              x1 = (int)(Math.Sin(tilt.Y) * 130);
-              x3 = (int)(Math.Sin(tilt.Y) * 130);
-            }
-            else
-            {
-              x2 = (int)(Math.Cos(tilt.Y) * 130);
-            }
+                if (d.ID != id) continue;

-            if (tilt.X > 0)
-            {
-              y1 = (int)(Math.Sin(tilt.X) * 130);
-              y2 = (int)(Math.Sin(tilt.X) * 130);
-            }
-            else
-            {
-              y3 = (int)(Math.Cos(tilt.X) * 130);
-            }
+                d.PosXY.X = (int)pos.X;
+                d.PosXY.Y = MainArea.Height - (int)pos.Y;
+                d.Height = (int)pos.Z;

-            PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
-            PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
-            PointF[] dest = { ul, ur, dl };
+                d.TiltXY.X = tilt.X * TO_RADI;
+                d.TiltXY.Y = tilt.Y * TO_RADI;
+                d.Azimuth = (int)tilt.Z;

-            g.DrawImage(bmp, dest);
-          }
-          catch { }
+                break;
+            }
        }
-      }
-
-      drawCallback(MainArea);
    }
-
-    public void Move(int id, Vector3 pos, Vector4 tilt)
-    {
-      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;
-
-        d.PosXY.X = (int)pos.X;
-        d.PosXY.Y = MainArea.Height - (int)pos.Y;
-        d.Height = (int)pos.Z;
-
-        d.TiltXY.X = tilt.X * TO_RADI;
-        d.TiltXY.Y = tilt.Y * TO_RADI;
-        d.Azimuth = (int)tilt.Z;
-
-        break;
-      }
-    }
-  }
 }
--- a/DroneSimulator/VisualData.cs
+++ b/DroneSimulator/VisualData.cs
@ -1,39 +0,0 @@
-using System.Numerics;
-
-namespace VisualData
-{
-  public struct VisualHead
-  {
-    public enum VisualType : int { None = 0, Drone = 1 } // Тип объекта
-
-    public int Size; // Размер данных этой структуры в байтах (проверка для соответствия передачи структуры)
-
-    public VisualType Type; // Тип передоваемого объекта
-  }
-
-  public struct VisualDrone
-  {
-    public VisualHead Head;
-    public enum DroneState : int { Dead = 0, Disabled = 1, Waiting = 2, Active = 3 } // Переключения типа 3D модели
-
-    public int Count; // Всего дронов на полигоне
-    public int Index; // Номер дрона
-
-    public int ID; // Идентификатор (для привязки камеры)
-
-    public struct ARGB { public byte A, R, G, B; }
-    public struct Quat { public float X, Y, Z, W; }
-    public struct Vect3 { public float X, Y, Z; }
-
-    public ARGB Color; // Цвет корпуса
-    public Quat Rotate; // Кватернион вращения
-    public Vect3 Position; // Координаты в пространстве
-
-    public float Scale; // Масштаб модельки (1=оригинальный)
-
-    public DroneState State; // Тип прорисовываемой модели
-
-    public float Power; // Скорость всех двигателей
-  }
-
-}
--- a/TestClientConnection/TestClientConnection.cpp
+++ b/TestClientConnection/TestClientConnection.cpp
@ -0,0 +1,140 @@
+#include <iostream>
+#include <WinSock2.h>
+#include <WS2tcpip.h>
+#include <thread>
+#include <atomic>
+#include <mutex>
+
+#pragma comment(lib, "Ws2_32.lib")
+
+struct DataIn
+{
+    float AccX, AccY, AccZ;
+    float GyrX, GyrY, GyrZ;
+    float PosX, PosY, LaserRange;
+} dataIn;
+
+struct DataOut
+{
+    float MotorUL, MotorUR, MotorDL, MotorDR;
+} dataOut;
+
+std::atomic<bool> running(true);  // Флаг работы потоков
+std::mutex dataMutex;  // Мьютекс для синхронизации доступа к dataIn и dataOut
+
+SOCKET ConnectToServer(const char* ip, int port)
+{
+    WSAData wsaData;
+    WORD DLLVersion = MAKEWORD(2, 1);
+
+    if (WSAStartup(DLLVersion, &wsaData) != 0)
+    {
+        std::cout << "Error: WSAStartup failed\n";
+        return INVALID_SOCKET;
+    }
+
+    SOCKADDR_IN addr;
+    inet_pton(AF_INET, ip, &addr.sin_addr);
+    addr.sin_port = htons(port);
+    addr.sin_family = AF_INET;
+
+    SOCKET Connection = socket(AF_INET, SOCK_STREAM, 0);
+    if (Connection == INVALID_SOCKET)
+    {
+        std::cout << "Error: Failed to create socket\n";
+        WSACleanup();
+        return INVALID_SOCKET;
+    }
+
+    if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
+    {
+        std::cout << "Error: Failed to connect to server\n";
+        closesocket(Connection);
+        WSACleanup();
+        return INVALID_SOCKET;
+    }
+
+    return Connection;
+}
+
+void CloseConnection(SOCKET& socket)
+{
+    if (socket != INVALID_SOCKET)
+    {
+        closesocket(socket);
+        WSACleanup();
+        socket = INVALID_SOCKET;
+    }
+}
+
+// Функция приема данных
+void ReceiveHandler(SOCKET socket)
+{
+    while (running)
+    {
+        DataIn tempData;
+        int result = recv(socket, (char*)&tempData, sizeof(tempData), 0);
+
+        if (result <= 0)
+        {
+            std::cout << "Error: Connection lost (recv failed)\n";
+            running = false;
+            break;
+        }
+
+        // Потокобезопасное обновление данных
+        std::lock_guard<std::mutex> lock(dataMutex);
+        dataIn = tempData;
+    }
+}
+
+// Функция отправки данных
+void SendHandler(SOCKET socket)
+{
+    while (running)
+    {
+        {
+            std::lock_guard<std::mutex> lock(dataMutex);
+            send(socket, (char*)&dataOut, sizeof(dataOut), 0);
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));  // Задержка для уменьшения нагрузки
+    }
+}
+
+int main()
+{
+    SOCKET Connection = ConnectToServer("127.0.0.1", 1001);
+    if (Connection == INVALID_SOCKET)
+    {
+        return 1;
+    }
+
+    dataOut.MotorUL = 10;
+    dataOut.MotorUR = 10;
+    dataOut.MotorDL = 10;
+    dataOut.MotorDR = 10;
+
+    // Создание потоков
+    std::thread recvThread(ReceiveHandler, Connection);
+    std::thread sendThread(SendHandler, Connection);
+
+    for (int i = 0; i < 1000000; i++)
+    {
+        {
+            std::lock_guard<std::mutex> lock(dataMutex);
+            std::cout << "Laser Range: " << dataIn.LaserRange << std::endl;
+        }
+        std::cout << "-----------------------------------------------------------" << std::endl;
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));  // Задержка вывода
+    }
+
+    // Завершаем работу потоков
+    running = false;
+    recvThread.join();
+    sendThread.join();
+
+    CloseConnection(Connection);
+
+    system("pause");
+    return 0;
+}
--- a/TestClientConnection/TestClientConnection.vcxproj
+++ b/TestClientConnection/TestClientConnection.vcxproj
@ -0,0 +1,135 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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+      <Platform>Win32</Platform>
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+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
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+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
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+      <Platform>x64</Platform>
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+    <Keyword>Win32Proj</Keyword>
+    <ProjectGuid>{b7cc5245-b628-40e9-a9a0-a904e2bf25ea}</ProjectGuid>
+    <RootNamespace>TestClientConnection</RootNamespace>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
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+    <PlatformToolset>v143</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
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+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
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+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
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+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
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+  </ImportGroup>
+  <ImportGroup Label="Shared">
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+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
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+      <SDLCheck>true</SDLCheck>
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+      <ConformanceMode>true</ConformanceMode>
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+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
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+    <Link>
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+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
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+      <GenerateDebugInformation>true</GenerateDebugInformation>
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+      <WarningLevel>Level3</WarningLevel>
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+      <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
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+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
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+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClCompile Include="TestClientConnection.cpp" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
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--- a/TestClientConnection/TestClientConnection.vcxproj.filters
+++ b/TestClientConnection/TestClientConnection.vcxproj.filters
@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Исходные файлы">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Файлы заголовков">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
+    </Filter>
+    <Filter Include="Файлы ресурсов">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="TestClientConnection.cpp">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
+  </ItemGroup>
+</Project>
Author	SHA1	Message	Date
Dizel	16fa3780d9	Включён таймер Почему-то каждый раз слетает	2025-04-04 12:03:50 +03:00
Dizel	c6f2acf140	Переписанный код на c++/cli Рабочий вариант	2025-04-04 11:49:03 +03:00
LikhenkoVG	9f0faac821	Тест	2025-04-04 00:05:34 +03:00
Dizel	994b0f8712	Создание класса клиента	2025-04-03 13:07:57 +03:00
Dizel	e83f355fa3	Переписывание подключения	2025-04-03 13:05:30 +03:00
Dizel	34d53ad7f1	Разделение кода на функции Нужно, чтобы создать класс клиента	2025-04-03 11:45:18 +03:00
LikhenkoVG	7248be8217	Написан код клиента c++ Подключение, отправка и получение данных	2025-04-02 22:00:47 +03:00
Dizel	e28a8a01bf	Тест подключения	2025-04-01 20:00:52 +03:00
Dizel	acf6379279	Чистка кода от мусора	2025-04-01 14:27:21 +03:00
Dizel	eeb7c5764f	Удаление спрятанного .gitignore	2025-04-01 14:23:14 +03:00
Dizel	17d2edfceb	Загрузка DroneClientCpp	2025-04-01 14:13:49 +03:00
Dizel	b565ec7608	Новый .gitignore	2025-04-01 14:12:24 +03:00