add webSocket

DroneSimulator/Drone.cs

@@ -2,9 +2,6 @@
 using System.Numerics;
 using System.Runtime.InteropServices;
 using System.Security.Cryptography;
-using static DroneSimulator.Drone;
-using static System.Windows.Forms.VisualStyles.VisualStyleElement;
-using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
 
 namespace DroneSimulator
 {
@@ -34,13 +31,7 @@ namespace DroneSimulator
     private Thread DroneThread;
     private int Timer;
 
-    private Random MainRandom = new Random();
-
-    RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
-    RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
-    RealMode.Position RealPos = new RealMode.Position();
-    RealMode.Barometer RealBar = new RealMode.Barometer();
-    RealMode.Range RealRange = new RealMode.Range();
+    private static int CounterID = 0;
 
     public static byte[] getBytes(object data)
     {
@@ -249,12 +240,6 @@ namespace DroneSimulator
         else LaserRange = float.MaxValue;
       }
 
-      RealAcc.Update(Acc, (uint)tick);
-      RealGyr.Update(Gyr, (uint)tick);
-      RealRange.Update(LaserRange, (uint)tick);
-      RealBar.Update(PosXYZ.Z * 11, (uint)tick);
-      RealPos.Update(PosXYZ, (uint)tick);
-
       DataTimer = (uint)tick;
     }
 
@@ -293,8 +278,8 @@ namespace DroneSimulator
       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;
+      acc.Acc.X = Acc.X; acc.Acc.Y = Acc.Y; acc.Acc.Z = Acc.Z;
+      acc.Time = DataTimer;
 
       return getBytes(acc);
     }
@@ -308,8 +293,8 @@ namespace DroneSimulator
       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;
+      gyr.Gyr.X = Gyr.X; gyr.Gyr.Y = Gyr.Y; gyr.Gyr.Z = Gyr.Z;
+      gyr.Time = DataTimer;
 
       return getBytes(gyr);
     }
@@ -338,8 +323,8 @@ namespace DroneSimulator
       range.Head.Type = DroneData.DataType.DataRange;
       range.Head.Time = (uint)Environment.TickCount;
 
-      range.LiDAR = RealRange.result;
-      range.Time = RealRange.timer;
+      range.LiDAR = LaserRange;
+      range.Time = DataTimer;
 
       return getBytes(range);
     }
@@ -353,27 +338,12 @@ namespace DroneSimulator
       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;
+      local.Local.X = PosXYZ.X; local.Local.Y = PosXYZ.Y; local.Local.Z = PosXYZ.Z;
+      local.Time = DataTimer;
 
       return getBytes(local);
     }
 
-    private byte[] SendDataBarometer()
-    {
-      DroneData.DataBar bar = new DroneData.DataBar();
-
-      bar.Head.Size = Marshal.SizeOf(typeof(DroneData.DataBar));
-      bar.Head.Mode = DroneData.DataMode.Response;
-      bar.Head.Type = DroneData.DataType.DataBar;
-      bar.Head.Time = (uint)Environment.TickCount;
-
-      bar.Pressure = RealBar.result;
-      bar.Time = RealBar.timer;
-
-      return getBytes(bar);
-    }
-
     private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
     {
       byte[] zero = new byte[0];
@@ -396,17 +366,86 @@ namespace DroneSimulator
             }
           }
 
-        case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
+        case DroneData.DataType.DataGyr:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataGyr();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
 
-        case DroneData.DataType.DataMag: if (head.Mode == DroneData.DataMode.Request) return SendDataMag(); else return zero;
+        case DroneData.DataType.DataMag:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataMag();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
 
-        case DroneData.DataType.DataRange: if (head.Mode == DroneData.DataMode.Request) return SendDataRange(); else return zero;
+        case DroneData.DataType.DataRange:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataRange();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
 
-        case DroneData.DataType.DataLocal: if (head.Mode == DroneData.DataMode.Request) return SendDataLocal(); else return zero;
+        case DroneData.DataType.DataLocal:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataLocal();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
 
-        case DroneData.DataType.DataBar: if (head.Mode == DroneData.DataMode.Request) return SendDataBarometer(); else return zero;
-
-        case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
+        case DroneData.DataType.DataMotor4:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              RecvDataMotor4(body);
+              return zero;
+            }
+          }
       }
 
       return zero;

DroneSimulator/DroneData.cs

@@ -1,4 +1,4 @@
-using System.Runtime.InteropServices;
+using System.Runtime.InteropServices;
 
 namespace DroneData
 {
@@ -12,7 +12,7 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006,
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, 
 
     // Input
     DataMotor4 = 2001, DataMotor6 = 2002
@@ -25,7 +25,7 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // Общее время
+    public uint Time; // Îáùåå âðåìÿ
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
@@ -37,7 +37,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Acc;
 
-    public uint Time; // Последнее время изменения данных
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
@@ -47,7 +47,7 @@ namespace DroneData
     public DataHead Head;
     public XYZ Gyr;
 
-    public uint Time; // Последнее время изменения данных
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
   }
@@ -57,39 +57,29 @@ namespace DroneData
     public DataHead Head;
     public XYZ Mag;
 
-    public uint Time; // Последнее время изменения данных
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
 
     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 XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
 
-    public uint Time; // Последнее время изменения данных
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
   }
 
-  public struct DataBar
+  public struct DataRange
   {
     public DataHead Head;
-    public float Pressure; // Давление
+    public float LiDAR; // Äàò÷èê ïîñàäêè
 
-    public uint Time; // Последнее время изменения данных
+    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
   }
 
   public struct DataMotor4
@@ -107,4 +97,4 @@ namespace DroneData
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
   }
-}
+}

DroneSimulator/FormMain.cs

@@ -1,4 +1,4 @@
-using System.Text;
+using System.Text;
 using System.Numerics;
 using System.Windows.Forms;
 using static System.Net.Mime.MediaTypeNames;
@@ -8,268 +8,210 @@ using System.Runtime.InteropServices;
 using System.CodeDom;
 using System.Linq;
 
+using System.Net.WebSockets;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
 namespace DroneSimulator
 {
-  public partial class Form_Main : Form
-  {
-    Screen2D screen2D = null;
-
-    NetServerClients netServerClient = new NetServerClients();
-    NetServerVisual netServerVisual = new NetServerVisual();
-
-    List<Drone> AllDrones = new List<Drone>();
-
-    public Form_Main()
+    public partial class Form_Main : Form
     {
-      InitializeComponent();
+        Screen2D screen2D = null;
 
-      RealMode.RealSimulation = checkBox_Mode_Real.Checked;
-      numericUpDown_Acc_Update(null, null);
-      numericUpDown_Gyr_Update(null, null);
-      numericUpDown_Pos_Update(null, null);
-      numericUpDown_Bar_Update(null, null);
-      numericUpDown_Range_Update(null, null);
-    }
+        NetServerClients netServerClient = new NetServerClients();
+        NetServerVisual netServerVisual = new NetServerVisual();
 
-    private void ClientConnectionCallback(object o)
-    {
-      NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
-
-      Invoke((MethodInvoker)delegate
-      {
-        label_Clients_Num.Text = data.Count.ToString();
-      });
-
-      if (data.Connect)
-      {
-        Drone drone = new Drone(data.ID);
-        drone.Create(1.0f, 0.5f, 1.0f);
-
-        screen2D.CreateDrone(Color.Red, data.ID);
-
-        AllDrones.Add(drone);
-      }
-      else
-      {
-        foreach (Drone drone in AllDrones)
+        List<Drone> AllDrones = new List<Drone>();
+        private ClientWebSocket _webSocket;
+        private CancellationTokenSource _cts;
+        private bool _isRunning;
+        public Form_Main()
         {
-          if (drone.ID != data.ID) continue;
-          drone.Close();
-
-          screen2D.RemoveDrone(data.ID);
-
-          AllDrones.Remove(drone);
-          break;
+            InitializeComponent();
         }
-      }
-    }
 
-    private void ClientReceiveCallback(object o)
-    {
-      NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
-
-      Drone? drone = null;
-
-      foreach (Drone d in AllDrones)
-      {
-        if (d.ID != data.ID) continue;
-        drone = d;
-        break;
-      }
-
-      if (drone == null) return;
-
-      List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
-
-      if (send == null) return;
-      try
-      {
-        foreach (byte[]? b in send)
+        private void ClientConnectionCallback(object o)
         {
-          if (b != null) data.Client?.Send(b);
+            NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
+
+            Invoke((MethodInvoker)delegate
+            {
+                label_Clients_Num.Text = data.Count.ToString();
+            });
+
+            if (data.Connect)
+            {
+                Drone drone = new Drone(data.ID);
+                drone.Create(1.0f, 0.5f, 1.0f);
+
+                screen2D.CreateDrone(Color.Red, data.ID);
+
+                AllDrones.Add(drone);
+            }
+            else
+            {
+                foreach (Drone drone in AllDrones)
+                {
+                    if (drone.ID != data.ID) continue;
+                    drone.Close();
+
+                    screen2D.RemoveDrone(data.ID);
+
+                    AllDrones.Remove(drone);
+                    break;
+                }
+            }
         }
-      }
-      catch { }
+
+        private void ClientReceiveCallback(object o)
+        {
+            NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
+
+            Drone? drone = null;
+
+            foreach (Drone d in AllDrones)
+            {
+                if (d.ID != data.ID) continue;
+                drone = d;
+                break;
+            }
+
+            if (drone == null) return;
+
+            List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
+
+            if (send == null) return;
+            try
+            {
+                foreach (byte[]? b in send)
+                {
+                    if (b != null) data.Client?.Send(b);
+                }
+            }
+            catch { }
+        }
+
+        private void button_Client_Start_Click(object sender, EventArgs e)
+        {
+            var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
+            switch (done)
+            {
+                case NetServerClients.ServerState.Error:
+                    {
+                        MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                        break;
+                    }
+                case NetServerClients.ServerState.Start:
+                    {
+                        button_Client_Start.Text = "Stop";
+                        button_Client_Start.BackColor = Color.LimeGreen;
+                        break;
+                    }
+                case NetServerClients.ServerState.Stop:
+                    {
+                        label_Clients_Num.Text = "0";
+                        button_Client_Start.Text = "Start";
+                        button_Client_Start.BackColor = Color.Transparent;
+                        break;
+                    }
+            }
+
+            if (done != NetServerClients.ServerState.Start) return;
+
+            pictureBox_2D.Image = null;
+
+            screen2D = new Screen2D(DrawCallback);
+        }
+
+        private void exitToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            Close();
+        }
+
+        private void DrawCallback(Bitmap bmp)
+        {
+            Invoke((MethodInvoker)delegate
+            {
+                if (pictureBox_2D.Image == null) pictureBox_2D.Image = bmp;
+                pictureBox_2D.Refresh();
+            });
+        }
+
+        private void timer_Test_Tick(object sender, EventArgs e)
+        {
+            if (screen2D == null) return;
+
+            foreach (Drone d in AllDrones)
+            {
+                screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
+            }
+
+            screen2D.DrawScene();
+        }
+        private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            foreach (Drone d in AllDrones) d.Close();
+        }
+
+        private void VisualConnectionCallback(object o)
+        {
+            NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;
+
+            Invoke((MethodInvoker)delegate
+            {
+                label_Clients_Num.Text = data.Count.ToString();
+            });
+
+            if (data.Connect)
+            {
+                //---
+            }
+            else
+            {
+                //---
+            }
+        }
+
+        private void VisualReceiveCallback(object o)
+        {
+            NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
+
+            foreach (Drone d in AllDrones)
+            {
+                Drone.DataVisual v = d.GetVisual();
+
+                try { data.Client.Send(Drone.getBytes(v)); }
+                catch { }
+            }
+        }
+
+        private void button_Visual_Start_Click(object sender, EventArgs e)
+        {
+            var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
+            switch (done)
+            {
+                case NetServerVisual.ServerState.Error:
+                    {
+                        MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                        break;
+                    }
+                case NetServerVisual.ServerState.Start:
+                    {
+                        button_Visual_Start.Text = "Stop";
+                        button_Visual_Start.BackColor = Color.LimeGreen;
+                        break;
+                    }
+                case NetServerVisual.ServerState.Stop:
+                    {
+                        label_Visual_Num.Text = "0";
+                        button_Visual_Start.Text = "Start";
+                        button_Visual_Start.BackColor = Color.Transparent;
+                        break;
+                    }
+            }
+        }
+
+     
     }
-
-    private void button_Client_Start_Click(object sender, EventArgs e)
-    {
-      var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
-      switch (done)
-      {
-        case NetServerClients.ServerState.Error:
-          {
-            MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
-            break;
-          }
-        case NetServerClients.ServerState.Start:
-          {
-            button_Client_Start.Text = "Stop";
-            button_Client_Start.BackColor = Color.LimeGreen;
-            break;
-          }
-        case NetServerClients.ServerState.Stop:
-          {
-            label_Clients_Num.Text = "0";
-            button_Client_Start.Text = "Start";
-            button_Client_Start.BackColor = Color.Transparent;
-            break;
-          }
-      }
-
-      if (done != NetServerClients.ServerState.Start) return;
-
-      pictureBox_2D.Image = null;
-
-      screen2D = new Screen2D(DrawCallback);
-    }
-
-    private void exitToolStripMenuItem_Click(object sender, EventArgs e)
-    {
-      Close();
-    }
-
-    private void DrawCallback(Bitmap bmp)
-    {
-      Invoke((MethodInvoker)delegate
-      {
-        if (pictureBox_2D.Image == null) pictureBox_2D.Image = bmp;
-        pictureBox_2D.Refresh();
-      });
-    }
-
-    private void timer_Test_Tick(object sender, EventArgs e)
-    {
-      if (screen2D == null) return;
-
-      foreach (Drone d in AllDrones)
-      {
-        screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
-      }
-
-      screen2D.DrawScene();
-    }
-    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
-    {
-      foreach (Drone d in AllDrones) d.Close();
-    }
-
-    private void VisualConnectionCallback(object o)
-    {
-      NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;
-
-      Invoke((MethodInvoker)delegate
-      {
-        label_Clients_Num.Text = data.Count.ToString();
-      });
-
-      if (data.Connect)
-      {
-        //---
-      }
-      else
-      {
-        //---
-      }
-    }
-
-    private void VisualReceiveCallback(object o)
-    {
-      NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
-
-      foreach (Drone d in AllDrones)
-      {
-        Drone.DataVisual v = d.GetVisual();
-
-        try { data.Client.Send(Drone.getBytes(v)); }
-        catch { }
-      }
-    }
-
-    private void button_Visual_Start_Click(object sender, EventArgs e)
-    {
-      var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
-      switch (done)
-      {
-        case NetServerVisual.ServerState.Error:
-          {
-            MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
-            break;
-          }
-        case NetServerVisual.ServerState.Start:
-          {
-            button_Visual_Start.Text = "Stop";
-            button_Visual_Start.BackColor = Color.LimeGreen;
-            break;
-          }
-        case NetServerVisual.ServerState.Stop:
-          {
-            label_Visual_Num.Text = "0";
-            button_Visual_Start.Text = "Start";
-            button_Visual_Start.BackColor = Color.Transparent;
-            break;
-          }
-      }
-    }
-
-    private void numericUpDown_Bar_Update(object sender, EventArgs e)
-    {
-      try { RealMode.Barometer.Pressure = uint.Parse(textBox_Bar_Pressure.Text); }
-      catch
-      {
-        RealMode.Barometer.Pressure = 102258;
-        MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error);
-      }
-
-
-      RealMode.Barometer.Freq = (uint)numericUpDown_Bar_Freq.Value;
-      RealMode.Barometer.Noise = (float)numericUpDown_Bar_Noise.Value;
-      RealMode.Barometer.Lateness = (float)numericUpDown_Bar_Laten.Value;
-      RealMode.Barometer.Enable = checkBox_Bar_Enable.Checked;
-    }
-
-    private void checkBox_Mode_Real_CheckedChanged(object sender, EventArgs e)
-    {
-      RealMode.RealSimulation = checkBox_Mode_Real.Checked;
-    }
-
-    private void numericUpDown_Acc_Update(object sender, EventArgs e)
-    {
-      RealMode.Accelerometer.Freq = (uint)numericUpDown_Acc_Freq.Value;
-      RealMode.Accelerometer.Noise = (float)numericUpDown_Acc_Noise.Value;
-      RealMode.Accelerometer.Lateness = (float)numericUpDown_Acc_Laten.Value;
-
-      RealMode.Accelerometer.ScaleLeft = (float)numericUpDown_Acc_Scale_Left.Value;
-      RealMode.Accelerometer.ScaleRight = (float)numericUpDown_Acc_Scale_Rigth.Value;
-    }
-
-    private void numericUpDown_Gyr_Update(object sender, EventArgs e)
-    {
-      RealMode.Gyroscope.Freq = (uint)numericUpDown_Gyr_Freq.Value;
-      RealMode.Gyroscope.Noise = (float)numericUpDown_Gyr_Noise.Value;
-      RealMode.Gyroscope.Lateness = (float)numericUpDown_Gyr_Laten.Value;
-
-      RealMode.Gyroscope.Shift.X = (float)numericUpDown_Gyr_Shift_X.Value;
-      RealMode.Gyroscope.Shift.Y = (float)numericUpDown_Gyr_Shift_Y.Value;
-      RealMode.Gyroscope.Shift.Z = (float)numericUpDown_Gyr_Shift_Z.Value;
-    }
-
-    private void numericUpDown_Pos_Update(object sender, EventArgs e)
-    {
-      RealMode.Position.Freq = (uint)numericUpDown_Pos_Freq.Value;
-      RealMode.Position.Noise = (float)numericUpDown_Pos_Noise.Value;
-      RealMode.Position.Lateness = (float)numericUpDown_Pos_Laten.Value;
-      RealMode.Position.Enable = checkBox_Pos_Enable.Checked;
-    }
-
-    private void numericUpDown_Range_Update(object sender, EventArgs e)
-    {
-      RealMode.Range.Freq = (uint)numericUpDown_Range_Freq.Value;
-      RealMode.Range.Noise = (float)numericUpDown_Range_Noise.Value;
-      RealMode.Range.Lateness = (float)numericUpDown_Range_Laten.Value;
-      RealMode.Range.Enable = checkBox_Range_Enable.Checked;
-
-      RealMode.Range.MaxHeight = (float)numericUpDown_Range_Max.Value;
-    }
-  }
 }

DroneSimulator/RealMode.cs

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