.gitignore

@@ -1,4 +1,3 @@
 .vs/
 obj/
-bin/
+bin/
-x64/

DroneClient/Drone.cs

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

DroneClient/DroneData.cs

@@ -8,11 +8,11 @@ namespace DroneData
   };
 
   public enum DataType : ushort
-  {
+  { 
     None = 0, Head = 1,
 
     // Output
-    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
+    DataIMU = 1001, DataPos = 1002, 
 
     // Input
     DataMotor4 = 2001, DataMotor6 = 2002
@@ -25,66 +25,32 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // Îáùåå âðåìÿ
-
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
 
   public struct XYZ { public float X, Y, Z; }
 
-  public struct DataAcc
+  public struct DataIMU
   {
     public DataHead Head;
-    public XYZ Acc;
+    public XYZ Acc, Gyr, Mag;
 
-    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
 
-  public struct DataGyr
+  public struct DataPos
-  {
-    public DataHead Head;
-    public XYZ Gyr;
-
-    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
-  }
-
-  public struct DataMag
-  {
-    public DataHead Head;
-    public XYZ Mag;
-
-    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
-  }
-
-  public struct DataLocal
   {
     public DataHead Head;
     public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
-
-    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
-  }
-
-  public struct DataRange
-  {
-    public DataHead Head;
     public float LiDAR; // Äàò÷èê ïîñàäêè
 
-    public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
   }
 
   public struct DataMotor4
   {
     public DataHead Head;
+    public ulong Count;
     public float UL, UR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
@@ -93,6 +59,7 @@ namespace DroneData
   public struct DataMotor6
   {
     public DataHead Head;
+    public ulong Count;
     public float UL, UR, LL, RR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));

DroneClient/FormMain.Designer.cs

@@ -65,9 +65,6 @@
       label_Pow = new Label();
       button_ML = new Button();
       button_MR = new Button();
-      label_time_acc = new Label();
-      label_time_range = new Label();
-      label_time_gyr = new Label();
       groupBox1.SuspendLayout();
       ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit();
       groupBox2.SuspendLayout();
@@ -159,7 +156,6 @@
       // 
       // groupBox2
       // 
-      groupBox2.Controls.Add(label_time_acc);
       groupBox2.Controls.Add(label_Acc_Z);
       groupBox2.Controls.Add(label7);
       groupBox2.Controls.Add(label_Acc_Y);
@@ -168,7 +164,7 @@
       groupBox2.Controls.Add(label1);
       groupBox2.Location = new Point(6, 86);
       groupBox2.Name = "groupBox2";
-      groupBox2.Size = new Size(78, 118);
+      groupBox2.Size = new Size(78, 100);
       groupBox2.TabIndex = 5;
       groupBox2.TabStop = false;
       groupBox2.Text = "Acc";
@@ -220,7 +216,6 @@
       // 
       // groupBox3
       // 
-      groupBox3.Controls.Add(label_time_gyr);
       groupBox3.Controls.Add(label_Gyr_Z);
       groupBox3.Controls.Add(label9);
       groupBox3.Controls.Add(label_Gyr_Y);
@@ -229,7 +224,7 @@
       groupBox3.Controls.Add(label13);
       groupBox3.Location = new Point(95, 86);
       groupBox3.Name = "groupBox3";
-      groupBox3.Size = new Size(78, 118);
+      groupBox3.Size = new Size(78, 100);
       groupBox3.TabIndex = 6;
       groupBox3.TabStop = false;
       groupBox3.Text = "Gyr";
@@ -290,7 +285,6 @@
       // 
       // groupBox4
       // 
-      groupBox4.Controls.Add(label_time_range);
       groupBox4.Controls.Add(label_Pos_L);
       groupBox4.Controls.Add(label6);
       groupBox4.Controls.Add(label_Pos_Y);
@@ -299,7 +293,7 @@
       groupBox4.Controls.Add(label14);
       groupBox4.Location = new Point(188, 86);
       groupBox4.Name = "groupBox4";
-      groupBox4.Size = new Size(78, 118);
+      groupBox4.Size = new Size(78, 100);
       groupBox4.TabIndex = 7;
       groupBox4.TabStop = false;
       groupBox4.Text = "Pos";
@@ -443,33 +437,6 @@
       button_MR.MouseDown += button_UU_MouseDown;
       button_MR.MouseUp += button_UU_MouseUp;
       // 
-      // label_time_acc
-      // 
-      label_time_acc.AutoSize = true;
-      label_time_acc.Location = new Point(6, 100);
-      label_time_acc.Name = "label_time_acc";
-      label_time_acc.Size = new Size(13, 15);
-      label_time_acc.TabIndex = 25;
-      label_time_acc.Text = "0";
-      // 
-      // label_time_range
-      // 
-      label_time_range.AutoSize = true;
-      label_time_range.Location = new Point(6, 100);
-      label_time_range.Name = "label_time_range";
-      label_time_range.Size = new Size(13, 15);
-      label_time_range.TabIndex = 27;
-      label_time_range.Text = "0";
-      // 
-      // label_time_gyr
-      // 
-      label_time_gyr.AutoSize = true;
-      label_time_gyr.Location = new Point(3, 100);
-      label_time_gyr.Name = "label_time_gyr";
-      label_time_gyr.Size = new Size(13, 15);
-      label_time_gyr.TabIndex = 26;
-      label_time_gyr.Text = "0";
-      // 
       // Form_Main
       // 
       AutoScaleDimensions = new SizeF(7F, 15F);
@@ -542,9 +509,5 @@
     private Label label_Pow;
     private Button button_ML;
     private Button button_MR;
-    private Label label4;
-    private Label label_time_acc;
-    private Label label_time_range;
-    private Label label_time_gyr;
   }
 }

DroneClient/FormMain.cs

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

DroneClientCpp/Client.cpp

@@ -1,106 +0,0 @@
-#pragma once
-
-#include "Client.h"
-
-Client::Client(const char* ip, int port) : running(true), Connection(INVALID_SOCKET)
-{
-    if (!ConnectToServer(ip, port))
-    {
-        std::cerr << "Failed to connect to server!" << std::endl;
-    }
-}
-
-Client::~Client()
-{
-    Stop();
-    CloseConnection();
-}
-
-bool Client::ConnectToServer(const char* ip, int port)
-{
-    WSAData wsaData;
-    WORD DLLVersion = MAKEWORD(2, 2);
-
-    if (WSAStartup(DLLVersion, &wsaData) != 0)
-    {
-        std::cerr << "Error: WSAStartup failed" << std::endl;
-        return false;
-    }
-
-    SOCKADDR_IN addr;
-    inet_pton(AF_INET, ip, &addr.sin_addr);
-    addr.sin_port = htons(port);
-    addr.sin_family = AF_INET;
-
-    Connection = socket(AF_INET, SOCK_STREAM, 0);
-    if (Connection == INVALID_SOCKET)
-    {
-        std::cerr << "Error: Failed to create socket" << std::endl;
-        WSACleanup();
-        return false;
-    }
-
-    if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
-    {
-        std::cerr << "Error: Failed to connect to server" << std::endl;
-        closesocket(Connection);
-        WSACleanup();
-        return false;
-    }
-
-    return true;
-}
-
-void Client::CloseConnection()
-{
-    if (Connection != INVALID_SOCKET)
-    {
-        closesocket(Connection);
-        WSACleanup();
-        Connection = INVALID_SOCKET;
-    }
-}
-
-void Client::ReceiveHandler()
-{
-    while (running)
-    {
-        DataIn tempData;
-        int result = recv(Connection, (char*)&tempData, sizeof(tempData), 0);
-
-        if (result <= 0)
-        {
-            std::cerr << "Error: Connection lost (recv failed)" << std::endl;
-            running = false;
-            break;
-        }
-
-        std::lock_guard<std::mutex> lock(dataMutex);
-        dataIn = tempData;
-    }
-}
-
-void Client::SendHandler()
-{
-    while (running)
-    {
-        {
-            std::lock_guard<std::mutex> lock(dataMutex);
-            send(Connection, (char*)&dataOut, sizeof(dataOut), 0);
-        }
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    }
-}
-
-void Client::Start()
-{
-    recvThread = std::thread(&Client::ReceiveHandler, this);
-    sendThread = std::thread(&Client::SendHandler, this);
-}
-
-void Client::Stop()
-{
-    running = false;
-    if (recvThread.joinable()) recvThread.join();
-    if (sendThread.joinable()) sendThread.join();
-}

DroneClientCpp/Client.h

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

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;
-    }
-}

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();
-    };
-}

DroneClientCpp/DroneClient.h

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

DroneClientCpp/DroneClientCpp.sln

@@ -1,28 +0,0 @@
-
-Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 17
-VisualStudioVersion = 17.12.35527.113
-MinimumVisualStudioVersion = 10.0.40219.1
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DroneClientCpp", "DroneClientCpp.vcxproj", "{690C304C-A70B-4B0F-BF61-8C51290BF444}"
-EndProject
-Global
-	GlobalSection(SolutionConfigurationPlatforms) = preSolution
-		Debug|x64 = Debug|x64
-		Debug|x86 = Debug|x86
-		Release|x64 = Release|x64
-		Release|x86 = Release|x86
-	EndGlobalSection
-	GlobalSection(ProjectConfigurationPlatforms) = postSolution
-		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.ActiveCfg = Debug|x64
-		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.Build.0 = Debug|x64
-		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.ActiveCfg = Debug|Win32
-		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.Build.0 = Debug|Win32
-		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.ActiveCfg = Release|x64
-		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.Build.0 = Release|x64
-		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.ActiveCfg = Release|Win32
-		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.Build.0 = Release|Win32
-	EndGlobalSection
-	GlobalSection(SolutionProperties) = preSolution
-		HideSolutionNode = FALSE
-	EndGlobalSection
-EndGlobal

DroneClientCpp/DroneClientCpp.vcxproj

@@ -1,141 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup Label="ProjectConfigurations">
-    <ProjectConfiguration Include="Debug|Win32">
-      <Configuration>Debug</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|x64">
-      <Configuration>Debug</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|x64">
-      <Configuration>Release</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-  </ItemGroup>
-  <PropertyGroup Label="Globals">
-    <VCProjectVersion>17.0</VCProjectVersion>
-    <ProjectGuid>{690C304C-A70B-4B0F-BF61-8C51290BF444}</ProjectGuid>
-    <TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
-    <Keyword>ManagedCProj</Keyword>
-    <RootNamespace>DroneClientCpp</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <CLRSupport>true</CLRSupport>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <CLRSupport>true</CLRSupport>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <CLRSupport>true</CLRSupport>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <CLRSupport>true</CLRSupport>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
-  <ImportGroup Label="ExtensionSettings">
-  </ImportGroup>
-  <ImportGroup Label="Shared">
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <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>
-  <PropertyGroup Label="UserMacros" />
-  <PropertyGroup />
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PreprocessorDefinitions>_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-    </ClCompile>
-    <Link>
-      <AdditionalDependencies />
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PreprocessorDefinitions>WIN32;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-    </ClCompile>
-    <Link>
-      <AdditionalDependencies />
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PreprocessorDefinitions>WIN32;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-    </ClCompile>
-    <Link>
-      <AdditionalDependencies />
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PreprocessorDefinitions>NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-    </ClCompile>
-    <Link>
-      <AdditionalDependencies />
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemGroup>
-    <Reference Include="System" />
-    <Reference Include="System.Data" />
-    <Reference Include="System.Drawing" />
-    <Reference Include="System.Windows.Forms" />
-    <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="FormMain.h">
-      <FileType>CppForm</FileType>
-    </ClInclude>
-    <ClInclude Include="NetClient.h" />
-  </ItemGroup>
-  <ItemGroup>
-    <EmbeddedResource Include="FormMain.resx">
-      <DependentUpon>FormMain.h</DependentUpon>
-    </EmbeddedResource>
-  </ItemGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
-  <ImportGroup Label="ExtensionTargets">
-  </ImportGroup>
-</Project>

DroneClientCpp/DroneClientCpp.vcxproj.filters

@@ -1,42 +0,0 @@
-<?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="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">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
-    <ClInclude Include="NetClient.h">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
-    <ClInclude Include="DroneData.h">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
-    <ClInclude Include="Drone.h">
-      <Filter>Файлы заголовков</Filter>
-    </ClInclude>
-  </ItemGroup>
-</Project>

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>

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);
-    };
-}

DroneClientCpp/FormMain.cpp

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

DroneClientCpp/FormMain.resx

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

DroneClientCpp/MyForm.cpp

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

DroneClientCpp/MyForm.resx

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

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 (...) {}
-    }
-}

DroneClientCpp/NetClient.h

@@ -1,68 +0,0 @@
-#pragma once
-
-#include <Windows.h>
-#include <vcclr.h>
-
-#using <System.dll>
-#using <System.Net.dll>
-
-using namespace System;
-using namespace System::Net;
-using namespace System::Net::Sockets;
-
-namespace DroneSimulator {
-
-    public ref class NetClient
-    {
-    public:
-        ref class ConnectData
-        {
-        public:
-            bool Connect;
-            Socket^ Server;
-
-            ConnectData(bool connect, Socket^ server);
-        };
-
-        ref class ReceiveData
-        {
-        public:
-            array<Byte>^ Buffer;
-            int Size;
-            Socket^ Server;
-
-            ReceiveData(array<Byte>^ buffer, int size, Socket^ server);
-        };
-
-    private:
-        ref class ServerData
-        {
-        public:
-            literal int size = 1024;
-            array<Byte>^ buffer = gcnew array<Byte>(size);
-        };
-
-        bool Connected;
-        Socket^ ServerSocket;
-        ServerData^ DataServer;
-
-    public:
-        delegate void ClientCallback(Object^ o);
-
-    private:
-        ClientCallback^ ConnectionCallback;
-        ClientCallback^ ReceiveCallback;
-
-    public:
-        NetClient(); // Добавлен конструктор
-
-        enum class ClientState { Error, Connected, Stop };
-
-        ClientState Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive);
-        void Close();
-        void Send(array<Byte>^ data);
-
-    private:
-        void ReadCallback(IAsyncResult^ ar);
-    };
-}

DroneClientCpp/Source.cpp

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

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
 {
@@ -24,8 +21,6 @@ namespace DroneSimulator
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
     public float LaserRange; // Имитация: Дальномер
 
-    private uint DataTimer;
-
     private const float Gravity = 9.8f;
 
     private const float TO_GRAD = 180 / MathF.PI;
@@ -34,13 +29,7 @@ namespace DroneSimulator
     private Thread DroneThread;
     private int Timer;
 
-    private Random MainRandom = new Random();
+    private static int CounterID = 0;
-
-    RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
-    RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
-    RealMode.Position RealPos = new RealMode.Position();
-    RealMode.Barometer RealBar = new RealMode.Barometer();
-    RealMode.Range RealRange = new RealMode.Range();
 
     public static byte[] getBytes(object data)
     {
@@ -83,6 +72,33 @@ namespace DroneSimulator
       return mem;
     }
 
+    /*public struct DataOut
+    {
+      public float AccX, AccY, AccZ;
+      public float GyrX, GyrY, GyrZ;
+      public float PosX, PosY;
+      public float LaserRange;
+    }
+
+    public DataOut GetDataOut()
+    {
+      DataOut data = new DataOut();
+
+      data.AccX = Acc.X; data.AccY = Acc.Y; data.AccZ = Acc.Z;
+      data.GyrX = Gyr.X; data.GyrY = Gyr.Y; data.GyrZ = Gyr.Z;
+
+      data.PosX = PosXYZ.X; data.PosY = PosXYZ.Y;
+
+      data.LaserRange = LaserRange;
+
+      return data;
+    }
+
+    public struct DataIn
+    {
+      public float MotorUL, MotorUR, MotorDL, MotorDR;
+    }*/
+
     public struct DataVisual
     {
       public int ID; // Идентификатор
@@ -248,14 +264,6 @@ namespace DroneSimulator
         if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
         else LaserRange = float.MaxValue;
       }
-
-      RealAcc.Update(Acc, (uint)tick);
-      RealGyr.Update(Gyr, (uint)tick);
-      RealRange.Update(LaserRange, (uint)tick);
-      RealBar.Update(PosXYZ.Z * 11, (uint)tick);
-      RealPos.Update(PosXYZ, (uint)tick);
-
-      DataTimer = (uint)tick;
     }
 
     private float Range(float pow)
@@ -284,94 +292,33 @@ namespace DroneSimulator
       SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR);
     }
 
-    private byte[] SendDataAcc()
+    private byte[] SendDataIMU()
     {
-      DroneData.DataAcc acc = new DroneData.DataAcc();
+      DroneData.DataIMU imu = new DroneData.DataIMU();
 
-      acc.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc));
+      imu.Head.Size = Marshal.SizeOf(typeof(DroneData.DataIMU));
-      acc.Head.Mode = DroneData.DataMode.Response;
+      imu.Head.Mode = DroneData.DataMode.Response;
-      acc.Head.Type = DroneData.DataType.DataAcc;
+      imu.Head.Type = DroneData.DataType.DataIMU;
-      acc.Head.Time = (uint)Environment.TickCount;
 
-      acc.Acc.X = RealAcc.result.X; acc.Acc.Y = RealAcc.result.Y; acc.Acc.Z = RealAcc.result.Z;
+      imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z;
-      acc.Time = RealAcc.timer;
+      imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z;
+      imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0;
 
-      return getBytes(acc);
+      return getBytes(imu);
     }
 
-    private byte[] SendDataGyr()
+    private byte[] SendDataPos()
     {
-      DroneData.DataGyr gyr = new DroneData.DataGyr();
+      DroneData.DataPos pos = new DroneData.DataPos();
 
-      gyr.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGyr));
+      pos.Head.Size = Marshal.SizeOf(typeof(DroneData.DataPos));
-      gyr.Head.Mode = DroneData.DataMode.Response;
+      pos.Head.Mode = DroneData.DataMode.Response;
-      gyr.Head.Type = DroneData.DataType.DataGyr;
+      pos.Head.Type = DroneData.DataType.DataPos;
-      gyr.Head.Time = (uint)Environment.TickCount;
 
-      gyr.Gyr.X = RealGyr.result.X; gyr.Gyr.Y = RealGyr.result.Y; gyr.Gyr.Z = RealGyr.result.Z;
+      pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z;
-      gyr.Time = RealGyr.timer;
+      pos.LiDAR = LaserRange;
 
-      return getBytes(gyr);
+      return getBytes(pos);
-    }
-
-    private byte[] SendDataMag()
-    {
-      DroneData.DataMag mag = new DroneData.DataMag();
-
-      mag.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMag));
-      mag.Head.Mode = DroneData.DataMode.Response;
-      mag.Head.Type = DroneData.DataType.DataMag;
-      mag.Head.Time = (uint)Environment.TickCount;
-
-      mag.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0;
-      mag.Time = DataTimer;
-
-      return getBytes(mag);
-    }
-
-    private byte[] SendDataRange()
-    {
-      DroneData.DataRange range = new DroneData.DataRange();
-
-      range.Head.Size = Marshal.SizeOf(typeof(DroneData.DataRange));
-      range.Head.Mode = DroneData.DataMode.Response;
-      range.Head.Type = DroneData.DataType.DataRange;
-      range.Head.Time = (uint)Environment.TickCount;
-
-      range.LiDAR = RealRange.result;
-      range.Time = RealRange.timer;
-
-      return getBytes(range);
-    }
-
-    private byte[] SendDataLocal()
-    {
-      DroneData.DataLocal local = new DroneData.DataLocal();
-
-      local.Head.Size = Marshal.SizeOf(typeof(DroneData.DataLocal));
-      local.Head.Mode = DroneData.DataMode.Response;
-      local.Head.Type = DroneData.DataType.DataLocal;
-      local.Head.Time = (uint)Environment.TickCount;
-
-      local.Local.X = RealPos.result.X; local.Local.Y = RealPos.result.Y; local.Local.Z = RealPos.result.Z;
-      local.Time = RealPos.timer;
-
-      return getBytes(local);
-    }
-
-    private byte[] SendDataBarometer()
-    {
-      DroneData.DataBar bar = new DroneData.DataBar();
-
-      bar.Head.Size = Marshal.SizeOf(typeof(DroneData.DataBar));
-      bar.Head.Mode = DroneData.DataMode.Response;
-      bar.Head.Type = DroneData.DataType.DataBar;
-      bar.Head.Time = (uint)Environment.TickCount;
-
-      bar.Pressure = RealBar.result;
-      bar.Time = RealBar.timer;
-
-      return getBytes(bar);
     }
 
     private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
@@ -380,12 +327,12 @@ namespace DroneSimulator
 
       switch (head.Type)
       {
-        case DroneData.DataType.DataAcc:
+        case DroneData.DataType.DataIMU:
           {
             if (head.Mode == DroneData.DataMode.Request)
             {
               // Запрос данных
-              return SendDataAcc();
+              return SendDataIMU();
             }
             else
             {
@@ -396,17 +343,38 @@ namespace DroneSimulator
             }
           }
 
-        case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
+        case DroneData.DataType.DataPos:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataPos();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
 
-        case DroneData.DataType.DataMag: if (head.Mode == DroneData.DataMode.Request) return SendDataMag(); else return zero;
+        case DroneData.DataType.DataMotor4:
-
+          {
-        case DroneData.DataType.DataRange: if (head.Mode == DroneData.DataMode.Request) return SendDataRange(); else return zero;
+            if (head.Mode == DroneData.DataMode.Request)
-
+            {
-        case DroneData.DataType.DataLocal: if (head.Mode == DroneData.DataMode.Request) return SendDataLocal(); else return zero;
+              // Запрос данных
-
+              // ... //
-        case DroneData.DataType.DataBar: if (head.Mode == DroneData.DataMode.Request) return SendDataBarometer(); else return zero;
+              //
-
+              return zero;
-        case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); 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,
+    DataIMU = 1001, DataPos = 1002, 
 
     // Input
     DataMotor4 = 2001, DataMotor6 = 2002
@@ -25,76 +25,32 @@ namespace DroneData
     public DataMode Mode;
     public DataType Type;
 
-    public uint Time; // Общее время
-
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
   }
 
   public struct XYZ { public float X, Y, Z; }
 
-  public struct DataAcc
+  public struct DataIMU
   {
     public DataHead Head;
-    public XYZ Acc;
+    public XYZ Acc, Gyr, Mag;
 
-    public uint Time; // Последнее время изменения данных
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
   }
 
-  public struct DataGyr
+  public struct DataPos
   {
     public DataHead Head;
-    public XYZ Gyr;
+    public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
+    public float LiDAR; // Äàò÷èê ïîñàäêè
 
-    public uint Time; // Последнее время изменения данных
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
-  }
-
-  public struct DataMag
-  {
-    public DataHead Head;
-    public XYZ Mag;
-
-    public uint Time; // Последнее время изменения данных
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
-  }
-
-  public struct DataRange
-  {
-    public DataHead Head;
-    public float LiDAR; // Датчик посадки
-
-    public uint Time; // Последнее время изменения данных
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
-  }
-
-  public struct DataLocal
-  {
-    public DataHead Head;
-    public XYZ Local; // Локальные координаты
-
-    public uint Time; // Последнее время изменения данных
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
-  }
-
-  public struct DataBar
-  {
-    public DataHead Head;
-    public float Pressure; // Давление
-
-    public uint Time; // Последнее время изменения данных
-
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
   }
 
   public struct DataMotor4
   {
     public DataHead Head;
+    public ulong Count;
     public float UL, UR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
@@ -103,8 +59,9 @@ namespace DroneData
   public struct DataMotor6
   {
     public DataHead Head;
+    public ulong Count;
     public float UL, UR, LL, RR, DL, DR;
 
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
   }
-}
+}

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;
@@ -22,13 +22,6 @@ namespace DroneSimulator
     public Form_Main()
     {
       InitializeComponent();
-
-      RealMode.RealSimulation = checkBox_Mode_Real.Checked;
-      numericUpDown_Acc_Update(null, null);
-      numericUpDown_Gyr_Update(null, null);
-      numericUpDown_Pos_Update(null, null);
-      numericUpDown_Bar_Update(null, null);
-      numericUpDown_Range_Update(null, null);
     }
 
     private void ClientConnectionCallback(object o)
@@ -82,7 +75,7 @@ namespace DroneSimulator
       List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
 
       if (send == null) return;
-      try
+      try 
       {
         foreach (byte[]? b in send)
         {
@@ -211,65 +204,5 @@ namespace DroneSimulator
           }
       }
     }
-
-    private void numericUpDown_Bar_Update(object sender, EventArgs e)
-    {
-      try { RealMode.Barometer.Pressure = uint.Parse(textBox_Bar_Pressure.Text); }
-      catch
-      {
-        RealMode.Barometer.Pressure = 102258;
-        MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error);
-      }
-
-
-      RealMode.Barometer.Freq = (uint)numericUpDown_Bar_Freq.Value;
-      RealMode.Barometer.Noise = (float)numericUpDown_Bar_Noise.Value;
-      RealMode.Barometer.Lateness = (float)numericUpDown_Bar_Laten.Value;
-      RealMode.Barometer.Enable = checkBox_Bar_Enable.Checked;
-    }
-
-    private void checkBox_Mode_Real_CheckedChanged(object sender, EventArgs e)
-    {
-      RealMode.RealSimulation = checkBox_Mode_Real.Checked;
-    }
-
-    private void numericUpDown_Acc_Update(object sender, EventArgs e)
-    {
-      RealMode.Accelerometer.Freq = (uint)numericUpDown_Acc_Freq.Value;
-      RealMode.Accelerometer.Noise = (float)numericUpDown_Acc_Noise.Value;
-      RealMode.Accelerometer.Lateness = (float)numericUpDown_Acc_Laten.Value;
-
-      RealMode.Accelerometer.ScaleLeft = (float)numericUpDown_Acc_Scale_Left.Value;
-      RealMode.Accelerometer.ScaleRight = (float)numericUpDown_Acc_Scale_Rigth.Value;
-    }
-
-    private void numericUpDown_Gyr_Update(object sender, EventArgs e)
-    {
-      RealMode.Gyroscope.Freq = (uint)numericUpDown_Gyr_Freq.Value;
-      RealMode.Gyroscope.Noise = (float)numericUpDown_Gyr_Noise.Value;
-      RealMode.Gyroscope.Lateness = (float)numericUpDown_Gyr_Laten.Value;
-
-      RealMode.Gyroscope.Shift.X = (float)numericUpDown_Gyr_Shift_X.Value;
-      RealMode.Gyroscope.Shift.Y = (float)numericUpDown_Gyr_Shift_Y.Value;
-      RealMode.Gyroscope.Shift.Z = (float)numericUpDown_Gyr_Shift_Z.Value;
-    }
-
-    private void numericUpDown_Pos_Update(object sender, EventArgs e)
-    {
-      RealMode.Position.Freq = (uint)numericUpDown_Pos_Freq.Value;
-      RealMode.Position.Noise = (float)numericUpDown_Pos_Noise.Value;
-      RealMode.Position.Lateness = (float)numericUpDown_Pos_Laten.Value;
-      RealMode.Position.Enable = checkBox_Pos_Enable.Checked;
-    }
-
-    private void numericUpDown_Range_Update(object sender, EventArgs e)
-    {
-      RealMode.Range.Freq = (uint)numericUpDown_Range_Freq.Value;
-      RealMode.Range.Noise = (float)numericUpDown_Range_Noise.Value;
-      RealMode.Range.Lateness = (float)numericUpDown_Range_Laten.Value;
-      RealMode.Range.Enable = checkBox_Range_Enable.Checked;
-
-      RealMode.Range.MaxHeight = (float)numericUpDown_Range_Max.Value;
-    }
   }
 }

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;
-        }
-      }
-    }
-  }
-}