Simulator/DroneSimulator/FormMain.cs

using System.Text;
using System.Numerics;
using System.Windows.Forms;
using static System.Net.Mime.MediaTypeNames;
using static System.Runtime.InteropServices.JavaScript.JSType;
using System.Security.Policy;
using System.Runtime.InteropServices;
using System.CodeDom;
using System.Linq;

using System.Net.WebSockets;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace DroneSimulator
{
    public partial class Form_Main : Form
    {
        Screen2D screen2D = null;

        NetServerClients netServerClient = new NetServerClients();
        NetServerVisual netServerVisual = new NetServerVisual();

        List<Drone> AllDrones = new List<Drone>();
        private ClientWebSocket _webSocket;
        private CancellationTokenSource _cts;
        private bool _isRunning;
        public Form_Main()
        {
            InitializeComponent();
        }

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

            Invoke((MethodInvoker)delegate
            {
                label_Clients_Num.Text = data.Count.ToString();
            });

            if (data.Connect)
            {
                Drone drone = new Drone(data.ID);
                drone.Create(1.0f, 0.5f, 1.0f);

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

                AllDrones.Add(drone);
            }
            else
            {
                foreach (Drone drone in AllDrones)
                {
                    if (drone.ID != data.ID) continue;
                    drone.Close();

                    screen2D.RemoveDrone(data.ID);

                    AllDrones.Remove(drone);
                    break;
                }
            }
        }

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

            Drone? drone = null;

            foreach (Drone d in AllDrones)
            {
                if (d.ID != data.ID) continue;
                drone = d;
                break;
            }

            if (drone == null) return;

            List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);

            if (send == null) return;
            try
            {
                foreach (byte[]? b in send)
                {
                    if (b != null) data.Client?.Send(b);
                }
            }
            catch { }
        }

        private void button_Client_Start_Click(object sender, EventArgs e)
        {
            var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
            switch (done)
            {
                case NetServerClients.ServerState.Error:
                    {
                        MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
                        break;
                    }
                case NetServerClients.ServerState.Start:
                    {
                        button_Client_Start.Text = "Stop";
                        button_Client_Start.BackColor = Color.LimeGreen;
                        break;
                    }
                case NetServerClients.ServerState.Stop:
                    {
                        label_Clients_Num.Text = "0";
                        button_Client_Start.Text = "Start";
                        button_Client_Start.BackColor = Color.Transparent;
                        break;
                    }
            }

            if (done != NetServerClients.ServerState.Start) return;

            pictureBox_2D.Image = null;

            screen2D = new Screen2D(DrawCallback);
        }

        private void exitToolStripMenuItem_Click(object sender, EventArgs e)
        {
            Close();
        }

        private void DrawCallback(Bitmap bmp)
        {
            Invoke((MethodInvoker)delegate
            {
                if (pictureBox_2D.Image == null) pictureBox_2D.Image = bmp;
                pictureBox_2D.Refresh();
            });
        }

        private void timer_Test_Tick(object sender, EventArgs e)
        {
            if (screen2D == null) return;

            foreach (Drone d in AllDrones)
            {
                screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
            }

            screen2D.DrawScene();
        }
        private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
        {
            foreach (Drone d in AllDrones) d.Close();
        }

        private void VisualConnectionCallback(object o)
        {
            NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;

            Invoke((MethodInvoker)delegate
            {
                label_Clients_Num.Text = data.Count.ToString();
            });

            if (data.Connect)
            {
                //---
            }
            else
            {
                //---
            }
        }

        private void VisualReceiveCallback(object o)
        {
            NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;

            foreach (Drone d in AllDrones)
            {
                Drone.DataVisual v = d.GetVisual();

                try { data.Client.Send(Drone.getBytes(v)); }
                catch { }
            }
        }

        private void button_Visual_Start_Click(object sender, EventArgs e)
        {
            var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
            switch (done)
            {
                case NetServerVisual.ServerState.Error:
                    {
                        MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
                        break;
                    }
                case NetServerVisual.ServerState.Start:
                    {
                        button_Visual_Start.Text = "Stop";
                        button_Visual_Start.BackColor = Color.LimeGreen;
                        break;
                    }
                case NetServerVisual.ServerState.Stop:
                    {
                        label_Visual_Num.Text = "0";
                        button_Visual_Start.Text = "Start";
                        button_Visual_Start.BackColor = Color.Transparent;
                        break;
                    }
            }
        }

     
    }
}