Simulator/DroneClient/FormMain.cs

using System.Text;
using System.Numerics;
using System.Windows.Forms;
using static DroneSimulator.NetClient;
using DroneClient;

namespace DroneSimulator
{
    public partial class Form_Main : Form
    {
        private NetClient netClient = new NetClient();

        public Form_Main()
        {
            InitializeComponent();
        }

        private void ConnectionCallback(object o)
        {
            ConnectData data = (ConnectData)o;

            if (!data.Connect)
            {
                Invoke((MethodInvoker)delegate
                {
                    button_Connect.Text = "Connect";
                    button_Connect.BackColor = Color.Transparent;
                    MessageBox.Show("Connection closed");
                });

                return;
            }

            byte[] send = Drone.getBytes(sendDrone);

            data.Server.Send(send);
        }

        Drone.DataIn sendDrone;

        Drone.DataOut recvDrone;

        private void ReceiveCallback(object o)
        {
            ReceiveData data = (ReceiveData)o;

            recvDrone = (Drone.DataOut)Drone.fromBytes(data.Buffer, typeof(Drone.DataOut));

            byte[] send = Drone.getBytes(sendDrone);

            try { data.Server.Send(send); }
            catch { }
        }

        private void button_Connect_Click(object sender, EventArgs e)
        {
            var done = netClient.Connect(textBox_Server_Addr.Text, (int)numericUpDown_Server_Port.Value, ConnectionCallback, 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;
                    }
            }

            if (done != NetClient.ClientState.Connected) return;
        }

        private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
        {
            netClient?.Close();
            netClient = null;
        }

        private void timer_Test_Tick(object sender, EventArgs e)
        {
            label_Acc_X.Text = recvDrone.AccX.ToString();
            label_Acc_Y.Text = recvDrone.AccY.ToString();
            label_Acc_Z.Text = recvDrone.AccZ.ToString();

            label_Gyr_X.Text = recvDrone.GyrX.ToString();
            label_Gyr_Y.Text = recvDrone.GyrY.ToString();
            label_Gyr_Z.Text = recvDrone.GyrZ.ToString();

            label_Pos_X.Text = recvDrone.PosX.ToString();
            label_Pos_Y.Text = recvDrone.PosY.ToString();
            label_Pos_L.Text = recvDrone.LaserRange.ToString();
        }

        private void trackBar_Power_Scroll(object sender, EventArgs e)
        {
            float pow = (float)trackBar_Power.Value / 100;

            label_Pow.Text = pow.ToString();

            sendDrone.MotorUL = sendDrone.MotorUR = sendDrone.MotorDL = sendDrone.MotorDR = pow;
        }

        private void button_UU_MouseDown(object sender, MouseEventArgs e)
        {
            if (sender == button_UU)
            {
                sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR -= 0.1f;
                sendDrone.MotorDL += 0.1f; sendDrone.MotorDR += 0.1f;
            }
            if (sender == button_DD)
            {
                sendDrone.MotorUL += 0.1f; sendDrone.MotorUR += 0.1f;
                sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR -= 0.1f;
            }
            if (sender == button_LL)
            {
                sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
                sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
            }
            if (sender == button_RR)
            {
                sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
                sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
            }

            if (sender == button_ML)
            {
                sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f;
                sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f;
            }

            if (sender == button_MR)
            {
                sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f;
                sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f;
            }
        }

        private void button_UU_MouseUp(object sender, MouseEventArgs e)
        {
            trackBar_Power_Scroll(null, null);
        }

        private void groupBox2_Enter(object sender, EventArgs e)
        {

        }

        private void groupBox1_Enter(object sender, EventArgs e)
        {

        }

        private void textBox_Server_Addr_TextChanged(object sender, EventArgs e)
        {

        }

        private void label_Pos_X_Click(object sender, EventArgs e)
        {

        }
    }
}