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Почему-то каждый раз слетает

.gitignore

@@ -0,0 +1,58 @@
+# Файлы и папки Visual Studio
+*.obj
+*.exe
+*.pdb
+*.user
+*.aps
+*.pch
+*.vspscc
+*.vssscc
+*_i.c
+*_p.c
+*.ncb
+*.suo
+*.tlb
+*.tlh
+*.bak
+*.cache
+*.ilk
+*.log
+*.sbr
+*.scc
+*.idb
+*.tlog
+*.ipch
+*.db
+
+# Папки сборки
+bin/
+obj/
+[Bb]in/
+[Oo]bj/
+Debug/
+Release/
+x64/
+x86/
+[Any CPU]/
+
+# Файлы кэша и настройки VS
+.vscode/
+*.code-workspace
+.vs/
+*.sln.docstates
+
+# NuGet
+packages/
+*.nupkg
+*.snupkg
+
+# Дополнительные временные файлы
+Thumbs.db
+*.DS_Store
+
+# Игнорировать файлы резервирования
+~$*
+
+# Опционально: игнорировать файлы конфигурации пользователя
+appsettings.json
+*.config.user

DroneClient/.gitignore

@@ -1,3 +0,0 @@
-.vs/
-obj/
-bin/

DroneClient/Drone.cs

@@ -1,67 +1,62 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading.Tasks;
+using System.Runtime.InteropServices;
 
 namespace DroneClient
 {
-  internal class Drone
-  {
-    public struct DataOut
+    internal class Drone
     {
-      public float AccX, AccY, AccZ;
-      public float GyrX, GyrY, GyrZ;
-      public float PosX, PosY;
-      public float LaserRange;
+        public struct DataOut
+        {
+            public float AccX, AccY, AccZ;
+            public float GyrX, GyrY, GyrZ;
+            public float PosX, PosY;
+            public float LaserRange;
+        }
+
+        public struct DataIn
+        {
+            public float MotorUL, MotorUR, MotorDL, MotorDR;
+        }
+
+        public static byte[] getBytes(object data)
+        {
+            int size = Marshal.SizeOf(data);
+            byte[] arr = new byte[size];
+
+            IntPtr ptr = IntPtr.Zero;
+            try
+            {
+                ptr = Marshal.AllocHGlobal(size);
+                Marshal.StructureToPtr(data, ptr, true);
+                Marshal.Copy(ptr, arr, 0, size);
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(ptr);
+            }
+            return arr;
+        }
+
+        public static object fromBytes(byte[] arr, Type type)
+        {
+            object mem = new object();
+
+            int size = Marshal.SizeOf(type);
+            IntPtr ptr = IntPtr.Zero;
+            try
+            {
+                ptr = Marshal.AllocHGlobal(size);
+
+                Marshal.Copy(arr, 0, ptr, size);
+
+                mem = Marshal.PtrToStructure(ptr, type);
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(ptr);
+            }
+
+            return mem;
+        }
+
     }
-
-    public struct DataIn
-    {
-      public float MotorUL, MotorUR, MotorDL, MotorDR;  
-    }
-
-    public static byte[] getBytes(object data)
-    {
-      int size = Marshal.SizeOf(data);
-      byte[] arr = new byte[size];
-
-      IntPtr ptr = IntPtr.Zero;
-      try
-      {
-        ptr = Marshal.AllocHGlobal(size);
-        Marshal.StructureToPtr(data, ptr, true);
-        Marshal.Copy(ptr, arr, 0, size);
-      }
-      finally
-      {
-        Marshal.FreeHGlobal(ptr);
-      }
-      return arr;
-    }
-
-    public static object fromBytes(byte[] arr, Type type)
-    {
-      object mem = new object();
-
-      int size = Marshal.SizeOf(type);
-      IntPtr ptr = IntPtr.Zero;
-      try
-      {
-        ptr = Marshal.AllocHGlobal(size);
-
-        Marshal.Copy(arr, 0, ptr, size);
-
-        mem = Marshal.PtrToStructure(ptr, type);
-      }
-      finally
-      {
-        Marshal.FreeHGlobal(ptr);
-      }
-
-      return mem;
-    }
-
-  }
 }

DroneClient/NetClient.cs

@@ -1,108 +1,103 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
+using System.Net;
 using System.Net.Sockets;
-using System.Net;
 
 namespace DroneSimulator
 {
-  internal class NetClient
-  {
-    public class ConnectData
+    internal class NetClient
     {
-      public bool Connect;
+        public class ConnectData
+        {
+            public bool Connect;
 
-      public Socket? Server;
+            public Socket? Server;
+        }
+
+        public class ReceiveData
+        {
+            public byte[]? Buffer;
+            public int Size;
+
+            public Socket? Server;
+        }
+
+        private class ServerData
+        {
+            public const int size = 1024;
+            public byte[] buffer = new byte[size];
+        }
+
+        private bool Connected = false;
+        private Socket? ServerSocket = null;
+        private ServerData DataServer = new ServerData();
+
+        public delegate void ClientCallback(object o);
+
+        private ClientCallback? ConnectionCallback;
+        private ClientCallback? ReceiveCallback;
+
+        public enum ClientState { Error, Connected, Stop };
+
+        public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
+        {
+            if (Connected)
+            {
+                try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
+                ServerSocket?.Close();
+                Connected = false;
+                return ClientState.Stop;
+            }
+
+            ConnectionCallback = Connection;
+            ReceiveCallback = Receive;
+
+            IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
+            ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+
+            try { ServerSocket.Connect(ep); }
+            catch { ServerSocket.Close(); return ClientState.Error; }
+
+            Connected = true;
+
+            ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket });
+
+            ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket };
+
+            try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); }
+            catch { }
+
+            return ClientState.Connected;
+        }
+
+        public void Close()
+        {
+            try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
+            ServerSocket?.Close();
+            Connected = false;
+        }
+
+        public void ReadCallback(IAsyncResult ar)
+        {
+            ReceiveData cd = (ReceiveData)ar.AsyncState;
+            if (cd == null) return;
+
+            int bytes = 0;
+            try { bytes = ServerSocket.EndReceive(ar); } catch { }
+
+            if (bytes == 0)
+            {
+                ServerSocket?.Close();
+
+                Connected = false;
+
+                if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
+
+                return;
+            }
+
+            ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
+
+            try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }
+            catch { }
+        }
     }
-
-    public class ReceiveData
-    {
-      public byte[]? Buffer;
-      public int Size;
-
-      public Socket? Server;
-    }
-
-    private class ServerData
-    {
-      public const int size = 1024;
-      public byte[] buffer = new byte[size];
-    }
-
-    private bool Connected = false;
-    private Socket? ServerSocket = null;
-    private ServerData DataServer = new ServerData();
-
-    public delegate void ClientCallback(object o);
-
-    private ClientCallback? ConnectionCallback;
-    private ClientCallback? ReceiveCallback;
-
-    public enum ClientState { Error, Connected, Stop };
-
-    public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
-    {
-      if (Connected)
-      {
-        try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
-        ServerSocket?.Close();
-        Connected = false;
-        return ClientState.Stop;
-      }
-
-      ConnectionCallback = Connection;
-      ReceiveCallback = Receive;
-
-      IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
-      ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
-
-      try { ServerSocket.Connect(ep); }
-      catch { ServerSocket.Close(); return ClientState.Error; }
-
-      Connected = true;
-
-      ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket });
-
-      ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket };
-
-      try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); }
-      catch { }
-
-      return ClientState.Connected;
-    }
-
-    public void Close()
-    {
-      try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
-      ServerSocket?.Close();
-      Connected = false;
-    }
-
-    public void ReadCallback(IAsyncResult ar)
-    {
-      ReceiveData cd = (ReceiveData)ar.AsyncState;
-      if (cd == null) return;
-
-      int bytes = 0;
-      try { bytes = ServerSocket.EndReceive(ar); } catch {  }
-
-      if (bytes == 0)
-      {
-        ServerSocket?.Close();
-
-        Connected = false;
-
-        if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
-
-        return;
-      }
-
-      ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
-
-      try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }  
-      catch { }
-    }
-  }
 }

DroneClientCpp/Client.cpp

@@ -0,0 +1,106 @@
+#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

@@ -0,0 +1,44 @@
+#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/DroneClient.h

@@ -0,0 +1,65 @@
+#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

@@ -0,0 +1,38 @@
+
+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
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TestClientConnection", "..\TestClientConnection\TestClientConnection.vcxproj", "{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}"
+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
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x64.ActiveCfg = Debug|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x64.Build.0 = Debug|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x86.ActiveCfg = Debug|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x86.Build.0 = Debug|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x64.ActiveCfg = Release|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x64.Build.0 = Release|x64
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x86.ActiveCfg = Release|Win32
+		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

DroneClientCpp/DroneClientCpp.vcxproj

@@ -0,0 +1,138 @@
+<?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="FormMain.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="DroneClient.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

@@ -0,0 +1,33 @@
+<?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>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="FormMain.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="NetClient.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="DroneClient.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>

DroneClientCpp/FormMain.cpp

@@ -0,0 +1,12 @@
+#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

@@ -0,0 +1,126 @@
+<?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

@@ -0,0 +1,12 @@
+#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

@@ -0,0 +1,120 @@
+<?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.h

@@ -0,0 +1,256 @@
+// NetClient.h
+#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;
+using namespace System::Runtime::InteropServices;
+
+namespace DroneSimulator
+{
+    public ref class NetClient
+    {
+    public:
+        // Вложенный класс для данных подключения
+        ref class ConnectData
+        {
+        public:
+            property bool Connect;
+            property Socket^ Server;
+        };
+
+        // Вложенный класс для данных приема
+        ref class ReceiveData
+        {
+        public:
+            property array<Byte>^ Buffer;
+            property int Size;
+            property Socket^ Server;
+        };
+
+        // Состояния клиента
+        enum class ClientState { Error, Connected, Stop };
+
+        // Делегат для callback-функций
+        delegate void ClientCallback(Object^ o);
+
+        NetClient()
+        {
+            Connected = false;
+            ServerSocket = nullptr;
+            DataServer = gcnew ServerData();
+        }
+
+        ~NetClient()
+        {
+            // Вызываем Close() для корректного закрытия соединения
+            Close();
+
+            // Дополнительная очистка ресурсов
+            if (DataServer != nullptr)
+            {
+                // Очищаем буфер данных
+                DataServer->buffer = nullptr;
+                DataServer = nullptr;
+            }
+
+            // Обнуляем callback-делегаты
+            ConnectionCallback = nullptr;
+            ReceiveCallback = nullptr;
+        }
+
+        ClientState Connect(String^ addr, int port, ClientCallback^ connectionCallback, ClientCallback^ receiveCallback)
+        {
+            if (Connected)
+            {
+                Disconnect();
+                return ClientState::Stop;
+            }
+
+            ConnectionCallback = connectionCallback;
+            ReceiveCallback = receiveCallback;
+
+            try
+            {
+                IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(addr), port);
+                ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
+                ServerSocket->Connect(ep);
+
+                Connected = true;
+
+                // Уведомление о подключении
+                ConnectData^ connectData = gcnew ConnectData();
+                connectData->Connect = true;
+                connectData->Server = ServerSocket;
+                ConnectionCallback(connectData);
+
+                // Начало приема данных
+                ReceiveData^ receiveData = gcnew ReceiveData();
+                receiveData->Buffer = DataServer->buffer;
+                receiveData->Size = ServerData::size;
+                receiveData->Server = ServerSocket;
+
+                ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData);
+
+                return ClientState::Connected;
+            }
+            catch (Exception^)
+            {
+                if (ServerSocket != nullptr)
+                {
+                    ServerSocket->Close();
+                }
+                return ClientState::Error;
+            }
+        }
+
+        void Close()
+        {
+            Disconnect();
+        }
+
+    private:
+        ref class ServerData
+        {
+        public:
+            static const int size = 1024;
+            array<Byte>^ buffer = gcnew array<Byte>(size);
+        };
+
+        bool Connected;
+        Socket^ ServerSocket;
+        ServerData^ DataServer;
+        ClientCallback^ ConnectionCallback;
+        ClientCallback^ ReceiveCallback;
+
+        void Disconnect()
+        {
+            if (ServerSocket != nullptr)
+            {
+                try { ServerSocket->Shutdown(SocketShutdown::Both); }
+                catch (...) {}
+                ServerSocket->Close();
+                ServerSocket = nullptr;
+            }
+            Connected = false;
+        }
+
+        void ReadCallback(IAsyncResult^ ar)
+        {
+            try
+            {
+                // Проверка на null входного параметра
+                if (ar == nullptr) return;
+
+                // Безопасное приведение типа
+                ReceiveData^ cd = dynamic_cast<ReceiveData^>(ar->AsyncState);
+                if (cd == nullptr || ServerSocket == nullptr || !ServerSocket->Connected)
+                {
+                    Disconnect();
+                    return;
+                }
+
+                int bytes = 0;
+                try
+                {
+                    bytes = ServerSocket->EndReceive(ar);
+                }
+                catch (ObjectDisposedException^)
+                {
+                    // Сокет был закрыт
+                    Disconnect();
+                    return;
+                }
+                catch (SocketException^ ex)
+                {
+                    // Логирование ошибки сокета
+                    System::Diagnostics::Debug::WriteLine(
+                        "Socket receive error: " + ex->Message);
+                    Disconnect();
+                    return;
+                }
+                catch (...)
+                {
+                    Disconnect();
+                    return;
+                }
+
+                // Проверка на разрыв соединения
+                if (bytes == 0)
+                {
+                    Disconnect();
+
+                    if (ConnectionCallback != nullptr)
+                    {
+                        ConnectData^ disconnectData = gcnew ConnectData();
+                        disconnectData->Connect = false;
+                        disconnectData->Server = nullptr;
+                        ConnectionCallback(disconnectData);
+                    }
+                    return;
+                }
+
+                // Вызов callback получения данных
+                if (ReceiveCallback != nullptr && cd->Buffer != nullptr)
+                {
+                    try
+                    {
+                        ReceiveCallback(cd);
+                    }
+                    catch (Exception^ ex)
+                    {
+                        System::Diagnostics::Debug::WriteLine(
+                            "ReceiveCallback error: " + ex->Message);
+                    }
+                }
+
+                // Продолжаем прием данных
+                if (ServerSocket != nullptr && ServerSocket->Connected)
+                {
+                    try
+                    {
+                        IAsyncResult^ result = ServerSocket->BeginReceive(
+                            cd->Buffer,
+                            0,
+                            ServerData::size,
+                            SocketFlags::None,
+                            gcnew AsyncCallback(this, &NetClient::ReadCallback),
+                            cd);
+
+                        // Проверка на ошибку асинхронной операции
+                        if (result == nullptr)
+                        {
+                            Disconnect();
+                        }
+                    }
+                    catch (ObjectDisposedException^)
+                    {
+                        Disconnect();
+                    }
+                    catch (SocketException^ ex)
+                    {
+                        System::Diagnostics::Debug::WriteLine(
+                            "BeginReceive error: " + ex->Message);
+                        Disconnect();
+                    }
+                    catch (...)
+                    {
+                        Disconnect();
+                    }
+                }
+            }
+            catch (Exception^ ex)
+            {
+                System::Diagnostics::Debug::WriteLine(
+                    "ReadCallback general error: " + ex->Message);
+                Disconnect();
+            }
+        }
+    };
+}

DroneClientCpp/Source.cpp

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

DroneSimulator/.gitignore

@@ -1,3 +0,0 @@
-.vs/
-obj/
-bin/

DroneSimulator/Drone.cs

@@ -1,262 +1,256 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Numerics;
+using System.Numerics;
 using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading.Tasks;
-using static System.Windows.Forms.AxHost;
 
 namespace DroneSimulator
 {
-  internal class Drone
-  {
-    public int ID;
-    public float Mass; // Масса
-    public bool Active; // Живой?
-    public float Length; // Длинна лучей
-    public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
-    public Quaternion Quat; // Основной кватернион
-    public float Power = 0; // Тяга всех двигателей
-    public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
-
-    public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
-    public float LaserRange; // Имитация: Дальномер
-
-    private const float Gravity = 1.0f;
-
-    private const float TO_GRAD = 180 / MathF.PI;
-    private const float TO_RADI = MathF.PI / 180;
-
-    private Thread DroneThread;
-    private int Timer;
-
-    private static int CounterID = 0;
-
-    
-
-    public struct DataOut
+    internal class Drone
     {
-      public float AccX, AccY, AccZ;
-      public float GyrX, GyrY, GyrZ;
-      public float PosX, PosY;
-      public float LaserRange;
+        public int ID;
+        public float Mass; // Масса
+        public bool Active; // Живой?
+        public float Length; // Длинна лучей
+        public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
+        public Quaternion Quat; // Основной кватернион
+        public float Power = 0; // Тяга всех двигателей
+        public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
 
-      public byte[] getBytes()
-      {
-        int size = Marshal.SizeOf(this);
-        byte[] arr = new byte[size];
+        public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
+        public float LaserRange; // Имитация: Дальномер
 
-        IntPtr ptr = IntPtr.Zero;
-        try
+        private const float Gravity = 1.0f;
+
+        private const float TO_GRAD = 180 / MathF.PI;
+        private const float TO_RADI = MathF.PI / 180;
+
+        private Thread DroneThread;
+        private int Timer;
+
+        private static int CounterID = 0;
+
+
+
+        public struct DataOut
         {
-          ptr = Marshal.AllocHGlobal(size);
-          Marshal.StructureToPtr(this, ptr, true);
-          Marshal.Copy(ptr, arr, 0, size);
-        }
-        finally
-        {
-          Marshal.FreeHGlobal(ptr);
-        }
-        return arr;
-      }
-    }
+            public float AccX, AccY, AccZ;
+            public float GyrX, GyrY, GyrZ;
+            public float PosX, PosY;
+            public float LaserRange;
 
-    public struct DataIn
-    {
-      public float MotorUL, MotorUR, MotorDL, MotorDR;
+            public byte[] getBytes()
+            {
+                int size = Marshal.SizeOf(this);
+                byte[] arr = new byte[size];
 
-      public void fromBytes(byte[] arr)
-      {
-        DataIn mem = new DataIn();
-
-        int size = Marshal.SizeOf(mem);
-        IntPtr ptr = IntPtr.Zero;
-        try
-        {
-          ptr = Marshal.AllocHGlobal(size);
-
-          Marshal.Copy(arr, 0, ptr, size);
-
-          mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType());
-        }
-        finally
-        {
-          Marshal.FreeHGlobal(ptr);
+                IntPtr ptr = IntPtr.Zero;
+                try
+                {
+                    ptr = Marshal.AllocHGlobal(size);
+                    Marshal.StructureToPtr(this, ptr, true);
+                    Marshal.Copy(ptr, arr, 0, size);
+                }
+                finally
+                {
+                    Marshal.FreeHGlobal(ptr);
+                }
+                return arr;
+            }
         }
 
-        this = mem;
-      }
-    }
-
-    private void ThreadFunction()
-    {
-      while (DroneThread != null)
-      {
-        float time = Environment.TickCount - Timer;
-        Timer = Environment.TickCount;
-        Action(time / 100);
-        Thread.Sleep(1);
-      }
-    }
-
-    public Drone(int id)
-    {
-      ID = id;
-      Active = false;
-      PosXYZ = new Vector3(2000, 1000, 0);
-      SpdXYZ = Vector3.Zero;
-      AccXYZ = Vector3.Zero;
-      Quat = Quaternion.Identity;
-
-      DroneThread = new Thread(new ThreadStart(ThreadFunction));
-      Timer = Environment.TickCount;
-      DroneThread.Start();
-    }
-
-    public int Create(float mass, float len)
-    {
-      Mass = Range(mass);
-      Length = len;
-
-      Active = true;
-
-      return ID;
-    }
-
-    public void Close()
-    {
-      DroneThread = null;
-    }
-
-    private float GetAngle(float a1, float a2, float az)
-    {
-      if (a2 == 0.0f && az == 0.0f)
-      {
-        if (a1 > 0) return 90;
-        if (a1 < 0) return -90;
-        return 0;
-      }
-      return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD;
-    }
-
-    public void Rotate(float x, float y, float z)
-    {
-      x = x * MathF.PI / 180;
-      y = y * MathF.PI / 180;
-      z = -z * MathF.PI / 180;
-
-      Quaternion map = Quat;
-      Quaternion spd = new Quaternion(x, y, z, 0);
-      Quaternion aq = spd * map;
-
-      map.W -= 0.5f * aq.W;
-      map.X -= 0.5f * aq.X;
-      map.Y -= 0.5f * aq.Y;
-      map.Z -= 0.5f * aq.Z;
-
-      Quat = Quaternion.Normalize(map);
-    }
-
-    public Vector4 GetOrientation()
-    {
-      Quaternion grav = new Quaternion(0, 0, 1, 0);
-
-      grav = (Quat * grav) * Quaternion.Inverse(Quat);
-
-      float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD;
-      if (yaw < 0.0f) yaw = 360.0f + yaw;
-
-      return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
-    }
-
-    public void Action(float time)
-    {
-      if (!Active) return;
-
-      float flow = Power;
-
-      if (PosXYZ.Z < 100)
-      {
-        flow += flow * 0.1f; // Воздушная подушка
-      }
-
-      Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
-      AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass;
-
-      SpdPRY += AccPRY * time / (Mass * Length);
-
-      SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
-      PosXYZ += SpdXYZ * time;
-
-      if (PosXYZ.Z < 0)
-      {
-        SpdPRY = Vector3.Zero;
-        SpdXYZ.X = 0;
-        SpdXYZ.Y = 0;
-        Quat = Quaternion.Identity;
-      }
-      else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
-
-      Vector4 ori = GetOrientation();
-
-      if (PosXYZ.Z < 0)
-      {
-        PosXYZ.Z = 0;
-
-        /*if (SpdXYZ.Z < -5)
+        public struct DataIn
         {
-          Active = false; // Сильно ударился о землю
-        }*/
+            public float MotorUL, MotorUR, MotorDL, MotorDR;
 
-        /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
+            public void fromBytes(byte[] arr)
+            {
+                DataIn mem = new DataIn();
+
+                int size = Marshal.SizeOf(mem);
+                IntPtr ptr = IntPtr.Zero;
+                try
+                {
+                    ptr = Marshal.AllocHGlobal(size);
+
+                    Marshal.Copy(arr, 0, ptr, size);
+
+                    mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType());
+                }
+                finally
+                {
+                    Marshal.FreeHGlobal(ptr);
+                }
+
+                this = mem;
+            }
+        }
+
+        private void ThreadFunction()
         {
-          Active = false; // Повредил винты при посадке
-        }*/
+            while (DroneThread != null)
+            {
+                float time = Environment.TickCount - Timer;
+                Timer = Environment.TickCount;
+                Action(time / 100);
+                Thread.Sleep(1);
+            }
+        }
 
-        SpdXYZ.Z = 0;
-
-        Acc = new Vector3(0, 0, 1);
-        Gyr = Vector3.Zero;
-        LaserRange = 0;
-      }
-      else
-      {
-        /*if (ori.W < 0)
+        public Drone(int id)
         {
-          Active = false; // Перевернулся вверх ногами
-        }*/
+            ID = id;
+            Active = false;
+            PosXYZ = new Vector3(2000, 1000, 0);
+            SpdXYZ = Vector3.Zero;
+            AccXYZ = Vector3.Zero;
+            Quat = Quaternion.Identity;
 
-        Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
-        grav = (Quat * grav) * Quaternion.Inverse(Quat);
-        Acc = new Vector3(grav.X, grav.Y, grav.Z);
+            DroneThread = new Thread(new ThreadStart(ThreadFunction));
+            Timer = Environment.TickCount;
+            DroneThread.Start();
+        }
 
-        Gyr = SpdPRY;
+        public int Create(float mass, float len)
+        {
+            Mass = Range(mass);
+            Length = len;
 
-        float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
+            Active = true;
 
-        if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
-        else LaserRange = float.MaxValue;
-      }
+            return ID;
+        }
+
+        public void Close()
+        {
+            DroneThread = null;
+        }
+
+        private float GetAngle(float a1, float a2, float az)
+        {
+            if (a2 == 0.0f && az == 0.0f)
+            {
+                if (a1 > 0) return 90;
+                if (a1 < 0) return -90;
+                return 0;
+            }
+            return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD;
+        }
+
+        public void Rotate(float x, float y, float z)
+        {
+            x = x * MathF.PI / 180;
+            y = y * MathF.PI / 180;
+            z = -z * MathF.PI / 180;
+
+            Quaternion map = Quat;
+            Quaternion spd = new Quaternion(x, y, z, 0);
+            Quaternion aq = spd * map;
+
+            map.W -= 0.5f * aq.W;
+            map.X -= 0.5f * aq.X;
+            map.Y -= 0.5f * aq.Y;
+            map.Z -= 0.5f * aq.Z;
+
+            Quat = Quaternion.Normalize(map);
+        }
+
+        public Vector4 GetOrientation()
+        {
+            Quaternion grav = new Quaternion(0, 0, 1, 0);
+
+            grav = (Quat * grav) * Quaternion.Inverse(Quat);
+
+            float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD;
+            if (yaw < 0.0f) yaw = 360.0f + yaw;
+
+            return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z);
+        }
+
+        public void Action(float time)
+        {
+            if (!Active) return;
+
+            float flow = Power;
+
+            if (PosXYZ.Z < 100)
+            {
+                flow += flow * 0.1f; // Воздушная подушка
+            }
+
+            Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
+            AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass;
+
+            SpdPRY += AccPRY * time / (Mass * Length);
+
+            SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
+            PosXYZ += SpdXYZ * time;
+
+            if (PosXYZ.Z < 0)
+            {
+                SpdPRY = Vector3.Zero;
+                SpdXYZ.X = 0;
+                SpdXYZ.Y = 0;
+                Quat = Quaternion.Identity;
+            }
+            else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z);
+
+            Vector4 ori = GetOrientation();
+
+            if (PosXYZ.Z < 0)
+            {
+                PosXYZ.Z = 0;
+
+                /*if (SpdXYZ.Z < -5)
+                {
+                  Active = false; // Сильно ударился о землю
+                }*/
+
+                /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45)
+                {
+                  Active = false; // Повредил винты при посадке
+                }*/
+
+                SpdXYZ.Z = 0;
+
+                Acc = new Vector3(0, 0, 1);
+                Gyr = Vector3.Zero;
+                LaserRange = 0;
+            }
+            else
+            {
+                /*if (ori.W < 0)
+                {
+                  Active = false; // Перевернулся вверх ногами
+                }*/
+
+                Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0);
+                grav = (Quat * grav) * Quaternion.Inverse(Quat);
+                Acc = new Vector3(grav.X, grav.Y, grav.Z);
+
+                Gyr = SpdPRY;
+
+                float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI;
+
+                if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt);
+                else LaserRange = float.MaxValue;
+            }
+        }
+
+        private float Range(float pow)
+        {
+            if (pow > 1) pow = 1;
+            if (pow < 0) pow = 0;
+
+            return pow;
+        }
+
+        public void SetQadroPow(float ul, float ur, float dl, float dr)
+        {
+            ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr);
+
+            Power = (ul + ur + dl + dr) / 4;
+
+            AccPRY.Y = ((ul + dl) - (ur + dr));
+            AccPRY.X = ((ul + ur) - (dl + dr));
+            AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
+        }
     }
-
-    private float Range(float pow)
-    {
-      if (pow > 1) pow = 1;
-      if (pow < 0) pow = 0;
-
-      return pow;
-    }
-
-    public void SetQadroPow(float ul, float ur, float dl, float dr)
-    {
-      ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr);
-
-      Power = (ul + ur + dl + dr) / 4;
-
-      AccPRY.Y = ((ul + dl) - (ur + dr));
-      AccPRY.X = ((ul + ur) - (dl + dr));
-      AccPRY.Z = ((ul + dr) - (dl + ur)) / 4;
-    }
-  }
 }

DroneSimulator/NetServerClients.cs

@@ -1,145 +1,140 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
+using System.Net;
 using System.Net.Sockets;
-using System.Net;
 
 namespace DroneSimulator
 {
-  internal class NetServerClients
-  {
-    public class ConnectData
+    internal class NetServerClients
     {
-      public int ID;
-      public bool Connect;
-      public int Count;
-
-      public Socket? Client;
-    }
-
-    public class ReceiveData
-    {
-      public int ID;
-      public byte[]? Buffer;
-      public int Size;
-
-      public Socket? Client;
-    }
-
-    private class ClientData
-    {
-      public int ID;
-      public Socket? workSocket = null;
-      public const int BufferSize = 1024;
-      public byte[] buffer = new byte[BufferSize];
-    }
-
-    private int SocketID = 0;
-    private int SocketLimit;
-    private Socket? ServerSocket;
-    private List<ClientData> ClientSockets = new List<ClientData>();
-
-    public delegate void ServerCallback(object o);
-
-    private ServerCallback? ConnectionCallback;
-    private ServerCallback? ReceiveCallback;
-
-    private bool Active = false;
-
-    public enum ServerState { Error, Start, Stop };
-
-    public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive)
-    {
-      if (Active)
-      {
-        ServerSocket?.Close();
-        foreach (ClientData c in ClientSockets)
+        public class ConnectData
         {
-          try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { }
-          c.workSocket?.Close();
+            public int ID;
+            public bool Connect;
+            public int Count;
+
+            public Socket? Client;
         }
-        ClientSockets.Clear();
-        return ServerState.Stop;
-      }
 
-      ConnectionCallback = Connection;
-      ReceiveCallback = Receive;
+        public class ReceiveData
+        {
+            public int ID;
+            public byte[]? Buffer;
+            public int Size;
 
-      SocketLimit = Limit;
+            public Socket? Client;
+        }
 
-      IPEndPoint ip = new(IPAddress.Any, Port);
-      ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+        private class ClientData
+        {
+            public int ID;
+            public Socket? workSocket = null;
+            public const int BufferSize = 1024;
+            public byte[] buffer = new byte[BufferSize];
+        }
 
-      try
-      {
-        ServerSocket.Bind(ip);
-        ServerSocket.Listen(10);
-        ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket);
-        Active = true;
-      }
-      catch { ServerSocket.Close(); return ServerState.Error; }
+        private int SocketID = 0;
+        private int SocketLimit;
+        private Socket? ServerSocket;
+        private List<ClientData> ClientSockets = new List<ClientData>();
 
-      return ServerState.Start;
+        public delegate void ServerCallback(object o);
+
+        private ServerCallback? ConnectionCallback;
+        private ServerCallback? ReceiveCallback;
+
+        private bool Active = false;
+
+        public enum ServerState { Error, Start, Stop };
+
+        public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive)
+        {
+            if (Active)
+            {
+                ServerSocket?.Close();
+                foreach (ClientData c in ClientSockets)
+                {
+                    try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { }
+                    c.workSocket?.Close();
+                }
+                ClientSockets.Clear();
+                return ServerState.Stop;
+            }
+
+            ConnectionCallback = Connection;
+            ReceiveCallback = Receive;
+
+            SocketLimit = Limit;
+
+            IPEndPoint ip = new(IPAddress.Any, Port);
+            ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+
+            try
+            {
+                ServerSocket.Bind(ip);
+                ServerSocket.Listen(10);
+                ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket);
+                Active = true;
+            }
+            catch { ServerSocket.Close(); return ServerState.Error; }
+
+            return ServerState.Start;
+        }
+
+        public void AcceptCallback(IAsyncResult ar)
+        {
+            Socket listener = (Socket)ar.AsyncState;
+            if (listener == null) return;
+
+            Socket handler;
+
+            try { handler = listener.EndAccept(ar); }
+            catch { ServerSocket?.Close(); Active = false; return; }
+
+            if (SocketLimit > ClientSockets.Count)
+            {
+                ClientData clientData = new ClientData();
+
+                clientData.ID = ++SocketID;
+
+                clientData.workSocket = handler;
+
+                ClientSockets.Add(clientData);
+
+                ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler });
+
+                handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData);
+            }
+            else handler.Close();
+
+            listener.BeginAccept(new AsyncCallback(AcceptCallback), listener);
+        }
+
+        public void ReadCallback(IAsyncResult ar)
+        {
+            ClientData cd = (ClientData)ar.AsyncState;
+            if (cd == null) return;
+
+            int bytes = 0;
+            try { bytes = cd.workSocket.EndReceive(ar); }
+            catch { }
+
+            if (bytes == 0)
+            {
+                cd.workSocket?.Close();
+
+                ClientSockets.Remove(cd);
+
+                ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null });
+
+                return;
+            }
+
+            ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
+
+            try
+            {
+                cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
+            }
+            catch { }
+        }
     }
-
-    public void AcceptCallback(IAsyncResult ar)
-    {
-      Socket listener = (Socket)ar.AsyncState;
-      if (listener == null) return;
-
-      Socket handler;
-
-      try { handler = listener.EndAccept(ar); }
-      catch{ ServerSocket?.Close(); Active = false; return; }
-
-      if (SocketLimit > ClientSockets.Count)
-      {
-        ClientData clientData = new ClientData();
-
-        clientData.ID = ++SocketID;
-
-        clientData.workSocket = handler;
-
-        ClientSockets.Add(clientData);
-
-        ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler });
-
-        handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData);
-      }
-      else handler.Close();
-
-      listener.BeginAccept(new AsyncCallback(AcceptCallback), listener);
-    }
-
-    public void ReadCallback(IAsyncResult ar)
-    {
-      ClientData cd = (ClientData)ar.AsyncState;
-      if (cd == null) return;
-
-      int bytes = 0;
-      try { bytes = cd.workSocket.EndReceive(ar); }
-      catch {  }
-
-      if (bytes == 0)
-      {
-        cd.workSocket?.Close();
-
-        ClientSockets.Remove(cd);
-
-        ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null });
-
-        return;
-      }
-
-      ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket });
-
-      try
-      {
-        cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd);
-      }
-      catch { }
-    }
-  }
 }

DroneSimulator/Screen2D.cs

@@ -1,186 +1,180 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Numerics;
-using System.Reflection.Metadata;
-using System.Text;
-using System.Threading.Tasks;
+using System.Numerics;
 
 namespace DroneSimulator
 {
-  internal class Screen2D
-  {
-
-    public delegate void DrawCallback(Bitmap bmp);
-
-    public Screen2D(DrawCallback callback)
+    internal class Screen2D
     {
-      drawCallback = callback;
-    }
 
-    private class DroneInfo
-    {
-      public int ID;
-      public Color RGB;
-      public Bitmap? Drone;
-      public Point PosXY;
-      public int Height = 0;
+        public delegate void DrawCallback(Bitmap bmp);
 
-      public PointF TiltXY = new Point(0, 0);
-      public int Azimuth = 0;
-    }
-
-    private DrawCallback drawCallback;
-    private Bitmap MainArea = new Bitmap(4096, 2560);
-    private List<DroneInfo> DroneList = new List<DroneInfo>();
-
-    public static Bitmap DrawQadro(Color ColorFill)
-    {
-      Bitmap drone = new Bitmap(130, 130);
-
-      using (Graphics g = Graphics.FromImage(drone))
-      {
-        g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;
-
-        SolidBrush solidBrush = new SolidBrush(ColorFill);
-
-        Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) };
-        g.FillPolygon(solidBrush, mid);
-
-        g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35));
-        g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35));
-        g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35));
-        g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35));
-
-        g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10));
-
-        g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129));
-
-        solidBrush.Dispose();
-      }
-
-      return RotateImage(drone, 90);
-    }
-
-    private static Bitmap RotateImage(Bitmap bmp, float angle)
-    {
-      Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height);
-
-      using (Graphics g = Graphics.FromImage(rotatedImage))
-      {
-        // Set the rotation point to the center in the matrix
-        g.TranslateTransform(bmp.Width / 2, bmp.Height / 2);
-        // Rotate
-        g.RotateTransform(angle);
-        // Restore rotation point in the matrix
-        g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2);
-        // Draw the image on the bitmap
-        g.DrawImage(bmp, new Point(0, 0));
-      }
-
-      return rotatedImage;
-    }
-
-    public void CreateDrone(Color ColorFill, int ID)
-    {
-      DroneInfo info = new DroneInfo();
-      info.ID = ID;
-      info.RGB = ColorFill;
-      info.Drone = DrawQadro(ColorFill);
-
-      DroneList.Add(info);
-    }
-
-    public void RemoveDrone(int ID)
-    {
-      foreach (DroneInfo i in DroneList)
-      {
-        if (i.ID != ID) continue;
-        DroneList.Remove(i);
-        break;
-      }      
-    }
-
-    public void DrawScene()
-    {
-      using (Graphics g = Graphics.FromImage(MainArea))
-      {
-        g.Clear(Color.Gainsboro);
-        SolidBrush shadowBrush = new SolidBrush(Color.Black);
-        g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });
-
-        foreach (var d in DroneList)
+        public Screen2D(DrawCallback callback)
         {
-          if (d.Azimuth >= 360) d.Azimuth -= 360;
-          var bmp = RotateImage(d.Drone, d.Azimuth);
-
-          g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
-
-          g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
-
-          //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
-
-          float x1 = 0, y1 = 0;
-          float x2 = 130, y2 = 0;
-          float x3 = 0, y3 = 130;
-
-          const float TO_RADI = MathF.PI / 180;
-
-          Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
-          Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
-
-          tilt = tilt * rotate * rotate;
-
-          if (tilt.Y > 0)
-          {
-            x1 = (int)(Math.Sin(tilt.Y) * 130);
-            x3 = (int)(Math.Sin(tilt.Y) * 130);
-          }
-          else
-          {
-            x2 = (int)(Math.Cos(tilt.Y) * 130);
-          }
-
-          if (tilt.X > 0)
-          {
-            y1 = (int)(Math.Sin(tilt.X) * 130);
-            y2 = (int)(Math.Sin(tilt.X) * 130);
-          }
-          else
-          {
-            y3 = (int)(Math.Cos(tilt.X) * 130);
-          }
-
-          PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
-          PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
-          PointF[] dest = { ul, ur, dl };
-
-          g.DrawImage(bmp, dest);
+            drawCallback = callback;
         }
-      }
 
-      drawCallback(MainArea);
+        private class DroneInfo
+        {
+            public int ID;
+            public Color RGB;
+            public Bitmap? Drone;
+            public Point PosXY;
+            public int Height = 0;
+
+            public PointF TiltXY = new Point(0, 0);
+            public int Azimuth = 0;
+        }
+
+        private DrawCallback drawCallback;
+        private Bitmap MainArea = new Bitmap(4096, 2560);
+        private List<DroneInfo> DroneList = new List<DroneInfo>();
+
+        public static Bitmap DrawQadro(Color ColorFill)
+        {
+            Bitmap drone = new Bitmap(130, 130);
+
+            using (Graphics g = Graphics.FromImage(drone))
+            {
+                g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;
+
+                SolidBrush solidBrush = new SolidBrush(ColorFill);
+
+                Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) };
+                g.FillPolygon(solidBrush, mid);
+
+                g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35));
+                g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35));
+                g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35));
+                g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35));
+
+                g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10));
+
+                g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129));
+
+                solidBrush.Dispose();
+            }
+
+            return RotateImage(drone, 90);
+        }
+
+        private static Bitmap RotateImage(Bitmap bmp, float angle)
+        {
+            Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height);
+
+            using (Graphics g = Graphics.FromImage(rotatedImage))
+            {
+                // Set the rotation point to the center in the matrix
+                g.TranslateTransform(bmp.Width / 2, bmp.Height / 2);
+                // Rotate
+                g.RotateTransform(angle);
+                // Restore rotation point in the matrix
+                g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2);
+                // Draw the image on the bitmap
+                g.DrawImage(bmp, new Point(0, 0));
+            }
+
+            return rotatedImage;
+        }
+
+        public void CreateDrone(Color ColorFill, int ID)
+        {
+            DroneInfo info = new DroneInfo();
+            info.ID = ID;
+            info.RGB = ColorFill;
+            info.Drone = DrawQadro(ColorFill);
+
+            DroneList.Add(info);
+        }
+
+        public void RemoveDrone(int ID)
+        {
+            foreach (DroneInfo i in DroneList)
+            {
+                if (i.ID != ID) continue;
+                DroneList.Remove(i);
+                break;
+            }
+        }
+
+        public void DrawScene()
+        {
+            using (Graphics g = Graphics.FromImage(MainArea))
+            {
+                g.Clear(Color.Gainsboro);
+                SolidBrush shadowBrush = new SolidBrush(Color.Black);
+                g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });
+
+                foreach (var d in DroneList)
+                {
+                    if (d.Azimuth >= 360) d.Azimuth -= 360;
+                    var bmp = RotateImage(d.Drone, d.Azimuth);
+
+                    g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
+
+                    g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
+
+                    //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
+
+                    float x1 = 0, y1 = 0;
+                    float x2 = 130, y2 = 0;
+                    float x3 = 0, y3 = 130;
+
+                    const float TO_RADI = MathF.PI / 180;
+
+                    Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
+                    Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
+
+                    tilt = tilt * rotate * rotate;
+
+                    if (tilt.Y > 0)
+                    {
+                        x1 = (int)(Math.Sin(tilt.Y) * 130);
+                        x3 = (int)(Math.Sin(tilt.Y) * 130);
+                    }
+                    else
+                    {
+                        x2 = (int)(Math.Cos(tilt.Y) * 130);
+                    }
+
+                    if (tilt.X > 0)
+                    {
+                        y1 = (int)(Math.Sin(tilt.X) * 130);
+                        y2 = (int)(Math.Sin(tilt.X) * 130);
+                    }
+                    else
+                    {
+                        y3 = (int)(Math.Cos(tilt.X) * 130);
+                    }
+
+                    PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
+                    PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
+                    PointF[] dest = { ul, ur, dl };
+
+                    g.DrawImage(bmp, dest);
+                }
+            }
+
+            drawCallback(MainArea);
+        }
+
+        public void Move(int id, Vector3 pos, Vector4 tilt)
+        {
+            const float TO_GRAD = 180 / MathF.PI;
+            const float TO_RADI = MathF.PI / 180;
+
+            foreach (var d in DroneList)
+            {
+                if (d.ID != id) continue;
+
+                d.PosXY.X = (int)pos.X;
+                d.PosXY.Y = MainArea.Height - (int)pos.Y;
+                d.Height = (int)pos.Z;
+
+                d.TiltXY.X = tilt.X * TO_RADI;
+                d.TiltXY.Y = tilt.Y * TO_RADI;
+                d.Azimuth = (int)tilt.Z;
+
+                break;
+            }
+        }
     }
-
-    public void Move(int id, Vector3 pos, Vector4 tilt)
-    {
-      const float TO_GRAD = 180 / MathF.PI;
-      const float TO_RADI = MathF.PI / 180;
-
-      foreach (var d in DroneList)
-      {
-        if (d.ID != id) continue;
-
-        d.PosXY.X = (int)pos.X;
-        d.PosXY.Y = MainArea.Height - (int)pos.Y;
-        d.Height = (int)pos.Z;
-
-        d.TiltXY.X = tilt.X * TO_RADI;
-        d.TiltXY.Y = tilt.Y * TO_RADI;
-        d.Azimuth = (int)tilt.Z;
-
-        break;
-      }
-    }
-  }
 }

TestClientConnection/TestClientConnection.cpp

@@ -0,0 +1,140 @@
+#include <iostream>
+#include <WinSock2.h>
+#include <WS2tcpip.h>
+#include <thread>
+#include <atomic>
+#include <mutex>
+
+#pragma comment(lib, "Ws2_32.lib")
+
+struct DataIn
+{
+    float AccX, AccY, AccZ;
+    float GyrX, GyrY, GyrZ;
+    float PosX, PosY, LaserRange;
+} dataIn;
+
+struct DataOut
+{
+    float MotorUL, MotorUR, MotorDL, MotorDR;
+} dataOut;
+
+std::atomic<bool> running(true);  // Флаг работы потоков
+std::mutex dataMutex;  // Мьютекс для синхронизации доступа к dataIn и dataOut
+
+SOCKET ConnectToServer(const char* ip, int port)
+{
+    WSAData wsaData;
+    WORD DLLVersion = MAKEWORD(2, 1);
+
+    if (WSAStartup(DLLVersion, &wsaData) != 0)
+    {
+        std::cout << "Error: WSAStartup failed\n";
+        return INVALID_SOCKET;
+    }
+
+    SOCKADDR_IN addr;
+    inet_pton(AF_INET, ip, &addr.sin_addr);
+    addr.sin_port = htons(port);
+    addr.sin_family = AF_INET;
+
+    SOCKET Connection = socket(AF_INET, SOCK_STREAM, 0);
+    if (Connection == INVALID_SOCKET)
+    {
+        std::cout << "Error: Failed to create socket\n";
+        WSACleanup();
+        return INVALID_SOCKET;
+    }
+
+    if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
+    {
+        std::cout << "Error: Failed to connect to server\n";
+        closesocket(Connection);
+        WSACleanup();
+        return INVALID_SOCKET;
+    }
+
+    return Connection;
+}
+
+void CloseConnection(SOCKET& socket)
+{
+    if (socket != INVALID_SOCKET)
+    {
+        closesocket(socket);
+        WSACleanup();
+        socket = INVALID_SOCKET;
+    }
+}
+
+// Функция приема данных
+void ReceiveHandler(SOCKET socket)
+{
+    while (running)
+    {
+        DataIn tempData;
+        int result = recv(socket, (char*)&tempData, sizeof(tempData), 0);
+
+        if (result <= 0)
+        {
+            std::cout << "Error: Connection lost (recv failed)\n";
+            running = false;
+            break;
+        }
+
+        // Потокобезопасное обновление данных
+        std::lock_guard<std::mutex> lock(dataMutex);
+        dataIn = tempData;
+    }
+}
+
+// Функция отправки данных
+void SendHandler(SOCKET socket)
+{
+    while (running)
+    {
+        {
+            std::lock_guard<std::mutex> lock(dataMutex);
+            send(socket, (char*)&dataOut, sizeof(dataOut), 0);
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));  // Задержка для уменьшения нагрузки
+    }
+}
+
+int main()
+{
+    SOCKET Connection = ConnectToServer("127.0.0.1", 1001);
+    if (Connection == INVALID_SOCKET)
+    {
+        return 1;
+    }
+
+    dataOut.MotorUL = 10;
+    dataOut.MotorUR = 10;
+    dataOut.MotorDL = 10;
+    dataOut.MotorDR = 10;
+
+    // Создание потоков
+    std::thread recvThread(ReceiveHandler, Connection);
+    std::thread sendThread(SendHandler, Connection);
+
+    for (int i = 0; i < 1000000; i++)
+    {
+        {
+            std::lock_guard<std::mutex> lock(dataMutex);
+            std::cout << "Laser Range: " << dataIn.LaserRange << std::endl;
+        }
+        std::cout << "-----------------------------------------------------------" << std::endl;
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));  // Задержка вывода
+    }
+
+    // Завершаем работу потоков
+    running = false;
+    recvThread.join();
+    sendThread.join();
+
+    CloseConnection(Connection);
+
+    system("pause");
+    return 0;
+}

TestClientConnection/TestClientConnection.vcxproj

@@ -0,0 +1,135 @@
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+      <Platform>Win32</Platform>
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+      <Platform>x64</Platform>
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+    <VCProjectVersion>17.0</VCProjectVersion>
+    <Keyword>Win32Proj</Keyword>
+    <ProjectGuid>{b7cc5245-b628-40e9-a9a0-a904e2bf25ea}</ProjectGuid>
+    <RootNamespace>TestClientConnection</RootNamespace>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
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+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
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+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
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+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
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+  <ImportGroup Label="Shared">
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+  <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" />
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+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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+    <Link>
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+      <GenerateDebugInformation>true</GenerateDebugInformation>
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+      <FunctionLevelLinking>true</FunctionLevelLinking>
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+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClCompile Include="TestClientConnection.cpp" />
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+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

TestClientConnection/TestClientConnection.vcxproj.filters

@@ -0,0 +1,22 @@
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