746 lines
74 KiB
C++
746 lines
74 KiB
C++
#pragma once
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#include "Drone.h" // Новый Drone.h
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#include "DroneData.h" // Новый DroneData.h
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#include "NetClient.h"
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namespace DroneClientCpp {
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using namespace System;
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using namespace System::ComponentModel;
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using namespace System::Collections;
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using namespace System::Windows::Forms;
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using namespace System::Data;
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using namespace System::Drawing;
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using namespace DroneClient; // Пространство имен из Drone.h
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using namespace DroneData; // Пространство имен из DroneData.h
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using namespace DroneSimulator;
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public ref class FormMain : public System::Windows::Forms::Form
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{
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public:
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FormMain(void)
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{
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InitializeComponent();
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netClient = gcnew NetClient();
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dataDrone = gcnew Drone(); // Инициализация объекта Drone
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}
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protected:
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~FormMain()
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{
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if (components) delete components;
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if (netClient != nullptr)
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{
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netClient->Close();
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netClient = nullptr;
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}
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}
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private:
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// Элементы управления (оставить как есть)
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System::Windows::Forms::GroupBox^ groupBox_Server;
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System::Windows::Forms::Label^ label_Port;
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System::Windows::Forms::Button^ button_Connect;
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System::Windows::Forms::NumericUpDown^ numericUpDown_Server_Port;
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System::Windows::Forms::TextBox^ textBox_Server_Addr;
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System::Windows::Forms::GroupBox^ groupBox_Acc;
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System::Windows::Forms::Label^ label_Addr;
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System::Windows::Forms::Label^ label_Acc_X_Info;
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System::Windows::Forms::Label^ label_Acc_Z;
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System::Windows::Forms::Label^ label_Acc_Y;
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System::Windows::Forms::Label^ label_Acc_X;
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System::Windows::Forms::Label^ label_Acc_Z_Info;
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System::Windows::Forms::Label^ label_Acc_Y_Info;
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System::ComponentModel::BackgroundWorker^ backgroundWorker1;
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System::Windows::Forms::GroupBox^ groupBox_Gyr;
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System::Windows::Forms::Label^ label_Gyr_Z;
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System::Windows::Forms::Label^ label_Gyr_Y;
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System::Windows::Forms::Label^ label_Gyr_X;
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System::Windows::Forms::Label^ label_Gyr_Z_Info;
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System::Windows::Forms::Label^ label_Gyr_Y_Info;
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System::Windows::Forms::Label^ label_Gyr_X_Info;
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System::Windows::Forms::GroupBox^ groupBox_Pos;
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System::Windows::Forms::Label^ label_Pos_L;
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System::Windows::Forms::Label^ label_Pos_Y;
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System::Windows::Forms::Label^ label_Pos_X;
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System::Windows::Forms::Label^ label_Pos_L_Info;
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System::Windows::Forms::Label^ label_Pos_Y_Info;
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System::Windows::Forms::Label^ label_Pos_X_Info;
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System::Windows::Forms::GroupBox^ groupBox_Input;
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System::Windows::Forms::Button^ button_RR;
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System::Windows::Forms::Button^ button_LL;
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System::Windows::Forms::Button^ button_MR;
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System::Windows::Forms::Button^ button_ML;
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System::Windows::Forms::Button^ button_DD;
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System::Windows::Forms::Button^ button_UU;
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System::Windows::Forms::TrackBar^ trackBar_Power;
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System::Windows::Forms::Label^ label_Pow;
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System::Windows::Forms::Timer^ timer1;
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System::ComponentModel::IContainer^ components;
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// Наши поля
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NetClient^ netClient;
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Drone^ dataDrone;
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const float pow = 0.1f;
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// Наши методы
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private:
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void ConnectionCallback(Object^ o)
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{
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NetClient::ConnectData^ data = (NetClient::ConnectData^)o;
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if (!data->Connect)
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{
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try
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{
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this->Invoke(gcnew Action(this, &FormMain::UpdateDisconnectedUI));
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}
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catch (...) {}
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return;
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}
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// Отправка начальных данных при подключении
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data->Server->Send(dataDrone->SendRequest());
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}
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void UpdateDisconnectedUI()
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{
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button_Connect->Text = "Connect";
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button_Connect->BackColor = Color::Transparent;
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MessageBox::Show("Connection closed");
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}
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void ReceiveCallback(Object^ o)
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{
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NetClient::ReceiveData^ data = (NetClient::ReceiveData^)o;
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System::Collections::Generic::List<array<Byte>^>^ responses = dataDrone->DataStream(data->Buffer, data->Size);
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if (responses == nullptr) return;
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try
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{
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for each (array<Byte> ^ b in responses)
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{
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if (b != nullptr) data->Server->Send(b);
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}
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}
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catch (...) {}
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}
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#pragma region Windows Form Designer generated code
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/// <summary>
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/// Требуемый метод для поддержки конструктора — не изменяйте
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/// содержимое этого метода с помощью редактора кода.
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/// </summary>
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void InitializeComponent(void)
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{
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this->components = (gcnew System::ComponentModel::Container());
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this->groupBox_Server = (gcnew System::Windows::Forms::GroupBox());
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this->label_Addr = (gcnew System::Windows::Forms::Label());
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this->button_Connect = (gcnew System::Windows::Forms::Button());
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this->numericUpDown_Server_Port = (gcnew System::Windows::Forms::NumericUpDown());
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this->textBox_Server_Addr = (gcnew System::Windows::Forms::TextBox());
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this->label_Port = (gcnew System::Windows::Forms::Label());
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this->groupBox_Acc = (gcnew System::Windows::Forms::GroupBox());
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this->label_Acc_Z = (gcnew System::Windows::Forms::Label());
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this->label_Acc_Y = (gcnew System::Windows::Forms::Label());
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this->label_Acc_X = (gcnew System::Windows::Forms::Label());
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this->label_Acc_Z_Info = (gcnew System::Windows::Forms::Label());
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this->label_Acc_Y_Info = (gcnew System::Windows::Forms::Label());
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this->label_Acc_X_Info = (gcnew System::Windows::Forms::Label());
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this->backgroundWorker1 = (gcnew System::ComponentModel::BackgroundWorker());
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this->groupBox_Gyr = (gcnew System::Windows::Forms::GroupBox());
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this->label_Gyr_Z = (gcnew System::Windows::Forms::Label());
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this->label_Gyr_Y = (gcnew System::Windows::Forms::Label());
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this->label_Gyr_X = (gcnew System::Windows::Forms::Label());
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this->label_Gyr_Z_Info = (gcnew System::Windows::Forms::Label());
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this->label_Gyr_Y_Info = (gcnew System::Windows::Forms::Label());
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this->label_Gyr_X_Info = (gcnew System::Windows::Forms::Label());
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this->groupBox_Pos = (gcnew System::Windows::Forms::GroupBox());
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this->label_Pos_L = (gcnew System::Windows::Forms::Label());
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this->label_Pos_Y = (gcnew System::Windows::Forms::Label());
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this->label_Pos_X = (gcnew System::Windows::Forms::Label());
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this->label_Pos_L_Info = (gcnew System::Windows::Forms::Label());
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this->label_Pos_Y_Info = (gcnew System::Windows::Forms::Label());
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this->label_Pos_X_Info = (gcnew System::Windows::Forms::Label());
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this->groupBox_Input = (gcnew System::Windows::Forms::GroupBox());
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this->label_Pow = (gcnew System::Windows::Forms::Label());
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this->button_RR = (gcnew System::Windows::Forms::Button());
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this->button_LL = (gcnew System::Windows::Forms::Button());
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this->button_MR = (gcnew System::Windows::Forms::Button());
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this->button_ML = (gcnew System::Windows::Forms::Button());
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this->button_DD = (gcnew System::Windows::Forms::Button());
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this->button_UU = (gcnew System::Windows::Forms::Button());
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this->trackBar_Power = (gcnew System::Windows::Forms::TrackBar());
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this->timer1 = (gcnew System::Windows::Forms::Timer(this->components));
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this->groupBox_Server->SuspendLayout();
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(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Server_Port))->BeginInit();
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this->groupBox_Acc->SuspendLayout();
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this->groupBox_Gyr->SuspendLayout();
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this->groupBox_Pos->SuspendLayout();
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this->groupBox_Input->SuspendLayout();
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(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->trackBar_Power))->BeginInit();
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this->SuspendLayout();
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//
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// groupBox_Server
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//
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this->groupBox_Server->Controls->Add(this->label_Addr);
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this->groupBox_Server->Controls->Add(this->button_Connect);
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this->groupBox_Server->Controls->Add(this->numericUpDown_Server_Port);
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this->groupBox_Server->Controls->Add(this->textBox_Server_Addr);
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this->groupBox_Server->Controls->Add(this->label_Port);
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this->groupBox_Server->Dock = System::Windows::Forms::DockStyle::Top;
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this->groupBox_Server->Location = System::Drawing::Point(0, 0);
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this->groupBox_Server->Name = L"groupBox_Server";
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this->groupBox_Server->Size = System::Drawing::Size(256, 89);
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this->groupBox_Server->TabIndex = 0;
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this->groupBox_Server->TabStop = false;
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this->groupBox_Server->Text = L"Server";
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//
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// label_Addr
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//
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this->label_Addr->AutoSize = true;
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this->label_Addr->Location = System::Drawing::Point(4, 21);
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this->label_Addr->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
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this->label_Addr->Name = L"label_Addr";
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this->label_Addr->Size = System::Drawing::Size(32, 13);
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this->label_Addr->TabIndex = 5;
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this->label_Addr->Text = L"Addr:";
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//
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// button_Connect
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//
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this->button_Connect->Location = System::Drawing::Point(115, 54);
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this->button_Connect->Margin = System::Windows::Forms::Padding(2);
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this->button_Connect->Name = L"button_Connect";
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this->button_Connect->Size = System::Drawing::Size(87, 22);
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this->button_Connect->TabIndex = 4;
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this->button_Connect->Text = L"Connect";
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this->button_Connect->UseVisualStyleBackColor = true;
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this->button_Connect->Click += gcnew System::EventHandler(this, &FormMain::button_Connect_Click);
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//
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// numericUpDown_Server_Port
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//
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this->numericUpDown_Server_Port->Location = System::Drawing::Point(42, 54);
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this->numericUpDown_Server_Port->Margin = System::Windows::Forms::Padding(2);
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this->numericUpDown_Server_Port->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 65000, 0, 0, 0 });
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this->numericUpDown_Server_Port->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
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this->numericUpDown_Server_Port->Name = L"numericUpDown_Server_Port";
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this->numericUpDown_Server_Port->Size = System::Drawing::Size(70, 20);
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this->numericUpDown_Server_Port->TabIndex = 3;
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this->numericUpDown_Server_Port->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1001, 0, 0, 0 });
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//
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// textBox_Server_Addr
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//
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this->textBox_Server_Addr->Location = System::Drawing::Point(42, 19);
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this->textBox_Server_Addr->Margin = System::Windows::Forms::Padding(2);
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this->textBox_Server_Addr->Name = L"textBox_Server_Addr";
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this->textBox_Server_Addr->Size = System::Drawing::Size(162, 20);
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this->textBox_Server_Addr->TabIndex = 2;
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this->textBox_Server_Addr->Text = L"127.0.0.1";
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//
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// label_Port
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//
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this->label_Port->AutoSize = true;
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this->label_Port->Location = System::Drawing::Point(4, 57);
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this->label_Port->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
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this->label_Port->Name = L"label_Port";
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this->label_Port->Size = System::Drawing::Size(29, 13);
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this->label_Port->TabIndex = 1;
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this->label_Port->Text = L"Port:";
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//
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// groupBox_Acc
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//
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this->groupBox_Acc->Controls->Add(this->label_Acc_Z);
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this->groupBox_Acc->Controls->Add(this->label_Acc_Y);
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this->groupBox_Acc->Controls->Add(this->label_Acc_X);
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this->groupBox_Acc->Controls->Add(this->label_Acc_Z_Info);
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this->groupBox_Acc->Controls->Add(this->label_Acc_Y_Info);
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this->groupBox_Acc->Controls->Add(this->label_Acc_X_Info);
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this->groupBox_Acc->Location = System::Drawing::Point(6, 94);
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this->groupBox_Acc->Margin = System::Windows::Forms::Padding(2);
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this->groupBox_Acc->Name = L"groupBox_Acc";
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this->groupBox_Acc->Padding = System::Windows::Forms::Padding(2);
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this->groupBox_Acc->Size = System::Drawing::Size(76, 111);
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this->groupBox_Acc->TabIndex = 1;
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this->groupBox_Acc->TabStop = false;
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this->groupBox_Acc->Text = L"Acc";
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//
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// label_Acc_Z
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//
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this->label_Acc_Z->AutoSize = true;
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this->label_Acc_Z->Location = System::Drawing::Point(17, 79);
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this->label_Acc_Z->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
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this->label_Acc_Z->Name = L"label_Acc_Z";
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this->label_Acc_Z->Size = System::Drawing::Size(13, 13);
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this->label_Acc_Z->TabIndex = 5;
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this->label_Acc_Z->Text = L"0";
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//
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// label_Acc_Y
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//
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this->label_Acc_Y->AutoSize = true;
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this->label_Acc_Y->Location = System::Drawing::Point(17, 49);
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this->label_Acc_Y->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
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this->label_Acc_Y->Name = L"label_Acc_Y";
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this->label_Acc_Y->Size = System::Drawing::Size(13, 13);
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this->label_Acc_Y->TabIndex = 4;
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this->label_Acc_Y->Text = L"0";
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//
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// label_Acc_X
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//
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this->label_Acc_X->AutoSize = true;
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this->label_Acc_X->Location = System::Drawing::Point(17, 16);
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this->label_Acc_X->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
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this->label_Acc_X->Name = L"label_Acc_X";
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this->label_Acc_X->Size = System::Drawing::Size(13, 13);
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this->label_Acc_X->TabIndex = 3;
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this->label_Acc_X->Text = L"0";
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//
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// label_Acc_Z_Info
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//
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this->label_Acc_Z_Info->AutoSize = true;
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this->label_Acc_Z_Info->Location = System::Drawing::Point(4, 79);
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this->label_Acc_Z_Info->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
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this->label_Acc_Z_Info->Name = L"label_Acc_Z_Info";
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this->label_Acc_Z_Info->Size = System::Drawing::Size(20, 13);
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this->label_Acc_Z_Info->TabIndex = 2;
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this->label_Acc_Z_Info->Text = L"Z: ";
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//
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// label_Acc_Y_Info
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//
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this->label_Acc_Y_Info->AutoSize = true;
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this->label_Acc_Y_Info->Location = System::Drawing::Point(3, 49);
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this->label_Acc_Y_Info->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
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this->label_Acc_Y_Info->Name = L"label_Acc_Y_Info";
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this->label_Acc_Y_Info->Size = System::Drawing::Size(20, 13);
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this->label_Acc_Y_Info->TabIndex = 1;
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this->label_Acc_Y_Info->Text = L"Y: ";
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//
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// label_Acc_X_Info
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//
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this->label_Acc_X_Info->AutoSize = true;
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this->label_Acc_X_Info->Location = System::Drawing::Point(4, 16);
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this->label_Acc_X_Info->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
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this->label_Acc_X_Info->Name = L"label_Acc_X_Info";
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this->label_Acc_X_Info->Size = System::Drawing::Size(20, 13);
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this->label_Acc_X_Info->TabIndex = 0;
|
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this->label_Acc_X_Info->Text = L"X: ";
|
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//
|
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// groupBox_Gyr
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//
|
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this->groupBox_Gyr->Controls->Add(this->label_Gyr_Z);
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this->groupBox_Gyr->Controls->Add(this->label_Gyr_Y);
|
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this->groupBox_Gyr->Controls->Add(this->label_Gyr_X);
|
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this->groupBox_Gyr->Controls->Add(this->label_Gyr_Z_Info);
|
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this->groupBox_Gyr->Controls->Add(this->label_Gyr_Y_Info);
|
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this->groupBox_Gyr->Controls->Add(this->label_Gyr_X_Info);
|
||
this->groupBox_Gyr->Location = System::Drawing::Point(92, 94);
|
||
this->groupBox_Gyr->Margin = System::Windows::Forms::Padding(2);
|
||
this->groupBox_Gyr->Name = L"groupBox_Gyr";
|
||
this->groupBox_Gyr->Padding = System::Windows::Forms::Padding(2);
|
||
this->groupBox_Gyr->Size = System::Drawing::Size(72, 111);
|
||
this->groupBox_Gyr->TabIndex = 6;
|
||
this->groupBox_Gyr->TabStop = false;
|
||
this->groupBox_Gyr->Text = L"Gyr";
|
||
//
|
||
// label_Gyr_Z
|
||
//
|
||
this->label_Gyr_Z->AutoSize = true;
|
||
this->label_Gyr_Z->Location = System::Drawing::Point(17, 79);
|
||
this->label_Gyr_Z->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Gyr_Z->Name = L"label_Gyr_Z";
|
||
this->label_Gyr_Z->Size = System::Drawing::Size(13, 13);
|
||
this->label_Gyr_Z->TabIndex = 5;
|
||
this->label_Gyr_Z->Text = L"0";
|
||
//
|
||
// label_Gyr_Y
|
||
//
|
||
this->label_Gyr_Y->AutoSize = true;
|
||
this->label_Gyr_Y->Location = System::Drawing::Point(17, 49);
|
||
this->label_Gyr_Y->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Gyr_Y->Name = L"label_Gyr_Y";
|
||
this->label_Gyr_Y->Size = System::Drawing::Size(13, 13);
|
||
this->label_Gyr_Y->TabIndex = 4;
|
||
this->label_Gyr_Y->Text = L"0";
|
||
//
|
||
// label_Gyr_X
|
||
//
|
||
this->label_Gyr_X->AutoSize = true;
|
||
this->label_Gyr_X->Location = System::Drawing::Point(17, 16);
|
||
this->label_Gyr_X->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Gyr_X->Name = L"label_Gyr_X";
|
||
this->label_Gyr_X->Size = System::Drawing::Size(13, 13);
|
||
this->label_Gyr_X->TabIndex = 3;
|
||
this->label_Gyr_X->Text = L"0";
|
||
//
|
||
// label_Gyr_Z_Info
|
||
//
|
||
this->label_Gyr_Z_Info->AutoSize = true;
|
||
this->label_Gyr_Z_Info->Location = System::Drawing::Point(4, 79);
|
||
this->label_Gyr_Z_Info->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Gyr_Z_Info->Name = L"label_Gyr_Z_Info";
|
||
this->label_Gyr_Z_Info->Size = System::Drawing::Size(20, 13);
|
||
this->label_Gyr_Z_Info->TabIndex = 2;
|
||
this->label_Gyr_Z_Info->Text = L"Z: ";
|
||
//
|
||
// label_Gyr_Y_Info
|
||
//
|
||
this->label_Gyr_Y_Info->AutoSize = true;
|
||
this->label_Gyr_Y_Info->Location = System::Drawing::Point(3, 49);
|
||
this->label_Gyr_Y_Info->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Gyr_Y_Info->Name = L"label_Gyr_Y_Info";
|
||
this->label_Gyr_Y_Info->Size = System::Drawing::Size(20, 13);
|
||
this->label_Gyr_Y_Info->TabIndex = 1;
|
||
this->label_Gyr_Y_Info->Text = L"Y: ";
|
||
//
|
||
// label_Gyr_X_Info
|
||
//
|
||
this->label_Gyr_X_Info->AutoSize = true;
|
||
this->label_Gyr_X_Info->Location = System::Drawing::Point(4, 16);
|
||
this->label_Gyr_X_Info->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Gyr_X_Info->Name = L"label_Gyr_X_Info";
|
||
this->label_Gyr_X_Info->Size = System::Drawing::Size(20, 13);
|
||
this->label_Gyr_X_Info->TabIndex = 0;
|
||
this->label_Gyr_X_Info->Text = L"X: ";
|
||
//
|
||
// groupBox_Pos
|
||
//
|
||
this->groupBox_Pos->Controls->Add(this->label_Pos_L);
|
||
this->groupBox_Pos->Controls->Add(this->label_Pos_Y);
|
||
this->groupBox_Pos->Controls->Add(this->label_Pos_X);
|
||
this->groupBox_Pos->Controls->Add(this->label_Pos_L_Info);
|
||
this->groupBox_Pos->Controls->Add(this->label_Pos_Y_Info);
|
||
this->groupBox_Pos->Controls->Add(this->label_Pos_X_Info);
|
||
this->groupBox_Pos->Location = System::Drawing::Point(177, 94);
|
||
this->groupBox_Pos->Margin = System::Windows::Forms::Padding(2);
|
||
this->groupBox_Pos->Name = L"groupBox_Pos";
|
||
this->groupBox_Pos->Padding = System::Windows::Forms::Padding(2);
|
||
this->groupBox_Pos->Size = System::Drawing::Size(72, 111);
|
||
this->groupBox_Pos->TabIndex = 7;
|
||
this->groupBox_Pos->TabStop = false;
|
||
this->groupBox_Pos->Text = L"Pos";
|
||
//
|
||
// label_Pos_L
|
||
//
|
||
this->label_Pos_L->AutoSize = true;
|
||
this->label_Pos_L->Location = System::Drawing::Point(17, 79);
|
||
this->label_Pos_L->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Pos_L->Name = L"label_Pos_L";
|
||
this->label_Pos_L->Size = System::Drawing::Size(13, 13);
|
||
this->label_Pos_L->TabIndex = 5;
|
||
this->label_Pos_L->Text = L"0";
|
||
//
|
||
// label_Pos_Y
|
||
//
|
||
this->label_Pos_Y->AutoSize = true;
|
||
this->label_Pos_Y->Location = System::Drawing::Point(17, 49);
|
||
this->label_Pos_Y->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Pos_Y->Name = L"label_Pos_Y";
|
||
this->label_Pos_Y->Size = System::Drawing::Size(13, 13);
|
||
this->label_Pos_Y->TabIndex = 4;
|
||
this->label_Pos_Y->Text = L"0";
|
||
//
|
||
// label_Pos_X
|
||
//
|
||
this->label_Pos_X->AutoSize = true;
|
||
this->label_Pos_X->Location = System::Drawing::Point(17, 16);
|
||
this->label_Pos_X->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Pos_X->Name = L"label_Pos_X";
|
||
this->label_Pos_X->Size = System::Drawing::Size(13, 13);
|
||
this->label_Pos_X->TabIndex = 3;
|
||
this->label_Pos_X->Text = L"0";
|
||
//
|
||
// label_Pos_L_Info
|
||
//
|
||
this->label_Pos_L_Info->AutoSize = true;
|
||
this->label_Pos_L_Info->Location = System::Drawing::Point(4, 79);
|
||
this->label_Pos_L_Info->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Pos_L_Info->Name = L"label_Pos_L_Info";
|
||
this->label_Pos_L_Info->Size = System::Drawing::Size(16, 13);
|
||
this->label_Pos_L_Info->TabIndex = 2;
|
||
this->label_Pos_L_Info->Text = L"L:";
|
||
//
|
||
// label_Pos_Y_Info
|
||
//
|
||
this->label_Pos_Y_Info->AutoSize = true;
|
||
this->label_Pos_Y_Info->Location = System::Drawing::Point(3, 49);
|
||
this->label_Pos_Y_Info->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Pos_Y_Info->Name = L"label_Pos_Y_Info";
|
||
this->label_Pos_Y_Info->Size = System::Drawing::Size(20, 13);
|
||
this->label_Pos_Y_Info->TabIndex = 1;
|
||
this->label_Pos_Y_Info->Text = L"Y: ";
|
||
//
|
||
// label_Pos_X_Info
|
||
//
|
||
this->label_Pos_X_Info->AutoSize = true;
|
||
this->label_Pos_X_Info->Location = System::Drawing::Point(4, 16);
|
||
this->label_Pos_X_Info->Margin = System::Windows::Forms::Padding(2, 0, 2, 0);
|
||
this->label_Pos_X_Info->Name = L"label_Pos_X_Info";
|
||
this->label_Pos_X_Info->Size = System::Drawing::Size(20, 13);
|
||
this->label_Pos_X_Info->TabIndex = 0;
|
||
this->label_Pos_X_Info->Text = L"X: ";
|
||
//
|
||
// groupBox_Input
|
||
//
|
||
this->groupBox_Input->Controls->Add(this->label_Pow);
|
||
this->groupBox_Input->Controls->Add(this->button_RR);
|
||
this->groupBox_Input->Controls->Add(this->button_LL);
|
||
this->groupBox_Input->Controls->Add(this->button_MR);
|
||
this->groupBox_Input->Controls->Add(this->button_ML);
|
||
this->groupBox_Input->Controls->Add(this->button_DD);
|
||
this->groupBox_Input->Controls->Add(this->button_UU);
|
||
this->groupBox_Input->Controls->Add(this->trackBar_Power);
|
||
this->groupBox_Input->Location = System::Drawing::Point(6, 207);
|
||
this->groupBox_Input->Margin = System::Windows::Forms::Padding(2);
|
||
this->groupBox_Input->Name = L"groupBox_Input";
|
||
this->groupBox_Input->Padding = System::Windows::Forms::Padding(2);
|
||
this->groupBox_Input->Size = System::Drawing::Size(244, 282);
|
||
this->groupBox_Input->TabIndex = 8;
|
||
this->groupBox_Input->TabStop = false;
|
||
//
|
||
// label_Pow
|
||
//
|
||
this->label_Pow->AutoSize = true;
|
||
this->label_Pow->Location = System::Drawing::Point(103, 208);
|
||
this->label_Pow->Name = L"label_Pow";
|
||
this->label_Pow->Size = System::Drawing::Size(13, 13);
|
||
this->label_Pow->TabIndex = 10;
|
||
this->label_Pow->Text = L"0";
|
||
//
|
||
// button_RR
|
||
//
|
||
this->button_RR->Location = System::Drawing::Point(171, 134);
|
||
this->button_RR->Margin = System::Windows::Forms::Padding(2);
|
||
this->button_RR->Name = L"button_RR";
|
||
this->button_RR->Size = System::Drawing::Size(58, 20);
|
||
this->button_RR->TabIndex = 9;
|
||
this->button_RR->Text = L"RR";
|
||
this->button_RR->UseVisualStyleBackColor = true;
|
||
this->button_RR->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_RR_MouseDown);
|
||
this->button_RR->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_RR_MouseUp);
|
||
//
|
||
// button_LL
|
||
//
|
||
this->button_LL->Location = System::Drawing::Point(6, 134);
|
||
this->button_LL->Margin = System::Windows::Forms::Padding(2);
|
||
this->button_LL->Name = L"button_LL";
|
||
this->button_LL->Size = System::Drawing::Size(58, 20);
|
||
this->button_LL->TabIndex = 8;
|
||
this->button_LL->Text = L"LL";
|
||
this->button_LL->UseVisualStyleBackColor = true;
|
||
this->button_LL->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_LL_MouseDown);
|
||
this->button_LL->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_LL_MouseUp);
|
||
//
|
||
// button_MR
|
||
//
|
||
this->button_MR->Location = System::Drawing::Point(171, 30);
|
||
this->button_MR->Margin = System::Windows::Forms::Padding(2);
|
||
this->button_MR->Name = L"button_MR";
|
||
this->button_MR->Size = System::Drawing::Size(58, 20);
|
||
this->button_MR->TabIndex = 7;
|
||
this->button_MR->Text = L"->";
|
||
this->button_MR->UseVisualStyleBackColor = true;
|
||
this->button_MR->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_MR_MouseDown);
|
||
this->button_MR->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_MR_MouseUp);
|
||
//
|
||
// button_ML
|
||
//
|
||
this->button_ML->Location = System::Drawing::Point(6, 30);
|
||
this->button_ML->Margin = System::Windows::Forms::Padding(2);
|
||
this->button_ML->Name = L"button_ML";
|
||
this->button_ML->Size = System::Drawing::Size(58, 20);
|
||
this->button_ML->TabIndex = 6;
|
||
this->button_ML->Text = L"<-";
|
||
this->button_ML->UseVisualStyleBackColor = true;
|
||
this->button_ML->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_ML_MouseDown);
|
||
this->button_ML->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_ML_MouseUp);
|
||
//
|
||
// button_DD
|
||
//
|
||
this->button_DD->Location = System::Drawing::Point(80, 250);
|
||
this->button_DD->Margin = System::Windows::Forms::Padding(2);
|
||
this->button_DD->Name = L"button_DD";
|
||
this->button_DD->Size = System::Drawing::Size(58, 20);
|
||
this->button_DD->TabIndex = 5;
|
||
this->button_DD->Text = L"DD";
|
||
this->button_DD->UseVisualStyleBackColor = true;
|
||
this->button_DD->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_DD_MouseDown);
|
||
this->button_DD->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_DD_MouseUp);
|
||
//
|
||
// button_UU
|
||
//
|
||
this->button_UU->Location = System::Drawing::Point(86, 30);
|
||
this->button_UU->Margin = System::Windows::Forms::Padding(2);
|
||
this->button_UU->Name = L"button_UU";
|
||
this->button_UU->Size = System::Drawing::Size(58, 20);
|
||
this->button_UU->TabIndex = 4;
|
||
this->button_UU->Text = L"UU";
|
||
this->button_UU->UseVisualStyleBackColor = true;
|
||
this->button_UU->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_UU_MouseDown);
|
||
this->button_UU->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_UU_MouseUp);
|
||
//
|
||
// trackBar_Power
|
||
//
|
||
this->trackBar_Power->Location = System::Drawing::Point(99, 69);
|
||
this->trackBar_Power->Margin = System::Windows::Forms::Padding(2);
|
||
this->trackBar_Power->Maximum = 100;
|
||
this->trackBar_Power->Name = L"trackBar_Power";
|
||
this->trackBar_Power->Orientation = System::Windows::Forms::Orientation::Vertical;
|
||
this->trackBar_Power->RightToLeft = System::Windows::Forms::RightToLeft::No;
|
||
this->trackBar_Power->Size = System::Drawing::Size(45, 137);
|
||
this->trackBar_Power->TabIndex = 0;
|
||
this->trackBar_Power->Scroll += gcnew System::EventHandler(this, &FormMain::trackBar_Power_Scroll);
|
||
//
|
||
// timer1
|
||
//
|
||
this->timer1->Enabled = true;
|
||
this->timer1->Interval = 10;
|
||
this->timer1->Tick += gcnew System::EventHandler(this, &FormMain::timer1_Tick);
|
||
//
|
||
// FormMain
|
||
//
|
||
this->AutoScaleDimensions = System::Drawing::SizeF(6, 13);
|
||
this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
|
||
this->ClientSize = System::Drawing::Size(256, 496);
|
||
this->Controls->Add(this->groupBox_Input);
|
||
this->Controls->Add(this->groupBox_Pos);
|
||
this->Controls->Add(this->groupBox_Gyr);
|
||
this->Controls->Add(this->groupBox_Acc);
|
||
this->Controls->Add(this->groupBox_Server);
|
||
this->Margin = System::Windows::Forms::Padding(2);
|
||
this->Name = L"FormMain";
|
||
this->Text = L"FormMain";
|
||
this->groupBox_Server->ResumeLayout(false);
|
||
this->groupBox_Server->PerformLayout();
|
||
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Server_Port))->EndInit();
|
||
this->groupBox_Acc->ResumeLayout(false);
|
||
this->groupBox_Acc->PerformLayout();
|
||
this->groupBox_Gyr->ResumeLayout(false);
|
||
this->groupBox_Gyr->PerformLayout();
|
||
this->groupBox_Pos->ResumeLayout(false);
|
||
this->groupBox_Pos->PerformLayout();
|
||
this->groupBox_Input->ResumeLayout(false);
|
||
this->groupBox_Input->PerformLayout();
|
||
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->trackBar_Power))->EndInit();
|
||
this->ResumeLayout(false);
|
||
|
||
}
|
||
#pragma endregion
|
||
|
||
|
||
private: System::Void button_Connect_Click(System::Object^ sender, System::EventArgs^ e)
|
||
{
|
||
NetClient::ClientState done = netClient->Connect(
|
||
textBox_Server_Addr->Text,
|
||
(int)numericUpDown_Server_Port->Value,
|
||
gcnew NetClient::ClientCallback(this, &FormMain::ConnectionCallback),
|
||
gcnew NetClient::ClientCallback(this, &FormMain::ReceiveCallback));
|
||
|
||
switch (done)
|
||
{
|
||
case NetClient::ClientState::Error:
|
||
MessageBox::Show("Error connecting to server");
|
||
break;
|
||
case NetClient::ClientState::Connected:
|
||
button_Connect->Text = "Disconnect";
|
||
button_Connect->BackColor = Color::LimeGreen;
|
||
break;
|
||
case NetClient::ClientState::Stop:
|
||
button_Connect->Text = "Connect";
|
||
button_Connect->BackColor = Color::Transparent;
|
||
break;
|
||
}
|
||
}
|
||
|
||
private: System::Void trackBar_Power_Scroll(System::Object^ sender, System::EventArgs^ e)
|
||
{
|
||
float pow = (float)trackBar_Power->Value / 100.0f;
|
||
label_Pow->Text = pow.ToString("F2");
|
||
dataDrone->MotorUL = dataDrone->MotorUR = dataDrone->MotorDL = dataDrone->MotorDR = pow;
|
||
}
|
||
|
||
private: System::Void button_UU_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
dataDrone->MotorUL -= pow; dataDrone->MotorUR -= pow;
|
||
dataDrone->MotorDL += pow; dataDrone->MotorDR += pow;
|
||
}
|
||
|
||
private: System::Void button_DD_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
|
||
dataDrone->MotorUL += pow; dataDrone->MotorUR += pow;
|
||
dataDrone->MotorDL -= pow; dataDrone->MotorDR -= pow;
|
||
}
|
||
|
||
private: System::Void button_LL_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
dataDrone->MotorUL -= pow; dataDrone->MotorUR += pow;
|
||
dataDrone->MotorDL -= pow; dataDrone->MotorDR += pow;
|
||
}
|
||
|
||
private: System::Void button_RR_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
dataDrone->MotorUL += pow; dataDrone->MotorUR -= pow;
|
||
dataDrone->MotorDL += pow; dataDrone->MotorDR -= pow;
|
||
}
|
||
|
||
private: System::Void button_ML_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
dataDrone->MotorUL -= pow; dataDrone->MotorUR += pow;
|
||
dataDrone->MotorDL += pow; dataDrone->MotorDR -= pow;
|
||
}
|
||
|
||
private: System::Void button_MR_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
dataDrone->MotorUL += pow; dataDrone->MotorUR -= pow;
|
||
dataDrone->MotorDL -= pow; dataDrone->MotorDR += pow;
|
||
}
|
||
|
||
private: System::Void button_UU_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
trackBar_Power_Scroll(nullptr, nullptr); // Сброс мощности до значения ползунка
|
||
}
|
||
|
||
private: System::Void button_DD_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
trackBar_Power_Scroll(nullptr, nullptr);
|
||
}
|
||
|
||
private: System::Void button_LL_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
trackBar_Power_Scroll(nullptr, nullptr);
|
||
}
|
||
|
||
private: System::Void button_RR_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
trackBar_Power_Scroll(nullptr, nullptr);
|
||
}
|
||
|
||
private: System::Void button_ML_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
trackBar_Power_Scroll(nullptr, nullptr);
|
||
}
|
||
|
||
private: System::Void button_MR_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
|
||
{
|
||
trackBar_Power_Scroll(nullptr, nullptr);
|
||
}
|
||
|
||
private: System::Void timer1_Tick(System::Object^ sender, System::EventArgs^ e)
|
||
{
|
||
label_Acc_X->Text = dataDrone->AccX.ToString("F2");
|
||
label_Acc_Y->Text = dataDrone->AccY.ToString("F2");
|
||
label_Acc_Z->Text = dataDrone->AccZ.ToString("F2");
|
||
|
||
label_Gyr_X->Text = dataDrone->GyrX.ToString("F2");
|
||
label_Gyr_Y->Text = dataDrone->GyrY.ToString("F2");
|
||
label_Gyr_Z->Text = dataDrone->GyrZ.ToString("F2");
|
||
|
||
label_Pos_X->Text = dataDrone->PosX.ToString("F2");
|
||
label_Pos_Y->Text = dataDrone->PosY.ToString("F2");
|
||
label_Pos_L->Text = dataDrone->LaserRange.ToString("F2");
|
||
|
||
// Отправка запроса серверу, как в C#
|
||
netClient->Send(dataDrone->SendRequest());
|
||
}
|
||
|
||
};
|
||
}
|