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sergey #10

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sasklyarov merged 3 commits from sergey into main 2025-04-27 17:09:46 +00:00
Conversation 0 Commits 3 Files Changed 5 +525 -159
5 changed files with 525 additions and 159 deletions
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24
DroneSimulator/Drone.cs
View File

@ -3,6 +3,7 @@ using System.Numerics;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using System.Security.Cryptography; using System.Security.Cryptography;
using static DroneSimulator.Drone; using static DroneSimulator.Drone;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar; using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
namespace DroneSimulator namespace DroneSimulator
@ -35,11 +36,15 @@ namespace DroneSimulator
private Random MainRandom = new Random(); private Random MainRandom = new Random();
RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
RealMode.Position RealPos = new RealMode.Position();
RealMode.Barometer RealBar = new RealMode.Barometer();
RealMode.Range RealRange = new RealMode.Range();
public struct DataBarometer public struct DataBarometer
{ {
public int Value, Pressure; // Значение давления в Паскальях public float Pressure; // Значение давления в Паскальях
public float Accuracy;
public int Frequency;
public uint Time; public uint Time;
} }
@ -252,13 +257,10 @@ namespace DroneSimulator
else LaserRange = float.MaxValue; else LaserRange = float.MaxValue;
} }
if ((dataBarometer.Time + 1000 / dataBarometer.Frequency) < DataTimer) float v_bar = PosXYZ.Z * 11;
{ uint t_bar = (uint)tick;
float bar = dataBarometer.Pressure - PosXYZ.Z * 11; RealBar.Update(ref v_bar, ref t_bar);
int rnd = MainRandom.Next(-(int)dataBarometer.Accuracy * 10, (int)dataBarometer.Accuracy * 10) / 10; dataBarometer.Pressure = v_bar;
dataBarometer.Value = (int)(bar + rnd);
dataBarometer.Time = DataTimer;
}
DataTimer = (uint)tick; DataTimer = (uint)tick;
} }
@ -373,7 +375,7 @@ namespace DroneSimulator
bar.Head.Type = DroneData.DataType.DataBar; bar.Head.Type = DroneData.DataType.DataBar;
bar.Head.Time = (uint)Environment.TickCount; bar.Head.Time = (uint)Environment.TickCount;
bar.Pressure = dataBarometer.Value; bar.Pressure = dataBarometer.Pressure;
bar.Time = dataBarometer.Time; bar.Time = dataBarometer.Time;
return getBytes(bar); return getBytes(bar);

24
DroneSimulator/DroneData.cs
View File

@ -1,4 +1,4 @@
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
namespace DroneData namespace DroneData
{ {
@ -25,7 +25,7 @@ namespace DroneData
public DataMode Mode; public DataMode Mode;
public DataType Type; public DataType Type;
public uint Time; // Общее время public uint Time; // Общее время
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead)); static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
} }
@ -37,7 +37,7 @@ namespace DroneData
public DataHead Head; public DataHead Head;
public XYZ Acc; public XYZ Acc;
public uint Time; // Последнее время изменения данных public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc)); static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
} }
@ -47,7 +47,7 @@ namespace DroneData
public DataHead Head; public DataHead Head;
public XYZ Gyr; public XYZ Gyr;
public uint Time; // Последнее время изменения данных public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr)); static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
} }
@ -57,7 +57,7 @@ namespace DroneData
public DataHead Head; public DataHead Head;
public XYZ Mag; public XYZ Mag;
public uint Time; // Последнее время изменения данных public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag)); static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
} }
@ -65,9 +65,9 @@ namespace DroneData
public struct DataRange public struct DataRange
{ {
public DataHead Head; public DataHead Head;
public float LiDAR; // Датчик посадки public float LiDAR; // Датчик посадки
public uint Time; // Последнее время изменения данных public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange)); static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
} }
@ -75,9 +75,9 @@ namespace DroneData
public struct DataLocal public struct DataLocal
{ {
public DataHead Head; public DataHead Head;
public XYZ Local; // Локальные координаты public XYZ Local; // Локальные координаты
public uint Time; // Последнее время изменения данных public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal)); static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
} }
@ -85,9 +85,9 @@ namespace DroneData
public struct DataBar public struct DataBar
{ {
public DataHead Head; public DataHead Head;
public int Pressure; // Локальные координаты public float Pressure; // Давление
public uint Time; // Последнее время изменения данных public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar)); static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
} }
@ -107,4 +107,4 @@ namespace DroneData
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6)); static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
} }
} }

280
DroneSimulator/FormMain.Designer.cs generated
View File

@ -56,12 +56,15 @@
tabPage_Model = new TabPage(); tabPage_Model = new TabPage();
panel_Menu_Model = new Panel(); panel_Menu_Model = new Panel();
groupBox1 = new GroupBox(); groupBox1 = new GroupBox();
label55 = new Label();
numericUpDown18 = new NumericUpDown();
label56 = new Label();
checkBox1 = new CheckBox(); checkBox1 = new CheckBox();
numericUpDown9 = new NumericUpDown(); numericUpDown9 = new NumericUpDown();
label42 = new Label(); label42 = new Label();
label43 = new Label(); label43 = new Label();
label44 = new Label(); label44 = new Label();
numericUpDown10 = new NumericUpDown(); numericUpDown_Range_Noise = new NumericUpDown();
label45 = new Label(); label45 = new Label();
numericUpDown11 = new NumericUpDown(); numericUpDown11 = new NumericUpDown();
label46 = new Label(); label46 = new Label();
@ -82,7 +85,7 @@
label17 = new Label(); label17 = new Label();
label16 = new Label(); label16 = new Label();
label12 = new Label(); label12 = new Label();
numericUpDown_OF_Accur = new NumericUpDown(); numericUpDown_OF_Noise = new NumericUpDown();
label13 = new Label(); label13 = new Label();
numericUpDown_OF_Freq = new NumericUpDown(); numericUpDown_OF_Freq = new NumericUpDown();
label14 = new Label(); label14 = new Label();
@ -96,7 +99,7 @@
label18 = new Label(); label18 = new Label();
checkBox_Bar_Enable = new CheckBox(); checkBox_Bar_Enable = new CheckBox();
label9 = new Label(); label9 = new Label();
numericUpDown_Bar_Accur = new NumericUpDown(); numericUpDown_Bar_Noise = new NumericUpDown();
label8 = new Label(); label8 = new Label();
numericUpDown_Bar_Freq = new NumericUpDown(); numericUpDown_Bar_Freq = new NumericUpDown();
label5 = new Label(); label5 = new Label();
@ -106,7 +109,7 @@
numericUpDown12 = new NumericUpDown(); numericUpDown12 = new NumericUpDown();
label4 = new Label(); label4 = new Label();
label6 = new Label(); label6 = new Label();
numericUpDown13 = new NumericUpDown(); numericUpDown_Pos_Noise = new NumericUpDown();
label10 = new Label(); label10 = new Label();
numericUpDown14 = new NumericUpDown(); numericUpDown14 = new NumericUpDown();
label11 = new Label(); label11 = new Label();
@ -147,6 +150,8 @@
label23 = new Label(); label23 = new Label();
numericUpDown_Acc_Freq = new NumericUpDown(); numericUpDown_Acc_Freq = new NumericUpDown();
label20 = new Label(); label20 = new Label();
groupBox2 = new GroupBox();
checkBox_Mode_Real = new CheckBox();
tabPage_Area = new TabPage(); tabPage_Area = new TabPage();
groupBox_Navi = new GroupBox(); groupBox_Navi = new GroupBox();
panel1 = new Panel(); panel1 = new Panel();
@ -154,9 +159,6 @@
comboBox_Drone_Rotor = new ComboBox(); comboBox_Drone_Rotor = new ComboBox();
comboBox_Drone = new ComboBox(); comboBox_Drone = new ComboBox();
timer_Test = new System.Windows.Forms.Timer(components); timer_Test = new System.Windows.Forms.Timer(components);
label55 = new Label();
numericUpDown18 = new NumericUpDown();
label56 = new Label();
menuStrip_Menu.SuspendLayout(); menuStrip_Menu.SuspendLayout();
groupBox_Screen.SuspendLayout(); groupBox_Screen.SuspendLayout();
((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit(); ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit();
@ -171,23 +173,24 @@
tabPage_Model.SuspendLayout(); tabPage_Model.SuspendLayout();
panel_Menu_Model.SuspendLayout(); panel_Menu_Model.SuspendLayout();
groupBox1.SuspendLayout(); groupBox1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown18).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown9).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown9).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown10).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Range_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown11).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown11).BeginInit();
groupBox_OF.SuspendLayout(); groupBox_OF.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown17).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown17).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown8).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown8).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown7).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown7).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown1).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown1).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).BeginInit();
groupBox_Barometer.SuspendLayout(); groupBox_Barometer.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Laten).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Laten).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).BeginInit();
groupBox_GPS.SuspendLayout(); groupBox_GPS.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown12).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown12).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown13).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Pos_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown14).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown14).BeginInit();
groupBox_Mag.SuspendLayout(); groupBox_Mag.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Mag_Noise).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Mag_Noise).BeginInit();
@ -205,9 +208,9 @@
((System.ComponentModel.ISupportInitialize)numericUpDown3).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown3).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).BeginInit();
groupBox2.SuspendLayout();
groupBox_Navi.SuspendLayout(); groupBox_Navi.SuspendLayout();
panel1.SuspendLayout(); panel1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown18).BeginInit();
SuspendLayout(); SuspendLayout();
// //
// menuStrip_Menu // menuStrip_Menu
@ -241,7 +244,7 @@
groupBox_Screen.Dock = DockStyle.Fill; groupBox_Screen.Dock = DockStyle.Fill;
groupBox_Screen.Location = new Point(218, 24); groupBox_Screen.Location = new Point(218, 24);
groupBox_Screen.Name = "groupBox_Screen"; groupBox_Screen.Name = "groupBox_Screen";
groupBox_Screen.Size = new Size(466, 877); groupBox_Screen.Size = new Size(466, 917);
groupBox_Screen.TabIndex = 1; groupBox_Screen.TabIndex = 1;
groupBox_Screen.TabStop = false; groupBox_Screen.TabStop = false;
// //
@ -251,7 +254,7 @@
pictureBox_2D.Dock = DockStyle.Fill; pictureBox_2D.Dock = DockStyle.Fill;
pictureBox_2D.Location = new Point(3, 19); pictureBox_2D.Location = new Point(3, 19);
pictureBox_2D.Name = "pictureBox_2D"; pictureBox_2D.Name = "pictureBox_2D";
pictureBox_2D.Size = new Size(460, 855); pictureBox_2D.Size = new Size(460, 895);
pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom; pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom;
pictureBox_2D.TabIndex = 0; pictureBox_2D.TabIndex = 0;
pictureBox_2D.TabStop = false; pictureBox_2D.TabStop = false;
@ -265,7 +268,7 @@
tabControl_Menu.Location = new Point(0, 24); tabControl_Menu.Location = new Point(0, 24);
tabControl_Menu.Name = "tabControl_Menu"; tabControl_Menu.Name = "tabControl_Menu";
tabControl_Menu.SelectedIndex = 0; tabControl_Menu.SelectedIndex = 0;
tabControl_Menu.Size = new Size(218, 877); tabControl_Menu.Size = new Size(218, 917);
tabControl_Menu.TabIndex = 2; tabControl_Menu.TabIndex = 2;
// //
// tabPage_Main // tabPage_Main
@ -275,7 +278,7 @@
tabPage_Main.Location = new Point(4, 24); tabPage_Main.Location = new Point(4, 24);
tabPage_Main.Name = "tabPage_Main"; tabPage_Main.Name = "tabPage_Main";
tabPage_Main.Padding = new Padding(3); tabPage_Main.Padding = new Padding(3);
tabPage_Main.Size = new Size(210, 849); tabPage_Main.Size = new Size(210, 889);
tabPage_Main.TabIndex = 0; tabPage_Main.TabIndex = 0;
tabPage_Main.Tag = "#main"; tabPage_Main.Tag = "#main";
tabPage_Main.Text = "Main"; tabPage_Main.Text = "Main";
@ -464,7 +467,7 @@
tabPage_Model.Location = new Point(4, 24); tabPage_Model.Location = new Point(4, 24);
tabPage_Model.Name = "tabPage_Model"; tabPage_Model.Name = "tabPage_Model";
tabPage_Model.Padding = new Padding(3); tabPage_Model.Padding = new Padding(3);
tabPage_Model.Size = new Size(210, 849); tabPage_Model.Size = new Size(210, 889);
tabPage_Model.TabIndex = 1; tabPage_Model.TabIndex = 1;
tabPage_Model.Tag = "#model"; tabPage_Model.Tag = "#model";
tabPage_Model.Text = "Model"; tabPage_Model.Text = "Model";
@ -479,10 +482,11 @@
panel_Menu_Model.Controls.Add(groupBox_Mag); panel_Menu_Model.Controls.Add(groupBox_Mag);
panel_Menu_Model.Controls.Add(groupBox_Gyr); panel_Menu_Model.Controls.Add(groupBox_Gyr);
panel_Menu_Model.Controls.Add(groupBox_Acc); panel_Menu_Model.Controls.Add(groupBox_Acc);
panel_Menu_Model.Controls.Add(groupBox2);
panel_Menu_Model.Dock = DockStyle.Fill; panel_Menu_Model.Dock = DockStyle.Fill;
panel_Menu_Model.Location = new Point(3, 3); panel_Menu_Model.Location = new Point(3, 3);
panel_Menu_Model.Name = "panel_Menu_Model"; panel_Menu_Model.Name = "panel_Menu_Model";
panel_Menu_Model.Size = new Size(204, 843); panel_Menu_Model.Size = new Size(204, 883);
panel_Menu_Model.TabIndex = 5; panel_Menu_Model.TabIndex = 5;
// //
// groupBox1 // groupBox1
@ -495,20 +499,49 @@
groupBox1.Controls.Add(label42); groupBox1.Controls.Add(label42);
groupBox1.Controls.Add(label43); groupBox1.Controls.Add(label43);
groupBox1.Controls.Add(label44); groupBox1.Controls.Add(label44);
groupBox1.Controls.Add(numericUpDown10); groupBox1.Controls.Add(numericUpDown_Range_Noise);
groupBox1.Controls.Add(label45); groupBox1.Controls.Add(label45);
groupBox1.Controls.Add(numericUpDown11); groupBox1.Controls.Add(numericUpDown11);
groupBox1.Controls.Add(label46); groupBox1.Controls.Add(label46);
groupBox1.Controls.Add(label47); groupBox1.Controls.Add(label47);
groupBox1.Dock = DockStyle.Top; groupBox1.Dock = DockStyle.Top;
groupBox1.Enabled = false; groupBox1.Enabled = false;
groupBox1.Location = new Point(0, 705); groupBox1.Location = new Point(0, 749);
groupBox1.Name = "groupBox1"; groupBox1.Name = "groupBox1";
groupBox1.Size = new Size(204, 133); groupBox1.Size = new Size(204, 133);
groupBox1.TabIndex = 8; groupBox1.TabIndex = 8;
groupBox1.TabStop = false; groupBox1.TabStop = false;
groupBox1.Text = "Range"; groupBox1.Text = "Range";
// //
// label55
//
label55.AutoSize = true;
label55.Location = new Point(115, 105);
label55.Name = "label55";
label55.Size = new Size(24, 15);
label55.TabIndex = 35;
label55.Text = "sec";
//
// numericUpDown18
//
numericUpDown18.DecimalPlaces = 2;
numericUpDown18.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
numericUpDown18.Location = new Point(68, 103);
numericUpDown18.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown18.Name = "numericUpDown18";
numericUpDown18.Size = new Size(41, 23);
numericUpDown18.TabIndex = 34;
numericUpDown18.Value = new decimal(new int[] { 1, 0, 0, 65536 });
//
// label56
//
label56.AutoSize = true;
label56.Location = new Point(5, 105);
label56.Name = "label56";
label56.Size = new Size(55, 15);
label56.TabIndex = 33;
label56.Text = "Lateness:";
//
// checkBox1 // checkBox1
// //
checkBox1.AutoSize = true; checkBox1.AutoSize = true;
@ -543,7 +576,7 @@
// label43 // label43
// //
label43.AutoSize = true; label43.AutoSize = true;
label43.Location = new Point(2, 76); label43.Location = new Point(0, 76);
label43.Name = "label43"; label43.Name = "label43";
label43.Size = new Size(70, 15); label43.Size = new Size(70, 15);
label43.TabIndex = 28; label43.TabIndex = 28;
@ -559,25 +592,25 @@
label44.TabIndex = 27; label44.TabIndex = 27;
label44.Text = "m"; label44.Text = "m";
// //
// numericUpDown10 // numericUpDown_Range_Noise
// //
numericUpDown10.DecimalPlaces = 3; numericUpDown_Range_Noise.DecimalPlaces = 3;
numericUpDown10.Location = new Point(70, 45); numericUpDown_Range_Noise.Location = new Point(70, 45);
numericUpDown10.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); numericUpDown_Range_Noise.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
numericUpDown10.Name = "numericUpDown10"; numericUpDown_Range_Noise.Name = "numericUpDown_Range_Noise";
numericUpDown10.Size = new Size(47, 23); numericUpDown_Range_Noise.Size = new Size(47, 23);
numericUpDown10.TabIndex = 26; numericUpDown_Range_Noise.TabIndex = 26;
numericUpDown10.Value = new decimal(new int[] { 1, 0, 0, 131072 }); numericUpDown_Range_Noise.Value = new decimal(new int[] { 1, 0, 0, 131072 });
// //
// label45 // label45
// //
label45.AutoSize = true; label45.AutoSize = true;
label45.Location = new Point(8, 47); label45.Location = new Point(24, 47);
label45.Name = "label45"; label45.Name = "label45";
label45.Size = new Size(59, 15); label45.Size = new Size(40, 15);
label45.TabIndex = 25; label45.TabIndex = 25;
label45.Tag = "#accuracy"; label45.Tag = "#accuracy";
label45.Text = "Accuracy:"; label45.Text = "Noise:";
// //
// numericUpDown11 // numericUpDown11
// //
@ -601,7 +634,7 @@
// label47 // label47
// //
label47.AutoSize = true; label47.AutoSize = true;
label47.Location = new Point(7, 18); label47.Location = new Point(2, 18);
label47.Name = "label47"; label47.Name = "label47";
label47.Size = new Size(65, 15); label47.Size = new Size(65, 15);
label47.TabIndex = 23; label47.TabIndex = 23;
@ -625,14 +658,14 @@
groupBox_OF.Controls.Add(label17); groupBox_OF.Controls.Add(label17);
groupBox_OF.Controls.Add(label16); groupBox_OF.Controls.Add(label16);
groupBox_OF.Controls.Add(label12); groupBox_OF.Controls.Add(label12);
groupBox_OF.Controls.Add(numericUpDown_OF_Accur); groupBox_OF.Controls.Add(numericUpDown_OF_Noise);
groupBox_OF.Controls.Add(label13); groupBox_OF.Controls.Add(label13);
groupBox_OF.Controls.Add(numericUpDown_OF_Freq); groupBox_OF.Controls.Add(numericUpDown_OF_Freq);
groupBox_OF.Controls.Add(label14); groupBox_OF.Controls.Add(label14);
groupBox_OF.Controls.Add(label15); groupBox_OF.Controls.Add(label15);
groupBox_OF.Dock = DockStyle.Top; groupBox_OF.Dock = DockStyle.Top;
groupBox_OF.Enabled = false; groupBox_OF.Enabled = false;
groupBox_OF.Location = new Point(0, 519); groupBox_OF.Location = new Point(0, 563);
groupBox_OF.Name = "groupBox_OF"; groupBox_OF.Name = "groupBox_OF";
groupBox_OF.Size = new Size(204, 186); groupBox_OF.Size = new Size(204, 186);
groupBox_OF.TabIndex = 4; groupBox_OF.TabIndex = 4;
@ -768,7 +801,7 @@
// label16 // label16
// //
label16.AutoSize = true; label16.AutoSize = true;
label16.Location = new Point(1, 82); label16.Location = new Point(-1, 82);
label16.Name = "label16"; label16.Name = "label16";
label16.Size = new Size(70, 15); label16.Size = new Size(70, 15);
label16.TabIndex = 19; label16.TabIndex = 19;
@ -784,25 +817,25 @@
label12.TabIndex = 18; label12.TabIndex = 18;
label12.Text = "Deg"; label12.Text = "Deg";
// //
// numericUpDown_OF_Accur // numericUpDown_OF_Noise
// //
numericUpDown_OF_Accur.DecimalPlaces = 1; numericUpDown_OF_Noise.DecimalPlaces = 1;
numericUpDown_OF_Accur.Location = new Point(69, 51); numericUpDown_OF_Noise.Location = new Point(69, 51);
numericUpDown_OF_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); numericUpDown_OF_Noise.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
numericUpDown_OF_Accur.Name = "numericUpDown_OF_Accur"; numericUpDown_OF_Noise.Name = "numericUpDown_OF_Noise";
numericUpDown_OF_Accur.Size = new Size(40, 23); numericUpDown_OF_Noise.Size = new Size(40, 23);
numericUpDown_OF_Accur.TabIndex = 17; numericUpDown_OF_Noise.TabIndex = 17;
numericUpDown_OF_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 }); numericUpDown_OF_Noise.Value = new decimal(new int[] { 1, 0, 0, 0 });
// //
// label13 // label13
// //
label13.AutoSize = true; label13.AutoSize = true;
label13.Location = new Point(7, 53); label13.Location = new Point(7, 53);
label13.Name = "label13"; label13.Name = "label13";
label13.Size = new Size(59, 15); label13.Size = new Size(40, 15);
label13.TabIndex = 16; label13.TabIndex = 16;
label13.Tag = "#accuracy"; label13.Tag = "#accuracy";
label13.Text = "Accuracy:"; label13.Text = "Noise:";
// //
// numericUpDown_OF_Freq // numericUpDown_OF_Freq
// //
@ -843,13 +876,13 @@
groupBox_Barometer.Controls.Add(label18); groupBox_Barometer.Controls.Add(label18);
groupBox_Barometer.Controls.Add(checkBox_Bar_Enable); groupBox_Barometer.Controls.Add(checkBox_Bar_Enable);
groupBox_Barometer.Controls.Add(label9); groupBox_Barometer.Controls.Add(label9);
groupBox_Barometer.Controls.Add(numericUpDown_Bar_Accur); groupBox_Barometer.Controls.Add(numericUpDown_Bar_Noise);
groupBox_Barometer.Controls.Add(label8); groupBox_Barometer.Controls.Add(label8);
groupBox_Barometer.Controls.Add(numericUpDown_Bar_Freq); groupBox_Barometer.Controls.Add(numericUpDown_Bar_Freq);
groupBox_Barometer.Controls.Add(label5); groupBox_Barometer.Controls.Add(label5);
groupBox_Barometer.Controls.Add(label7); groupBox_Barometer.Controls.Add(label7);
groupBox_Barometer.Dock = DockStyle.Top; groupBox_Barometer.Dock = DockStyle.Top;
groupBox_Barometer.Location = new Point(0, 389); groupBox_Barometer.Location = new Point(0, 433);
groupBox_Barometer.Name = "groupBox_Barometer"; groupBox_Barometer.Name = "groupBox_Barometer";
groupBox_Barometer.Size = new Size(204, 130); groupBox_Barometer.Size = new Size(204, 130);
groupBox_Barometer.TabIndex = 3; groupBox_Barometer.TabIndex = 3;
@ -876,11 +909,12 @@
numericUpDown_Bar_Laten.Size = new Size(41, 23); numericUpDown_Bar_Laten.Size = new Size(41, 23);
numericUpDown_Bar_Laten.TabIndex = 22; numericUpDown_Bar_Laten.TabIndex = 22;
numericUpDown_Bar_Laten.Value = new decimal(new int[] { 3, 0, 0, 65536 }); numericUpDown_Bar_Laten.Value = new decimal(new int[] { 3, 0, 0, 65536 });
numericUpDown_Bar_Laten.ValueChanged += numericUpDown_Bar_Update;
// //
// label29 // label29
// //
label29.AutoSize = true; label29.AutoSize = true;
label29.Location = new Point(5, 103); label29.Location = new Point(9, 103);
label29.Name = "label29"; label29.Name = "label29";
label29.Size = new Size(55, 15); label29.Size = new Size(55, 15);
label29.TabIndex = 21; label29.TabIndex = 21;
@ -902,6 +936,7 @@
textBox_Bar_Pressure.Size = new Size(61, 23); textBox_Bar_Pressure.Size = new Size(61, 23);
textBox_Bar_Pressure.TabIndex = 19; textBox_Bar_Pressure.TabIndex = 19;
textBox_Bar_Pressure.Text = "102258"; textBox_Bar_Pressure.Text = "102258";
textBox_Bar_Pressure.TextChanged += numericUpDown_Bar_Update;
// //
// label18 // label18
// //
@ -925,6 +960,7 @@
checkBox_Bar_Enable.Tag = "#en"; checkBox_Bar_Enable.Tag = "#en";
checkBox_Bar_Enable.Text = "En"; checkBox_Bar_Enable.Text = "En";
checkBox_Bar_Enable.UseVisualStyleBackColor = true; checkBox_Bar_Enable.UseVisualStyleBackColor = true;
checkBox_Bar_Enable.CheckedChanged += numericUpDown_Bar_Update;
// //
// label9 // label9
// //
@ -935,26 +971,26 @@
label9.TabIndex = 12; label9.TabIndex = 12;
label9.Text = "Pa"; label9.Text = "Pa";
// //
// numericUpDown_Bar_Accur // numericUpDown_Bar_Noise
// //
numericUpDown_Bar_Accur.DecimalPlaces = 1; numericUpDown_Bar_Noise.DecimalPlaces = 1;
numericUpDown_Bar_Accur.Increment = new decimal(new int[] { 1, 0, 0, 65536 }); numericUpDown_Bar_Noise.Location = new Point(68, 72);
numericUpDown_Bar_Accur.Location = new Point(68, 72); numericUpDown_Bar_Noise.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
numericUpDown_Bar_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); numericUpDown_Bar_Noise.Name = "numericUpDown_Bar_Noise";
numericUpDown_Bar_Accur.Name = "numericUpDown_Bar_Accur"; numericUpDown_Bar_Noise.Size = new Size(40, 23);
numericUpDown_Bar_Accur.Size = new Size(40, 23); numericUpDown_Bar_Noise.TabIndex = 11;
numericUpDown_Bar_Accur.TabIndex = 11; numericUpDown_Bar_Noise.Value = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Bar_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 }); numericUpDown_Bar_Noise.ValueChanged += numericUpDown_Bar_Update;
// //
// label8 // label8
// //
label8.AutoSize = true; label8.AutoSize = true;
label8.Location = new Point(6, 74); label8.Location = new Point(23, 74);
label8.Name = "label8"; label8.Name = "label8";
label8.Size = new Size(59, 15); label8.Size = new Size(40, 15);
label8.TabIndex = 10; label8.TabIndex = 10;
label8.Tag = "#accuracy"; label8.Tag = "#accuracy";
label8.Text = "Accuracy:"; label8.Text = "Noise:";
// //
// numericUpDown_Bar_Freq // numericUpDown_Bar_Freq
// //
@ -965,6 +1001,7 @@
numericUpDown_Bar_Freq.Size = new Size(40, 23); numericUpDown_Bar_Freq.Size = new Size(40, 23);
numericUpDown_Bar_Freq.TabIndex = 7; numericUpDown_Bar_Freq.TabIndex = 7;
numericUpDown_Bar_Freq.Value = new decimal(new int[] { 50, 0, 0, 0 }); numericUpDown_Bar_Freq.Value = new decimal(new int[] { 50, 0, 0, 0 });
numericUpDown_Bar_Freq.ValueChanged += numericUpDown_Bar_Update;
// //
// label5 // label5
// //
@ -978,7 +1015,7 @@
// label7 // label7
// //
label7.AutoSize = true; label7.AutoSize = true;
label7.Location = new Point(5, 45); label7.Location = new Point(1, 45);
label7.Name = "label7"; label7.Name = "label7";
label7.Size = new Size(65, 15); label7.Size = new Size(65, 15);
label7.TabIndex = 8; label7.TabIndex = 8;
@ -991,7 +1028,7 @@
groupBox_GPS.Controls.Add(numericUpDown12); groupBox_GPS.Controls.Add(numericUpDown12);
groupBox_GPS.Controls.Add(label4); groupBox_GPS.Controls.Add(label4);
groupBox_GPS.Controls.Add(label6); groupBox_GPS.Controls.Add(label6);
groupBox_GPS.Controls.Add(numericUpDown13); groupBox_GPS.Controls.Add(numericUpDown_Pos_Noise);
groupBox_GPS.Controls.Add(label10); groupBox_GPS.Controls.Add(label10);
groupBox_GPS.Controls.Add(numericUpDown14); groupBox_GPS.Controls.Add(numericUpDown14);
groupBox_GPS.Controls.Add(label11); groupBox_GPS.Controls.Add(label11);
@ -999,7 +1036,7 @@
groupBox_GPS.Controls.Add(checkBox_GPS_Enable); groupBox_GPS.Controls.Add(checkBox_GPS_Enable);
groupBox_GPS.Dock = DockStyle.Top; groupBox_GPS.Dock = DockStyle.Top;
groupBox_GPS.Enabled = false; groupBox_GPS.Enabled = false;
groupBox_GPS.Location = new Point(0, 283); groupBox_GPS.Location = new Point(0, 327);
groupBox_GPS.Name = "groupBox_GPS"; groupBox_GPS.Name = "groupBox_GPS";
groupBox_GPS.Size = new Size(204, 106); groupBox_GPS.Size = new Size(204, 106);
groupBox_GPS.TabIndex = 2; groupBox_GPS.TabIndex = 2;
@ -1044,26 +1081,26 @@
label6.TabIndex = 29; label6.TabIndex = 29;
label6.Text = "m"; label6.Text = "m";
// //
// numericUpDown13 // numericUpDown_Pos_Noise
// //
numericUpDown13.DecimalPlaces = 1; numericUpDown_Pos_Noise.DecimalPlaces = 1;
numericUpDown13.Increment = new decimal(new int[] { 1, 0, 0, 65536 }); numericUpDown_Pos_Noise.Increment = new decimal(new int[] { 1, 0, 0, 65536 });
numericUpDown13.Location = new Point(69, 46); numericUpDown_Pos_Noise.Location = new Point(69, 46);
numericUpDown13.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); numericUpDown_Pos_Noise.Maximum = new decimal(new int[] { 10, 0, 0, 0 });
numericUpDown13.Name = "numericUpDown13"; numericUpDown_Pos_Noise.Name = "numericUpDown_Pos_Noise";
numericUpDown13.Size = new Size(40, 23); numericUpDown_Pos_Noise.Size = new Size(40, 23);
numericUpDown13.TabIndex = 28; numericUpDown_Pos_Noise.TabIndex = 28;
numericUpDown13.Value = new decimal(new int[] { 1, 0, 0, 0 }); numericUpDown_Pos_Noise.Value = new decimal(new int[] { 1, 0, 0, 65536 });
// //
// label10 // label10
// //
label10.AutoSize = true; label10.AutoSize = true;
label10.Location = new Point(7, 48); label10.Location = new Point(23, 48);
label10.Name = "label10"; label10.Name = "label10";
label10.Size = new Size(59, 15); label10.Size = new Size(40, 15);
label10.TabIndex = 27; label10.TabIndex = 27;
label10.Tag = "#accuracy"; label10.Tag = "#accuracy";
label10.Text = "Accuracy:"; label10.Text = "Noise:";
// //
// numericUpDown14 // numericUpDown14
// //
@ -1087,7 +1124,7 @@
// label48 // label48
// //
label48.AutoSize = true; label48.AutoSize = true;
label48.Location = new Point(6, 19); label48.Location = new Point(2, 19);
label48.Name = "label48"; label48.Name = "label48";
label48.Size = new Size(65, 15); label48.Size = new Size(65, 15);
label48.TabIndex = 25; label48.TabIndex = 25;
@ -1116,7 +1153,7 @@
groupBox_Mag.Controls.Add(label22); groupBox_Mag.Controls.Add(label22);
groupBox_Mag.Dock = DockStyle.Top; groupBox_Mag.Dock = DockStyle.Top;
groupBox_Mag.Enabled = false; groupBox_Mag.Enabled = false;
groupBox_Mag.Location = new Point(0, 232); groupBox_Mag.Location = new Point(0, 276);
groupBox_Mag.Name = "groupBox_Mag"; groupBox_Mag.Name = "groupBox_Mag";
groupBox_Mag.Size = new Size(204, 51); groupBox_Mag.Size = new Size(204, 51);
groupBox_Mag.TabIndex = 5; groupBox_Mag.TabIndex = 5;
@ -1187,7 +1224,7 @@
groupBox_Gyr.Controls.Add(label21); groupBox_Gyr.Controls.Add(label21);
groupBox_Gyr.Dock = DockStyle.Top; groupBox_Gyr.Dock = DockStyle.Top;
groupBox_Gyr.Enabled = false; groupBox_Gyr.Enabled = false;
groupBox_Gyr.Location = new Point(0, 110); groupBox_Gyr.Location = new Point(0, 154);
groupBox_Gyr.Name = "groupBox_Gyr"; groupBox_Gyr.Name = "groupBox_Gyr";
groupBox_Gyr.Size = new Size(204, 122); groupBox_Gyr.Size = new Size(204, 122);
groupBox_Gyr.TabIndex = 7; groupBox_Gyr.TabIndex = 7;
@ -1359,7 +1396,7 @@
groupBox_Acc.Controls.Add(label20); groupBox_Acc.Controls.Add(label20);
groupBox_Acc.Dock = DockStyle.Top; groupBox_Acc.Dock = DockStyle.Top;
groupBox_Acc.Enabled = false; groupBox_Acc.Enabled = false;
groupBox_Acc.Location = new Point(0, 0); groupBox_Acc.Location = new Point(0, 44);
groupBox_Acc.Name = "groupBox_Acc"; groupBox_Acc.Name = "groupBox_Acc";
groupBox_Acc.Size = new Size(204, 110); groupBox_Acc.Size = new Size(204, 110);
groupBox_Acc.TabIndex = 6; groupBox_Acc.TabIndex = 6;
@ -1485,11 +1522,33 @@
label20.TabIndex = 2; label20.TabIndex = 2;
label20.Text = "Freq:"; label20.Text = "Freq:";
// //
// groupBox2
//
groupBox2.Controls.Add(checkBox_Mode_Real);
groupBox2.Dock = DockStyle.Top;
groupBox2.Location = new Point(0, 0);
groupBox2.Name = "groupBox2";
groupBox2.Size = new Size(204, 44);
groupBox2.TabIndex = 9;
groupBox2.TabStop = false;
groupBox2.Text = "Mode";
//
// checkBox_Mode_Real
//
checkBox_Mode_Real.AutoSize = true;
checkBox_Mode_Real.Location = new Point(10, 22);
checkBox_Mode_Real.Name = "checkBox_Mode_Real";
checkBox_Mode_Real.Size = new Size(107, 19);
checkBox_Mode_Real.TabIndex = 0;
checkBox_Mode_Real.Text = "Real simulation";
checkBox_Mode_Real.UseVisualStyleBackColor = true;
checkBox_Mode_Real.CheckedChanged += checkBox_Mode_Real_CheckedChanged;
//
// tabPage_Area // tabPage_Area
// //
tabPage_Area.Location = new Point(4, 24); tabPage_Area.Location = new Point(4, 24);
tabPage_Area.Name = "tabPage_Area"; tabPage_Area.Name = "tabPage_Area";
tabPage_Area.Size = new Size(210, 849); tabPage_Area.Size = new Size(210, 889);
tabPage_Area.TabIndex = 2; tabPage_Area.TabIndex = 2;
tabPage_Area.Tag = "#area"; tabPage_Area.Tag = "#area";
tabPage_Area.Text = "Area"; tabPage_Area.Text = "Area";
@ -1502,7 +1561,7 @@
groupBox_Navi.Dock = DockStyle.Right; groupBox_Navi.Dock = DockStyle.Right;
groupBox_Navi.Location = new Point(684, 24); groupBox_Navi.Location = new Point(684, 24);
groupBox_Navi.Name = "groupBox_Navi"; groupBox_Navi.Name = "groupBox_Navi";
groupBox_Navi.Size = new Size(200, 877); groupBox_Navi.Size = new Size(200, 917);
groupBox_Navi.TabIndex = 3; groupBox_Navi.TabIndex = 3;
groupBox_Navi.TabStop = false; groupBox_Navi.TabStop = false;
groupBox_Navi.Tag = "#navigation"; groupBox_Navi.Tag = "#navigation";
@ -1515,7 +1574,7 @@
panel1.Dock = DockStyle.Fill; panel1.Dock = DockStyle.Fill;
panel1.Location = new Point(3, 42); panel1.Location = new Point(3, 42);
panel1.Name = "panel1"; panel1.Name = "panel1";
panel1.Size = new Size(194, 832); panel1.Size = new Size(194, 872);
panel1.TabIndex = 3; panel1.TabIndex = 3;
// //
// button_Drone_Color // button_Drone_Color
@ -1552,47 +1611,18 @@
timer_Test.Interval = 10; timer_Test.Interval = 10;
timer_Test.Tick += timer_Test_Tick; timer_Test.Tick += timer_Test_Tick;
// //
// label55
//
label55.AutoSize = true;
label55.Location = new Point(115, 105);
label55.Name = "label55";
label55.Size = new Size(24, 15);
label55.TabIndex = 35;
label55.Text = "sec";
//
// numericUpDown18
//
numericUpDown18.DecimalPlaces = 2;
numericUpDown18.Increment = new decimal(new int[] { 2, 0, 0, 131072 });
numericUpDown18.Location = new Point(68, 103);
numericUpDown18.Maximum = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown18.Name = "numericUpDown18";
numericUpDown18.Size = new Size(41, 23);
numericUpDown18.TabIndex = 34;
numericUpDown18.Value = new decimal(new int[] { 1, 0, 0, 65536 });
//
// label56
//
label56.AutoSize = true;
label56.Location = new Point(5, 105);
label56.Name = "label56";
label56.Size = new Size(55, 15);
label56.TabIndex = 33;
label56.Text = "Lateness:";
//
// Form_Main // Form_Main
// //
AutoScaleDimensions = new SizeF(7F, 15F); AutoScaleDimensions = new SizeF(7F, 15F);
AutoScaleMode = AutoScaleMode.Font; AutoScaleMode = AutoScaleMode.Font;
ClientSize = new Size(884, 901); ClientSize = new Size(884, 941);
Controls.Add(groupBox_Screen); Controls.Add(groupBox_Screen);
Controls.Add(groupBox_Navi); Controls.Add(groupBox_Navi);
Controls.Add(tabControl_Menu); Controls.Add(tabControl_Menu);
Controls.Add(menuStrip_Menu); Controls.Add(menuStrip_Menu);
Icon = (Icon)resources.GetObject("$this.Icon"); Icon = (Icon)resources.GetObject("$this.Icon");
MainMenuStrip = menuStrip_Menu; MainMenuStrip = menuStrip_Menu;
MinimumSize = new Size(900, 940); MinimumSize = new Size(900, 980);
Name = "Form_Main"; Name = "Form_Main";
Text = "Drone Simulator V1.0"; Text = "Drone Simulator V1.0";
FormClosing += Form_Main_FormClosing; FormClosing += Form_Main_FormClosing;
@ -1614,8 +1644,9 @@
panel_Menu_Model.ResumeLayout(false); panel_Menu_Model.ResumeLayout(false);
groupBox1.ResumeLayout(false); groupBox1.ResumeLayout(false);
groupBox1.PerformLayout(); groupBox1.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown18).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown9).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown9).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown10).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Range_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown11).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown11).EndInit();
groupBox_OF.ResumeLayout(false); groupBox_OF.ResumeLayout(false);
groupBox_OF.PerformLayout(); groupBox_OF.PerformLayout();
@ -1623,17 +1654,17 @@
((System.ComponentModel.ISupportInitialize)numericUpDown8).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown8).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown7).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown7).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown1).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown1).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).EndInit();
groupBox_Barometer.ResumeLayout(false); groupBox_Barometer.ResumeLayout(false);
groupBox_Barometer.PerformLayout(); groupBox_Barometer.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Laten).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Laten).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).EndInit();
groupBox_GPS.ResumeLayout(false); groupBox_GPS.ResumeLayout(false);
groupBox_GPS.PerformLayout(); groupBox_GPS.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown12).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown12).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown13).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Pos_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown14).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown14).EndInit();
groupBox_Mag.ResumeLayout(false); groupBox_Mag.ResumeLayout(false);
groupBox_Mag.PerformLayout(); groupBox_Mag.PerformLayout();
@ -1654,9 +1685,10 @@
((System.ComponentModel.ISupportInitialize)numericUpDown3).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown3).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Noise).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Acc_Freq).EndInit();
groupBox2.ResumeLayout(false);
groupBox2.PerformLayout();
groupBox_Navi.ResumeLayout(false); groupBox_Navi.ResumeLayout(false);
panel1.ResumeLayout(false); panel1.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)numericUpDown18).EndInit();
ResumeLayout(false); ResumeLayout(false);
PerformLayout(); PerformLayout();
} }
@ -1700,11 +1732,11 @@
private Label label5; private Label label5;
private Label label7; private Label label7;
private Label label9; private Label label9;
private NumericUpDown numericUpDown_Bar_Accur; private NumericUpDown numericUpDown_Bar_Noise;
private Label label8; private Label label8;
private GroupBox groupBox_OF; private GroupBox groupBox_OF;
private Label label12; private Label label12;
private NumericUpDown numericUpDown_OF_Accur; private NumericUpDown numericUpDown_OF_Noise;
private Label label13; private Label label13;
private NumericUpDown numericUpDown_OF_Freq; private NumericUpDown numericUpDown_OF_Freq;
private Label label14; private Label label14;
@ -1764,7 +1796,7 @@
private Label label42; private Label label42;
private Label label43; private Label label43;
private Label label44; private Label label44;
private NumericUpDown numericUpDown10; private NumericUpDown numericUpDown_Range_Noise;
private Label label45; private Label label45;
private NumericUpDown numericUpDown11; private NumericUpDown numericUpDown11;
private Label label46; private Label label46;
@ -1773,7 +1805,7 @@
private NumericUpDown numericUpDown12; private NumericUpDown numericUpDown12;
private Label label4; private Label label4;
private Label label6; private Label label6;
private NumericUpDown numericUpDown13; private NumericUpDown numericUpDown_Pos_Noise;
private Label label10; private Label label10;
private NumericUpDown numericUpDown14; private NumericUpDown numericUpDown14;
private Label label11; private Label label11;
@ -1790,5 +1822,7 @@
private Label label55; private Label label55;
private NumericUpDown numericUpDown18; private NumericUpDown numericUpDown18;
private Label label56; private Label label56;
private GroupBox groupBox2;
private CheckBox checkBox_Mode_Real;
} }
} }

39
DroneSimulator/FormMain.cs
View File

@ -1,4 +1,4 @@
using System.Text; using System.Text;
using System.Numerics; using System.Numerics;
using System.Windows.Forms; using System.Windows.Forms;
using static System.Net.Mime.MediaTypeNames; using static System.Net.Mime.MediaTypeNames;
@ -22,6 +22,9 @@ namespace DroneSimulator
public Form_Main() public Form_Main()
{ {
InitializeComponent(); InitializeComponent();
RealMode.RealSimulation = checkBox_Mode_Real.Checked;
numericUpDown_Bar_Update(null, null);
} }
private void ClientConnectionCallback(object o) private void ClientConnectionCallback(object o)
@ -38,15 +41,6 @@ namespace DroneSimulator
Drone drone = new Drone(data.ID); Drone drone = new Drone(data.ID);
drone.Create(1.0f, 0.5f, 1.0f); drone.Create(1.0f, 0.5f, 1.0f);
//
drone.dataBarometer.Pressure = 102258;
drone.dataBarometer.Accuracy = (float)numericUpDown_Bar_Accur.Value;
drone.dataBarometer.Frequency = (int)numericUpDown_Bar_Freq.Value;
try { drone.dataBarometer.Pressure = int.Parse(textBox_Bar_Pressure.Text); }
catch { MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error); }
//
screen2D.CreateDrone(Color.Red, data.ID); screen2D.CreateDrone(Color.Red, data.ID);
AllDrones.Add(drone); AllDrones.Add(drone);
@ -84,7 +78,7 @@ namespace DroneSimulator
List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size); List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
if (send == null) return; if (send == null) return;
try try
{ {
foreach (byte[]? b in send) foreach (byte[]? b in send)
{ {
@ -108,7 +102,6 @@ namespace DroneSimulator
{ {
button_Client_Start.Text = "Stop"; button_Client_Start.Text = "Stop";
button_Client_Start.BackColor = Color.LimeGreen; button_Client_Start.BackColor = Color.LimeGreen;
panel_Menu_Model.Enabled = false;
break; break;
} }
case NetServerClients.ServerState.Stop: case NetServerClients.ServerState.Stop:
@ -116,7 +109,6 @@ namespace DroneSimulator
label_Clients_Num.Text = "0"; label_Clients_Num.Text = "0";
button_Client_Start.Text = "Start"; button_Client_Start.Text = "Start";
button_Client_Start.BackColor = Color.Transparent; button_Client_Start.BackColor = Color.Transparent;
panel_Menu_Model.Enabled = true;
break; break;
} }
} }
@ -215,5 +207,26 @@ 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;
}
} }
} }

317
DroneSimulator/RealMode.cs Normal file
View File

@ -0,0 +1,317 @@
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;
private uint timer = 0;
private Vector3 result;
public void Update(ref Vector3 value, ref uint time)
{
if (!RealSimulation) 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;
}
else
{
value = result;
time = timer;
}
}
}
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;
private uint timer = 0;
private Vector3 result;
public void Update(ref Vector3 value, ref uint time)
{
if (!RealSimulation) 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;
}
else
{
value = result;
time = timer;
}
}
}
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;
private uint timer = 0;
private Vector3 result;
public void Update(ref Vector3 value, ref uint time)
{
if (!RealSimulation) return;
if (!Enable) { value = result; time = timer; 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;
}
else
{
value = result;
time = timer;
}
}
}
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;
private uint timer = 0;
private float result;
public void Update(ref float value, ref uint time)
{
if (!Enable) { value = result; time = timer; return; }
value = Pressure - value;
if (!RealSimulation) 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;
}
else
{
value = result;
time = timer;
}
}
}
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;
private uint timer = 0;
private float result;
public void Update(ref float value, ref uint time)
{
if (!RealSimulation) return;
if (!Enable) { value = result; time = timer; return; }
if (value > MaxHeight) value = -1;
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;
}
else
{
value = result;
time = timer;
}
}
}
}
}