From ddf80ed6f73e1bc58ce17aed89a3889033108246 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Mon, 31 Mar 2025 19:23:51 +0300 Subject: [PATCH 01/34] =?UTF-8?q?=D0=BC=D1=83=D1=81=D0=BE=D1=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../DroneClient/DesignTimeBuild/.dtbcache.v2 | Bin 98927 -> 0 bytes ...4bebe7c4-f6da-4c88-adc5-b3c5f28d11f4.vsidx | Bin 42588 -> 0 bytes DroneClient/.vs/DroneClient/v17/.futdcache.v2 | Bin 124 -> 0 bytes DroneClient/.vs/DroneClient/v17/.suo | Bin 27648 -> 0 bytes .../v17/DocumentLayout.backup.json | 12 ---- .../.vs/DroneClient/v17/DocumentLayout.json | 53 ------------------ .../droneclient.metadata.v9.bin | Bin 1145 -> 0 bytes .../droneclient.projects.v9.bin | Bin 26007 -> 0 bytes .../droneclient.strings.v9.bin | Bin 127649 -> 0 bytes .../DesignTimeBuild/.dtbcache.v2 | Bin 98425 -> 0 bytes ...88d4b77f-31ef-4e26-bbc6-d1b4e20990a0.vsidx | Bin 306108 -> 0 bytes .../.vs/DroneSimulator/v17/.futdcache.v2 | 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text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneSimulator/.gitignore | 1 + .../DroneSimulator.AssemblyInfo.cs | 12 ++++++------ .../DroneSimulator.AssemblyInfoInputs.cache | 2 +- ...or.GeneratedMSBuildEditorConfig.editorconfig | 2 +- .../net9.0-windows/DroneSimulator.assets.cache | Bin 231 -> 227 bytes .../obj/DroneSimulator.csproj.nuget.dgspec.json | 14 +++++++------- .../obj/DroneSimulator.csproj.nuget.g.props | 4 ++-- DroneSimulator/obj/project.assets.json | 12 ++++++------ DroneSimulator/obj/project.nuget.cache | 4 ++-- 9 files changed, 26 insertions(+), 25 deletions(-) create mode 100644 DroneSimulator/.gitignore diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore new file mode 100644 index 0000000..a4d6d9c --- /dev/null +++ b/DroneSimulator/.gitignore @@ -0,0 +1 @@ +.vs/ \ No newline at end of file diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs index a494b3c..8640a1f 100644 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs +++ b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs @@ -1,10 +1,10 @@ //------------------------------------------------------------------------------ // -// Этот код создан программой. -// Исполняемая версия:4.0.30319.42000 +// This code was generated by a tool. +// Runtime Version:4.0.30319.42000 // -// Изменения в этом файле могут привести к неправильной работе и будут потеряны в случае -// повторной генерации кода. +// Changes to this file may cause incorrect behavior and will be lost if +// the code is regenerated. // //------------------------------------------------------------------------------ @@ -14,12 +14,12 @@ using System.Reflection; [assembly: System.Reflection.AssemblyCompanyAttribute("DroneSimulator")] [assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")] [assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")] -[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")] +[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+ddf80ed6f73e1bc58ce17aed89a3889033108246")] [assembly: System.Reflection.AssemblyProductAttribute("DroneSimulator")] [assembly: System.Reflection.AssemblyTitleAttribute("DroneSimulator")] [assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")] [assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")] [assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")] -// Создано классом WriteCodeFragment MSBuild. +// Generated by the MSBuild WriteCodeFragment class. diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache index ac31a13..de2caba 100644 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache +++ b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache @@ -1 +1 @@ -7f461f329c2aabe3c068a957f4f02cdcdb168c359c556cd0c46598798ec3c65d +fe77b46f9af6de6fd357b7a45241ea3605973563d200d40676bd4154c43cb03e diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig index 62904fc..01bf74c 100644 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig +++ b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig @@ -14,7 +14,7 @@ build_property.PlatformNeutralAssembly = build_property.EnforceExtendedAnalyzerRules = build_property._SupportedPlatformList = Linux,macOS,Windows build_property.RootNamespace = DroneSimulator -build_property.ProjectDir = D:\CPL\Simulator\DroneSimulator\DroneSimulator\ +build_property.ProjectDir = D:\Files\GitHub\Simulator\DroneSimulator\ build_property.EnableComHosting = build_property.EnableGeneratedComInterfaceComImportInterop = build_property.CsWinRTUseWindowsUIXamlProjections = false diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache index c6f44beb03b109617223038eb810d1dfc0315217..f6146e95846eb0ab3391bf56bd8ff2c0c0626a79 100644 GIT binary patch delta 74 zcmaFP_?S^Mz}wxChk=2?J;vzVz4z}OlWaxQE^OYuxrr7tXcqEEgYEu delta 78 zcmV-U0I~n$0p|fJP)kQa3;+NCQjcpnorS^SGQ0(AV#&Oeq+h?Wj9KCn_5&ronGPxa k5Vkw6F*0ssI2B11Y{RdZ!>b6n7r(6G?G(6EtaeZt)!!vFvP diff --git a/DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json b/DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json index 51e9e8d..15a8023 100644 --- a/DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json +++ b/DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json @@ -1,23 +1,23 @@ { "format": 1, "restore": { - "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj": {} + "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj": {} }, "projects": { - "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj": { + "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj": { "version": "1.0.0", "restore": { - "projectUniqueName": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", + "projectUniqueName": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", "projectName": "DroneSimulator", - "projectPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", - "packagesPath": "C:\\Users\\Дана\\.nuget\\packages\\", - "outputPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\obj\\", + "projectPath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", + "packagesPath": "C:\\Users\\USER\\.nuget\\packages\\", + "outputPath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\obj\\", "projectStyle": "PackageReference", "fallbackFolders": [ "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages" ], "configFilePaths": [ - "C:\\Users\\Дана\\AppData\\Roaming\\NuGet\\NuGet.Config", + "C:\\Users\\USER\\AppData\\Roaming\\NuGet\\NuGet.Config", "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.FallbackLocation.config", "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.Offline.config" ], diff --git a/DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props b/DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props index 02c5408..c200bda 100644 --- a/DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props +++ b/DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props @@ -5,12 +5,12 @@ NuGet $(MSBuildThisFileDirectory)project.assets.json $(UserProfile)\.nuget\packages\ - C:\Users\Дана\.nuget\packages\;C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages + C:\Users\USER\.nuget\packages\;C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages PackageReference 6.13.2 - + \ No newline at end of file diff --git a/DroneSimulator/obj/project.assets.json b/DroneSimulator/obj/project.assets.json index 54aadae..b4a231d 100644 --- a/DroneSimulator/obj/project.assets.json +++ b/DroneSimulator/obj/project.assets.json @@ -8,23 +8,23 @@ "net9.0-windows7.0": [] }, "packageFolders": { - "C:\\Users\\Дана\\.nuget\\packages\\": {}, + "C:\\Users\\USER\\.nuget\\packages\\": {}, "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages": {} }, "project": { "version": "1.0.0", "restore": { - "projectUniqueName": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", + "projectUniqueName": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", "projectName": "DroneSimulator", - "projectPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", - "packagesPath": "C:\\Users\\Дана\\.nuget\\packages\\", - "outputPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\obj\\", + "projectPath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", + "packagesPath": "C:\\Users\\USER\\.nuget\\packages\\", + "outputPath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\obj\\", "projectStyle": "PackageReference", "fallbackFolders": [ "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages" ], "configFilePaths": [ - "C:\\Users\\Дана\\AppData\\Roaming\\NuGet\\NuGet.Config", + "C:\\Users\\USER\\AppData\\Roaming\\NuGet\\NuGet.Config", "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.FallbackLocation.config", "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.Offline.config" ], diff --git a/DroneSimulator/obj/project.nuget.cache b/DroneSimulator/obj/project.nuget.cache index f08d225..ce3cf50 100644 --- a/DroneSimulator/obj/project.nuget.cache +++ b/DroneSimulator/obj/project.nuget.cache @@ -1,8 +1,8 @@ { "version": 2, - "dgSpecHash": "PBD6ejBWMGo=", + "dgSpecHash": "xXbw4XbSJV8=", "success": true, - "projectFilePath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", + "projectFilePath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", "expectedPackageFiles": [], "logs": [] } \ No newline at end of file From 5c9caf645ac3c2af2f02e4f4386766e33a71e7db Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Mon, 31 Mar 2025 19:58:01 +0300 Subject: [PATCH 03/34] =?UTF-8?q?=D0=B8=D0=B3=D0=BD=D0=BE=D1=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneSimulator/.gitignore | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore index a4d6d9c..98d63b2 100644 --- a/DroneSimulator/.gitignore +++ b/DroneSimulator/.gitignore @@ -1 +1,3 @@ -.vs/ \ No newline at end of file +.vs/ +obj/ +bin/ \ No newline at end of file From 39dab5b50e829cfa2f69f10219eecc8e7964a6b7 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Mon, 31 Mar 2025 19:58:36 +0300 Subject: [PATCH 04/34] =?UTF-8?q?=D1=83=D0=B1=D0=B8=D0=B2=D0=B0=D1=82?= =?UTF-8?q?=D1=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../net9.0-windows/DroneSimulator.deps.json | 23 ----- .../Debug/net9.0-windows/DroneSimulator.dll | Bin 58368 -> 0 bytes .../Debug/net9.0-windows/DroneSimulator.exe | Bin 162304 -> 0 bytes .../Debug/net9.0-windows/DroneSimulator.pdb | Bin 19740 -> 0 bytes .../DroneSimulator.runtimeconfig.json | 19 ---- ...CoreApp,Version=v9.0.AssemblyAttributes.cs | 4 - .../DroneSimulator.AssemblyInfo.cs | 25 ------ .../DroneSimulator.AssemblyInfoInputs.cache | 1 - .../DroneSimulator.Form_Main.resources | Bin 15363 -> 0 bytes ....GeneratedMSBuildEditorConfig.editorconfig | 22 ----- .../DroneSimulator.GlobalUsings.g.cs | 10 --- .../DroneSimulator.assets.cache | Bin 227 -> 0 bytes ...oneSimulator.csproj.BuildWithSkipAnalyzers | 0 ...neSimulator.csproj.CoreCompileInputs.cache | 1 - ...DroneSimulator.csproj.FileListAbsolute.txt | 48 ---------- ...oneSimulator.csproj.GenerateResource.cache | Bin 102 -> 0 bytes .../DroneSimulator.designer.deps.json | 11 --- ...DroneSimulator.designer.runtimeconfig.json | 25 ------ .../Debug/net9.0-windows/DroneSimulator.dll | Bin 58368 -> 0 bytes .../DroneSimulator.genruntimeconfig.cache | 1 - .../Debug/net9.0-windows/DroneSimulator.pdb | Bin 19740 -> 0 bytes .../obj/Debug/net9.0-windows/apphost.exe | Bin 162304 -> 0 bytes .../net9.0-windows/ref/DroneSimulator.dll | Bin 24064 -> 0 bytes .../net9.0-windows/refint/DroneSimulator.dll | Bin 24064 -> 0 bytes .../DroneSimulator.csproj.nuget.dgspec.json | 76 ---------------- .../obj/DroneSimulator.csproj.nuget.g.props | 16 ---- .../obj/DroneSimulator.csproj.nuget.g.targets | 2 - DroneSimulator/obj/project.assets.json | 82 ------------------ DroneSimulator/obj/project.nuget.cache | 8 -- 29 files changed, 374 deletions(-) delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.deps.json delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.dll delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.exe delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.pdb delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.runtimeconfig.json delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.Form_Main.resources delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.GenerateResource.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.designer.deps.json delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.designer.runtimeconfig.json delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.dll delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.genruntimeconfig.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.pdb delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/apphost.exe delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/ref/DroneSimulator.dll delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/refint/DroneSimulator.dll delete mode 100644 DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json delete mode 100644 DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props delete mode 100644 DroneSimulator/obj/DroneSimulator.csproj.nuget.g.targets delete mode 100644 DroneSimulator/obj/project.assets.json delete mode 100644 DroneSimulator/obj/project.nuget.cache diff --git a/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.deps.json b/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.deps.json deleted file mode 100644 index fbaa818..0000000 --- a/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.deps.json +++ /dev/null @@ -1,23 +0,0 @@ -{ - "runtimeTarget": { - "name": ".NETCoreApp,Version=v9.0", - "signature": "" - }, - "compilationOptions": {}, - "targets": { - ".NETCoreApp,Version=v9.0": { - "DroneSimulator/1.0.0": { - "runtime": { - "DroneSimulator.dll": {} - } - } - } - }, - "libraries": { - "DroneSimulator/1.0.0": { - "type": "project", - "serviceable": false, - "sha512": "" - } - } -} \ No newline at end of file diff --git a/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.dll b/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.dll deleted file mode 100644 index d16af7e78125208b3b5d823aa634ba2e6baee84b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 58368 zcmdRXcU%<7^Jvd(WQj{gKvq#)0TB>$K%!zI3W%q;zygcF;_iYVqJTN)Gv}PMo;jVK zIeVT7!=0GZnLWi<)w2r=-uL@{?|nY+kGI~|R8?13S65e8_w>wiJ(H#q9wCGe-|ycE z`30`{=}h5&2c=MK;kMU;>@Ydk;1{OHxdw5WDy=L}qt4JMa%8EB++4LzmZFqt@^fXX 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a/DroneSimulator/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs b/DroneSimulator/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs deleted file mode 100644 index feda5e9..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs +++ /dev/null @@ -1,4 +0,0 @@ -// -using System; -using System.Reflection; -[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETCoreApp,Version=v9.0", FrameworkDisplayName = ".NET 9.0")] diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs deleted file mode 100644 index 8640a1f..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs +++ /dev/null @@ -1,25 +0,0 @@ -//------------------------------------------------------------------------------ -// -// This code was generated by a tool. -// Runtime Version:4.0.30319.42000 -// -// Changes to this file may cause incorrect behavior and will be lost if -// the code is regenerated. -// -//------------------------------------------------------------------------------ - -using System; -using System.Reflection; - -[assembly: System.Reflection.AssemblyCompanyAttribute("DroneSimulator")] -[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")] -[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")] -[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+ddf80ed6f73e1bc58ce17aed89a3889033108246")] -[assembly: System.Reflection.AssemblyProductAttribute("DroneSimulator")] -[assembly: System.Reflection.AssemblyTitleAttribute("DroneSimulator")] -[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")] -[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")] -[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")] - -// Generated by the MSBuild 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-build_property.ApplicationUseCompatibleTextRendering = -build_property.ApplicationVisualStyles = -build_property.TargetFramework = net9.0-windows -build_property.TargetPlatformMinVersion = 7.0 -build_property.UsingMicrosoftNETSdkWeb = -build_property.ProjectTypeGuids = -build_property.InvariantGlobalization = -build_property.PlatformNeutralAssembly = -build_property.EnforceExtendedAnalyzerRules = -build_property._SupportedPlatformList = Linux,macOS,Windows -build_property.RootNamespace = DroneSimulator -build_property.ProjectDir = D:\Files\GitHub\Simulator\DroneSimulator\ -build_property.EnableComHosting = -build_property.EnableGeneratedComInterfaceComImportInterop = -build_property.CsWinRTUseWindowsUIXamlProjections = false -build_property.EffectiveAnalysisLevelStyle = 9.0 -build_property.EnableCodeStyleSeverity = diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs deleted file mode 100644 index 84bbb89..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs +++ /dev/null @@ -1,10 +0,0 @@ -// -global using global::System; -global using global::System.Collections.Generic; -global using global::System.Drawing; -global using global::System.IO; -global using global::System.Linq; -global using global::System.Net.Http; -global using global::System.Threading; -global using global::System.Threading.Tasks; -global using global::System.Windows.Forms; diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache deleted file mode 100644 index f6146e95846eb0ab3391bf56bd8ff2c0c0626a79..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 227 zcmWIWc6a1qU|?{MF*v1V9ZVtq diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers deleted file mode 100644 index e69de29..0000000 diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache deleted file mode 100644 index 50ef240..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache +++ /dev/null @@ -1 +0,0 @@ -051ffb89f1ee627ab3b9aaef920afd665a18f0f3c3fe82852812d5c6608dcb30 diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt deleted file mode 100644 index c46d5df..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt +++ /dev/null @@ -1,48 +0,0 @@ -R:\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.exe 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zgRHc`@L}hexf(R6o^&|%!zb9=M<(H!Ch7y*`w;A6)Rhu<#?K&AO)z$N26wv1N)2|I z!PY>cy%@kgLU;>VLEFZRfQLQ;m@ejFfb{WO5JML{AV#R+6MjJ;;ADWhVG<~oE}n4L zMX(W36O$OBVVIFG9d@C4(NR}462Ap;39Kfp2EvO!vLuQ?u>2zlQ6e*$HlWT)MYP`a z#f71?VStN8YJ(_XH(cHUSRl}WE;bqish)|qf9LxLtfo|T{}XJR5`j)TW6?Te?Gklv z@c&UFBdjYBLmz91sA&V-z%;Re=%T-Cax&u>6y5Lu|=LZ~7Wl~i!? zIL8qkHnuhmA1Bi&UaMT1zB5E=~7>mqRQ5Q5&75Or{nxW~inH!1dXb|eoAbRms zYHQsVg!|Xh_V4RJOZz~}D4=&Rq!Hng7nA}*U_D%RB3u$fct!Jv zr{=gg+H?d_4i2|Wl#v#LgJUj;+sveapBFB|AX(t2qJ*>=LV})#OGf0|g$ys;(U6`< zpTUOx**FLcQ%SW%kql&x_1O_(MJ|05J?#)Zorbr4oApvw#XT7zVh0>fsHmx6XO7jM zOw^1KJRL=cr-4}T0IBrJ)OSAAicZ@##vXsu(Seihu;-s<426d}SH=Aw)CU7LOw%BU z0`~9>8nik#*A7^22ygHUs8B+6ARb*>Q9a07p~Psj3TOH^DGvHU_^w9NqS@0X8PeP# xvLs9m;x`o>gn~ry-v`J^1kXC)m>kDd3M3*;M~$XSv!;a^f(0Vfw -using System; -using System.Reflection; -[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETCoreApp,Version=v9.0", FrameworkDisplayName = ".NET 9.0")] diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfo.cs b/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfo.cs deleted file mode 100644 index a3fe7a8..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfo.cs +++ /dev/null @@ -1,25 +0,0 @@ -//------------------------------------------------------------------------------ -// -// Этот код создан программой. -// Исполняемая версия:4.0.30319.42000 -// -// Изменения в этом файле могут привести к неправильной работе и будут потеряны в случае -// повторной генерации кода. -// -//------------------------------------------------------------------------------ - -using System; -using System.Reflection; - -[assembly: System.Reflection.AssemblyCompanyAttribute("DroneClient")] -[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")] -[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")] -[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")] -[assembly: System.Reflection.AssemblyProductAttribute("DroneClient")] -[assembly: System.Reflection.AssemblyTitleAttribute("DroneClient")] -[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")] -[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")] -[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")] - -// Создано классом WriteCodeFragment MSBuild. - diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfoInputs.cache b/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfoInputs.cache deleted file mode 100644 index 550a2a5..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfoInputs.cache +++ /dev/null @@ -1 +0,0 @@ -372de9fd6d36597e50cdb2250f48b9cb0d5e8e1a2d1e568b83e287afe9580301 diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.GeneratedMSBuildEditorConfig.editorconfig b/DroneClient/obj/Debug/net9.0-windows/DroneClient.GeneratedMSBuildEditorConfig.editorconfig deleted file mode 100644 index 8652b6b..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneClient.GeneratedMSBuildEditorConfig.editorconfig +++ /dev/null @@ -1,22 +0,0 @@ -is_global = true -build_property.ApplicationManifest = -build_property.StartupObject = -build_property.ApplicationDefaultFont = -build_property.ApplicationHighDpiMode = -build_property.ApplicationUseCompatibleTextRendering = -build_property.ApplicationVisualStyles = -build_property.TargetFramework = net9.0-windows -build_property.TargetPlatformMinVersion = 7.0 -build_property.UsingMicrosoftNETSdkWeb = -build_property.ProjectTypeGuids = -build_property.InvariantGlobalization = -build_property.PlatformNeutralAssembly = -build_property.EnforceExtendedAnalyzerRules = -build_property._SupportedPlatformList = Linux,macOS,Windows -build_property.RootNamespace = DroneClient -build_property.ProjectDir = D:\CPL\Simulator\DroneClient\DroneClient\ -build_property.EnableComHosting = -build_property.EnableGeneratedComInterfaceComImportInterop = -build_property.CsWinRTUseWindowsUIXamlProjections = false -build_property.EffectiveAnalysisLevelStyle = 9.0 -build_property.EnableCodeStyleSeverity = diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.GlobalUsings.g.cs b/DroneClient/obj/Debug/net9.0-windows/DroneClient.GlobalUsings.g.cs deleted file mode 100644 index 84bbb89..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneClient.GlobalUsings.g.cs +++ /dev/null @@ -1,10 +0,0 @@ -// -global using global::System; -global using global::System.Collections.Generic; -global using global::System.Drawing; -global using global::System.IO; -global using global::System.Linq; -global using global::System.Net.Http; -global using global::System.Threading; -global using global::System.Threading.Tasks; -global using global::System.Windows.Forms; diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.assets.cache 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System.Reflection.AssemblyTitleAttribute("DroneSimulator")] -[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")] -[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")] -[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")] - -// Generated by the MSBuild WriteCodeFragment class. - diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache deleted file mode 100644 index ac31a13..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache +++ /dev/null @@ -1 +0,0 @@ -7f461f329c2aabe3c068a957f4f02cdcdb168c359c556cd0c46598798ec3c65d diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.Form_Main.resources b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.Form_Main.resources deleted file mode 100644 index 6c05a9776bd7cbae976fdcec7e3a254e93018279..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 180 zcmX?i>is@O1_p+SK%5g?SzMBus~417oL^d$oLUTL1*ImYq!#HYR*8GxXUf^%t3Noi54ZC+|=Nl{{sjzU0bQch;FcWPxwes*e}ZIZcpqG__J onW3ezNveT`r81^vrFkWpxv4PQgHubGfR2KJ07n-P+5+SQ04Y>DD*ylh diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig deleted file mode 100644 index 3009e19..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig +++ /dev/null @@ -1,22 +0,0 @@ -is_global = true -build_property.ApplicationManifest = -build_property.StartupObject = -build_property.ApplicationDefaultFont = -build_property.ApplicationHighDpiMode = -build_property.ApplicationUseCompatibleTextRendering = -build_property.ApplicationVisualStyles = -build_property.TargetFramework = net9.0-windows -build_property.TargetPlatformMinVersion = 7.0 -build_property.UsingMicrosoftNETSdkWeb = -build_property.ProjectTypeGuids = -build_property.InvariantGlobalization = -build_property.PlatformNeutralAssembly = -build_property.EnforceExtendedAnalyzerRules = -build_property._SupportedPlatformList = Linux,macOS,Windows -build_property.RootNamespace = DroneSimulator -build_property.ProjectDir = D:\Files\Main\Projects\Fly\DroneClient\ -build_property.EnableComHosting = -build_property.EnableGeneratedComInterfaceComImportInterop = -build_property.CsWinRTUseWindowsUIXamlProjections = false -build_property.EffectiveAnalysisLevelStyle = 9.0 -build_property.EnableCodeStyleSeverity = diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs deleted file mode 100644 index 84bbb89..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs +++ /dev/null @@ -1,10 +0,0 @@ -// -global using global::System; -global using global::System.Collections.Generic; -global using global::System.Drawing; -global using global::System.IO; -global using global::System.Linq; -global using global::System.Net.Http; -global using global::System.Threading; -global using global::System.Threading.Tasks; -global using global::System.Windows.Forms; diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.assets.cache b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.assets.cache deleted file mode 100644 index dd57bbd4344680fc71625cecf4a60d6747a8b9bf..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 227 zcmWIWc6a1qU|?Wp>r;y5lkZ&LqPE{vYq|0cezlqDyOqAWbeib|uHVXhAE<^{zywq% z=WG=dTAW%`91|Ms8Wf|KSDKz$5>t?voSm4SS{ws1${naApeR4RC^1*TEi)&zSV7gu zqQb&V)yOi&H#4~?zc@dwL?JA*xHK_GA-JS8B{M%JI3uwrH6_Nc)IGH%0BRT^X8`~b Ctumhg diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers deleted file mode 100644 index e69de29..0000000 diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache deleted file mode 100644 index 50ef240..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache +++ /dev/null @@ -1 +0,0 @@ -051ffb89f1ee627ab3b9aaef920afd665a18f0f3c3fe82852812d5c6608dcb30 diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt deleted file mode 100644 index 93aac95..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt +++ /dev/null @@ -1,32 +0,0 @@ -R:\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.exe 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- "version": 2, - "dgSpecHash": "ddOSNwF62rQ=", - "success": true, - "projectFilePath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\DroneClient.csproj", - "expectedPackageFiles": [], - "logs": [] -} \ No newline at end of file From a35d7fdb976603e995fc6b1eb9b05f228261e268 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Mon, 31 Mar 2025 20:09:45 +0300 Subject: [PATCH 06/34] =?UTF-8?q?=D0=9F=D0=BE=D1=87=D0=B8=D0=BD=D0=B8?= =?UTF-8?q?=D0=BD=20Socket?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneClient/NetClient.cs | 34 +++++++++++++++++------------- DroneSimulator/FormMain.cs | 4 +++- DroneSimulator/NetServerClients.cs | 26 +++++++++++++++++------ 3 files changed, 41 insertions(+), 23 deletions(-) diff --git a/DroneClient/NetClient.cs b/DroneClient/NetClient.cs index 603c61f..27f8f61 100644 --- a/DroneClient/NetClient.cs +++ b/DroneClient/NetClient.cs @@ -31,6 +31,7 @@ namespace DroneSimulator public byte[] buffer = new byte[size]; } + private bool Connected = false; private Socket? ServerSocket = null; private ServerData DataServer = new ServerData(); @@ -43,10 +44,11 @@ namespace DroneSimulator public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive) { - if (ServerSocket != null) + if (Connected) { - ServerSocket.Close(); - ServerSocket = null; + try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { } + ServerSocket?.Close(); + Connected = false; return ClientState.Stop; } @@ -56,24 +58,26 @@ namespace DroneSimulator IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port); ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); - try - { - ServerSocket.Connect(ep); - } - catch { ServerSocket.Close(); ServerSocket = null; return ClientState.Error; } + try { ServerSocket.Connect(ep); } + catch { ServerSocket.Close(); return ClientState.Error; } + + Connected = true; ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket }); ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket }; - ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); + + try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); } + catch { } return ClientState.Connected; } public void Close() { + try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { } ServerSocket?.Close(); - ServerSocket = null; + Connected = false; } public void ReadCallback(IAsyncResult ar) @@ -82,23 +86,23 @@ namespace DroneSimulator if (cd == null) return; int bytes = 0; - try { bytes = ServerSocket.EndReceive(ar); } - catch { } + try { bytes = ServerSocket.EndReceive(ar); } catch { } if (bytes == 0) { ServerSocket?.Close(); - if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null }); + Connected = false; - ServerSocket = null; + if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null }); return; } ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket }); - ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); + try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); } + catch { } } } } diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs index b7926ff..9e6489a 100644 --- a/DroneSimulator/FormMain.cs +++ b/DroneSimulator/FormMain.cs @@ -81,7 +81,8 @@ namespace DroneSimulator od.PosX= drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y; od.LaserRange = drone.LaserRange; - data.Client.Send(od.getBytes()); + try { data.Client.Send(od.getBytes()); } + catch { } } private void button_Client_Start_Click(object sender, EventArgs e) @@ -102,6 +103,7 @@ namespace DroneSimulator } case NetServerClients.ServerState.Stop: { + label_Clients_Num.Text = "0"; button_Client_Start.Text = "Start"; button_Client_Start.BackColor = Color.Transparent; break; diff --git a/DroneSimulator/NetServerClients.cs b/DroneSimulator/NetServerClients.cs index d8ebdce..0a6384d 100644 --- a/DroneSimulator/NetServerClients.cs +++ b/DroneSimulator/NetServerClients.cs @@ -38,7 +38,7 @@ namespace DroneSimulator private int SocketID = 0; private int SocketLimit; - private Socket? ServerSocket = null; + private Socket? ServerSocket; private List ClientSockets = new List(); public delegate void ServerCallback(object o); @@ -46,14 +46,21 @@ namespace DroneSimulator private ServerCallback? ConnectionCallback; private ServerCallback? ReceiveCallback; + private bool Active = false; + public enum ServerState { Error, Start, Stop }; public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) { - if (ServerSocket != null) + if (Active) { - ServerSocket.Close(); - foreach (ClientData c in ClientSockets) { c.workSocket?.Shutdown(SocketShutdown.Both); c.workSocket?.Close(); } + ServerSocket?.Close(); + foreach (ClientData c in ClientSockets) + { + try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } + c.workSocket?.Close(); + } + ClientSockets.Clear(); return ServerState.Stop; } @@ -70,8 +77,9 @@ namespace DroneSimulator ServerSocket.Bind(ip); ServerSocket.Listen(10); ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); + Active = true; } - catch { ServerSocket.Close(); ServerSocket = null; return ServerState.Error; } + catch { ServerSocket.Close(); return ServerState.Error; } return ServerState.Start; } @@ -84,7 +92,7 @@ namespace DroneSimulator Socket handler; try { handler = listener.EndAccept(ar); } - catch{ ServerSocket?.Close(); ServerSocket = null; return; } + catch{ ServerSocket?.Close(); Active = false; return; } if (SocketLimit > ClientSockets.Count) { @@ -127,7 +135,11 @@ namespace DroneSimulator ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); - cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + try + { + cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + } + catch { } } } } From e1b7f7b8e331cd0a2c16f77580c9cfb85b292b34 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Mon, 31 Mar 2025 20:36:04 +0300 Subject: [PATCH 07/34] =?UTF-8?q?=D0=BD=D0=B5=D0=BD=D1=83=D0=BD=D0=B0=20?= =?UTF-8?q?=D1=82=D1=83=D1=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneSimulator/.gitignore | 3 - DroneSimulator/Drone.cs | 262 -------------- DroneSimulator/DroneSimulator.csproj | 16 - DroneSimulator/DroneSimulator.csproj.user | 8 - DroneSimulator/DroneSimulator.sln | 25 -- DroneSimulator/FormMain.Designer.cs | 420 ---------------------- DroneSimulator/FormMain.cs | 150 -------- DroneSimulator/FormMain.resx | 383 -------------------- DroneSimulator/NetServerClients.cs | 145 -------- DroneSimulator/Program.cs | 17 - DroneSimulator/Screen2D.cs | 186 ---------- DroneSimulator/icon.ico | Bin 14898 -> 0 bytes 12 files changed, 1615 deletions(-) delete mode 100644 DroneSimulator/.gitignore delete mode 100644 DroneSimulator/Drone.cs delete mode 100644 DroneSimulator/DroneSimulator.csproj delete mode 100644 DroneSimulator/DroneSimulator.csproj.user delete mode 100644 DroneSimulator/DroneSimulator.sln delete mode 100644 DroneSimulator/FormMain.Designer.cs delete mode 100644 DroneSimulator/FormMain.cs delete mode 100644 DroneSimulator/FormMain.resx delete mode 100644 DroneSimulator/NetServerClients.cs delete mode 100644 DroneSimulator/Program.cs delete mode 100644 DroneSimulator/Screen2D.cs delete mode 100644 DroneSimulator/icon.ico diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore deleted file mode 100644 index 98d63b2..0000000 --- a/DroneSimulator/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -.vs/ -obj/ -bin/ \ No newline at end of file diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs deleted file mode 100644 index df65b3a..0000000 --- a/DroneSimulator/Drone.cs +++ /dev/null @@ -1,262 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Numerics; -using System.Runtime.InteropServices; -using System.Text; -using System.Threading.Tasks; -using static System.Windows.Forms.AxHost; - -namespace DroneSimulator -{ - internal class Drone - { - public int ID; - public float Mass; // Масса - public bool Active; // Живой? - public float Length; // Длинна лучей - public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение - public Quaternion Quat; // Основной кватернион - public float Power = 0; // Тяга всех двигателей - public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw - - public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп - public float LaserRange; // Имитация: Дальномер - - private const float Gravity = 1.0f; - - private const float TO_GRAD = 180 / MathF.PI; - private const float TO_RADI = MathF.PI / 180; - - private Thread DroneThread; - private int Timer; - - private static int CounterID = 0; - - - - public struct DataOut - { - public float AccX, AccY, AccZ; - public float GyrX, GyrY, GyrZ; - public float PosX, PosY; - public float LaserRange; - - public byte[] getBytes() - { - int size = Marshal.SizeOf(this); - byte[] arr = new byte[size]; - - IntPtr ptr = IntPtr.Zero; - try - { - ptr = Marshal.AllocHGlobal(size); - Marshal.StructureToPtr(this, ptr, true); - Marshal.Copy(ptr, arr, 0, size); - } - finally - { - Marshal.FreeHGlobal(ptr); - } - return arr; - } - } - - public struct DataIn - { - public float MotorUL, MotorUR, MotorDL, MotorDR; - - public void fromBytes(byte[] arr) - { - DataIn mem = new DataIn(); - - int size = Marshal.SizeOf(mem); - IntPtr ptr = IntPtr.Zero; - try - { - ptr = Marshal.AllocHGlobal(size); - - Marshal.Copy(arr, 0, ptr, size); - - mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType()); - } - finally - { - Marshal.FreeHGlobal(ptr); - } - - this = mem; - } - } - - private void ThreadFunction() - { - while (DroneThread != null) - { - float time = Environment.TickCount - Timer; - Timer = Environment.TickCount; - Action(time / 100); - Thread.Sleep(1); - } - } - - public Drone(int id) - { - ID = id; - Active = false; - PosXYZ = new Vector3(2000, 1000, 0); - SpdXYZ = Vector3.Zero; - AccXYZ = Vector3.Zero; - Quat = Quaternion.Identity; - - DroneThread = new Thread(new ThreadStart(ThreadFunction)); - Timer = Environment.TickCount; - DroneThread.Start(); - } - - public int Create(float mass, float len) - { - Mass = Range(mass); - Length = len; - - Active = true; - - return ID; - } - - public void Close() - { - DroneThread = null; - } - - private float GetAngle(float a1, float a2, float az) - { - if (a2 == 0.0f && az == 0.0f) - { - if (a1 > 0) return 90; - if (a1 < 0) return -90; - return 0; - } - return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD; - } - - public void Rotate(float x, float y, float z) - { - x = x * MathF.PI / 180; - y = y * MathF.PI / 180; - z = -z * MathF.PI / 180; - - Quaternion map = Quat; - Quaternion spd = new Quaternion(x, y, z, 0); - Quaternion aq = spd * map; - - map.W -= 0.5f * aq.W; - map.X -= 0.5f * aq.X; - map.Y -= 0.5f * aq.Y; - map.Z -= 0.5f * aq.Z; - - Quat = Quaternion.Normalize(map); - } - - public Vector4 GetOrientation() - { - Quaternion grav = new Quaternion(0, 0, 1, 0); - - grav = (Quat * grav) * Quaternion.Inverse(Quat); - - float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD; - if (yaw < 0.0f) yaw = 360.0f + yaw; - - return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z); - } - - public void Action(float time) - { - if (!Active) return; - - float flow = Power; - - if (PosXYZ.Z < 100) - { - flow += flow * 0.1f; // Воздушная подушка - } - - Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat; - AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass; - - SpdPRY += AccPRY * time / (Mass * Length); - - SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time; - PosXYZ += SpdXYZ * time; - - if (PosXYZ.Z < 0) - { - SpdPRY = Vector3.Zero; - SpdXYZ.X = 0; - SpdXYZ.Y = 0; - Quat = Quaternion.Identity; - } - else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z); - - Vector4 ori = GetOrientation(); - - if (PosXYZ.Z < 0) - { - PosXYZ.Z = 0; - - /*if (SpdXYZ.Z < -5) - { - Active = false; // Сильно ударился о землю - }*/ - - /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45) - { - Active = false; // Повредил винты при посадке - }*/ - - SpdXYZ.Z = 0; - - Acc = new Vector3(0, 0, 1); - Gyr = Vector3.Zero; - LaserRange = 0; - } - else - { - /*if (ori.W < 0) - { - Active = false; // Перевернулся вверх ногами - }*/ - - Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0); - grav = (Quat * grav) * Quaternion.Inverse(Quat); - Acc = new Vector3(grav.X, grav.Y, grav.Z); - - Gyr = SpdPRY; - - float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI; - - if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt); - else LaserRange = float.MaxValue; - } - } - - private float Range(float pow) - { - if (pow > 1) pow = 1; - if (pow < 0) pow = 0; - - return pow; - } - - public void SetQadroPow(float ul, float ur, float dl, float dr) - { - ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr); - - Power = (ul + ur + dl + dr) / 4; - - AccPRY.Y = ((ul + dl) - (ur + dr)); - AccPRY.X = ((ul + ur) - (dl + dr)); - AccPRY.Z = ((ul + dr) - (dl + ur)) / 4; - } - } -} diff --git a/DroneSimulator/DroneSimulator.csproj b/DroneSimulator/DroneSimulator.csproj deleted file mode 100644 index da8dc2d..0000000 --- a/DroneSimulator/DroneSimulator.csproj +++ /dev/null @@ -1,16 +0,0 @@ - - - - WinExe - net9.0-windows - enable - true - enable - icon.ico - - - - - - - \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.csproj.user b/DroneSimulator/DroneSimulator.csproj.user deleted file mode 100644 index cf5c74f..0000000 --- a/DroneSimulator/DroneSimulator.csproj.user +++ /dev/null @@ -1,8 +0,0 @@ - - - - - Form - - - \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.sln b/DroneSimulator/DroneSimulator.sln deleted file mode 100644 index 05ccc73..0000000 --- a/DroneSimulator/DroneSimulator.sln +++ /dev/null @@ -1,25 +0,0 @@ - -Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio Version 17 -VisualStudioVersion = 17.13.35913.81 d17.13 -MinimumVisualStudioVersion = 10.0.40219.1 -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DroneSimulator", "DroneSimulator.csproj", "{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - Debug|Any CPU = Debug|Any CPU - Release|Any CPU = Release|Any CPU - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.Build.0 = Debug|Any CPU - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.ActiveCfg = Release|Any CPU - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.Build.0 = Release|Any CPU - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection - GlobalSection(ExtensibilityGlobals) = postSolution - SolutionGuid = {F4724E16-C228-4B38-BB06-B90A7A057219} - EndGlobalSection -EndGlobal diff --git a/DroneSimulator/FormMain.Designer.cs b/DroneSimulator/FormMain.Designer.cs deleted file mode 100644 index 2997b8d..0000000 --- a/DroneSimulator/FormMain.Designer.cs +++ /dev/null @@ -1,420 +0,0 @@ -namespace DroneSimulator -{ - partial class Form_Main - { - ///

- /// Required designer variable. - /// - private System.ComponentModel.IContainer components = null; - - /// - /// Clean up any resources being used. - /// - /// true if managed resources should be disposed; otherwise, false. - protected override void Dispose(bool disposing) - { - if (disposing && (components != null)) - { - components.Dispose(); - } - base.Dispose(disposing); - } - - #region Windows Form Designer generated code - - /// - /// Required method for Designer support - do not modify - /// the contents of this method with the code editor. - /// - private void InitializeComponent() - { - components = new System.ComponentModel.Container(); - System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form_Main)); - menuStrip_Menu = new MenuStrip(); - fileToolStripMenuItem = new ToolStripMenuItem(); - exitToolStripMenuItem = new ToolStripMenuItem(); - groupBox_Screen = new GroupBox(); - pictureBox_2D = new PictureBox(); - tabControl_Menu = new TabControl(); - tabPage_Main = new TabPage(); - groupBox_Visual = new GroupBox(); - button_Visual_Start = new Button(); - numericUpDown_Visual_Port = new NumericUpDown(); - label_Visual_Port = new Label(); - groupBox_Clients = new GroupBox(); - numericUpDown_Clients_Limit = new NumericUpDown(); - label_Clients_Limit = new Label(); - label_Clients_Num = new Label(); - label_Clients_Count = new Label(); - button_Client_Start = new Button(); - numericUpDown_Clients_Port = new NumericUpDown(); - label_Clients_Port = new Label(); - tabPage_Model = new TabPage(); - tabPage_Area = new TabPage(); - groupBox_Navi = new GroupBox(); - panel1 = new Panel(); - button_Drone_Color = new Button(); - comboBox_Drone_Rotor = new ComboBox(); - comboBox_Drone = new ComboBox(); - timer_Test = new System.Windows.Forms.Timer(components); - menuStrip_Menu.SuspendLayout(); - groupBox_Screen.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit(); - tabControl_Menu.SuspendLayout(); - tabPage_Main.SuspendLayout(); - groupBox_Visual.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit(); - groupBox_Clients.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit(); - groupBox_Navi.SuspendLayout(); - panel1.SuspendLayout(); - SuspendLayout(); - // - // menuStrip_Menu - // - menuStrip_Menu.Items.AddRange(new ToolStripItem[] { fileToolStripMenuItem }); - menuStrip_Menu.Location = new Point(0, 0); - menuStrip_Menu.Name = "menuStrip_Menu"; - menuStrip_Menu.Size = new Size(884, 24); - menuStrip_Menu.TabIndex = 0; - menuStrip_Menu.Text = "menuStrip1"; - // - // fileToolStripMenuItem - // - fileToolStripMenuItem.DropDownItems.AddRange(new ToolStripItem[] { exitToolStripMenuItem }); - fileToolStripMenuItem.Name = "fileToolStripMenuItem"; - fileToolStripMenuItem.Size = new Size(37, 20); - fileToolStripMenuItem.Tag = "#file"; - fileToolStripMenuItem.Text = "File"; - // - // exitToolStripMenuItem - // - exitToolStripMenuItem.Name = "exitToolStripMenuItem"; - exitToolStripMenuItem.Size = new Size(93, 22); - exitToolStripMenuItem.Tag = "#exit"; - exitToolStripMenuItem.Text = "Exit"; - exitToolStripMenuItem.Click += exitToolStripMenuItem_Click; - // - // groupBox_Screen - // - groupBox_Screen.Controls.Add(pictureBox_2D); - groupBox_Screen.Dock = DockStyle.Fill; - groupBox_Screen.Location = new Point(218, 24); - groupBox_Screen.Name = "groupBox_Screen"; - groupBox_Screen.Size = new Size(466, 437); - groupBox_Screen.TabIndex = 1; - groupBox_Screen.TabStop = false; - // - // pictureBox_2D - // - pictureBox_2D.BackColor = Color.Gainsboro; - pictureBox_2D.Dock = DockStyle.Fill; - pictureBox_2D.Location = new Point(3, 19); - pictureBox_2D.Name = "pictureBox_2D"; - pictureBox_2D.Size = new Size(460, 415); - pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom; - pictureBox_2D.TabIndex = 0; - pictureBox_2D.TabStop = false; - // - // tabControl_Menu - // - tabControl_Menu.Controls.Add(tabPage_Main); - tabControl_Menu.Controls.Add(tabPage_Model); - tabControl_Menu.Controls.Add(tabPage_Area); - tabControl_Menu.Dock = DockStyle.Left; - tabControl_Menu.Location = new Point(0, 24); - tabControl_Menu.Name = "tabControl_Menu"; - tabControl_Menu.SelectedIndex = 0; - tabControl_Menu.Size = new Size(218, 437); - tabControl_Menu.TabIndex = 2; - // - // tabPage_Main - // - tabPage_Main.Controls.Add(groupBox_Visual); - tabPage_Main.Controls.Add(groupBox_Clients); - tabPage_Main.Location = new Point(4, 24); - tabPage_Main.Name = "tabPage_Main"; - tabPage_Main.Padding = new Padding(3); - tabPage_Main.Size = new Size(210, 409); - tabPage_Main.TabIndex = 0; - tabPage_Main.Tag = "#main"; - tabPage_Main.Text = "Main"; - tabPage_Main.UseVisualStyleBackColor = true; - // - // groupBox_Visual - // - groupBox_Visual.Controls.Add(button_Visual_Start); - groupBox_Visual.Controls.Add(numericUpDown_Visual_Port); - groupBox_Visual.Controls.Add(label_Visual_Port); - groupBox_Visual.Dock = DockStyle.Top; - groupBox_Visual.Location = new Point(3, 83); - groupBox_Visual.Name = "groupBox_Visual"; - groupBox_Visual.Size = new Size(204, 62); - groupBox_Visual.TabIndex = 2; - groupBox_Visual.TabStop = false; - groupBox_Visual.Tag = "#visual"; - groupBox_Visual.Text = "Visual"; - // - // button_Visual_Start - // - button_Visual_Start.Location = new Point(112, 22); - button_Visual_Start.Name = "button_Visual_Start"; - button_Visual_Start.Size = new Size(86, 23); - button_Visual_Start.TabIndex = 9; - button_Visual_Start.Tag = "#visual_start"; - button_Visual_Start.Text = "Start"; - button_Visual_Start.UseVisualStyleBackColor = true; - // - // numericUpDown_Visual_Port - // - numericUpDown_Visual_Port.Location = new Point(44, 24); - numericUpDown_Visual_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); - numericUpDown_Visual_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); - numericUpDown_Visual_Port.Name = "numericUpDown_Visual_Port"; - numericUpDown_Visual_Port.Size = new Size(62, 23); - numericUpDown_Visual_Port.TabIndex = 8; - numericUpDown_Visual_Port.Value = new decimal(new int[] { 1002, 0, 0, 0 }); - // - // label_Visual_Port - // - label_Visual_Port.AutoSize = true; - label_Visual_Port.Location = new Point(6, 26); - label_Visual_Port.Name = "label_Visual_Port"; - label_Visual_Port.Size = new Size(32, 15); - label_Visual_Port.TabIndex = 7; - label_Visual_Port.Tag = "#visual_port"; - label_Visual_Port.Text = "Port:"; - // - // groupBox_Clients - // - groupBox_Clients.Controls.Add(numericUpDown_Clients_Limit); - groupBox_Clients.Controls.Add(label_Clients_Limit); - groupBox_Clients.Controls.Add(label_Clients_Num); - groupBox_Clients.Controls.Add(label_Clients_Count); - groupBox_Clients.Controls.Add(button_Client_Start); - groupBox_Clients.Controls.Add(numericUpDown_Clients_Port); - groupBox_Clients.Controls.Add(label_Clients_Port); - groupBox_Clients.Dock = DockStyle.Top; - groupBox_Clients.Location = new Point(3, 3); - groupBox_Clients.Name = "groupBox_Clients"; - groupBox_Clients.Size = new Size(204, 80); - groupBox_Clients.TabIndex = 1; - groupBox_Clients.TabStop = false; - groupBox_Clients.Tag = "#clients"; - groupBox_Clients.Text = "Clients"; - // - // numericUpDown_Clients_Limit - // - numericUpDown_Clients_Limit.Location = new Point(44, 48); - numericUpDown_Clients_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); - numericUpDown_Clients_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); - numericUpDown_Clients_Limit.Name = "numericUpDown_Clients_Limit"; - numericUpDown_Clients_Limit.Size = new Size(42, 23); - numericUpDown_Clients_Limit.TabIndex = 6; - numericUpDown_Clients_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 }); - // - // label_Clients_Limit - // - label_Clients_Limit.AutoSize = true; - label_Clients_Limit.Location = new Point(6, 50); - label_Clients_Limit.Name = "label_Clients_Limit"; - label_Clients_Limit.Size = new Size(37, 15); - label_Clients_Limit.TabIndex = 5; - label_Clients_Limit.Tag = "#clients_limit"; - label_Clients_Limit.Text = "Limit:"; - // - // label_Clients_Num - // - label_Clients_Num.AutoSize = true; - label_Clients_Num.Location = new Point(161, 50); - label_Clients_Num.Name = "label_Clients_Num"; - label_Clients_Num.Size = new Size(13, 15); - label_Clients_Num.TabIndex = 4; - label_Clients_Num.Text = "0"; - // - // label_Clients_Count - // - label_Clients_Count.AutoSize = true; - label_Clients_Count.Location = new Point(112, 50); - label_Clients_Count.Name = "label_Clients_Count"; - label_Clients_Count.Size = new Size(43, 15); - label_Clients_Count.TabIndex = 3; - label_Clients_Count.Tag = "#clients_count"; - label_Clients_Count.Text = "Count:"; - // - // button_Client_Start - // - button_Client_Start.BackColor = Color.Transparent; - button_Client_Start.Location = new Point(112, 15); - button_Client_Start.Name = "button_Client_Start"; - button_Client_Start.Size = new Size(86, 23); - button_Client_Start.TabIndex = 2; - button_Client_Start.Tag = ""; - button_Client_Start.Text = "Start"; - button_Client_Start.UseVisualStyleBackColor = false; - button_Client_Start.Click += button_Client_Start_Click; - // - // numericUpDown_Clients_Port - // - numericUpDown_Clients_Port.Location = new Point(44, 17); - numericUpDown_Clients_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); - numericUpDown_Clients_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); - numericUpDown_Clients_Port.Name = "numericUpDown_Clients_Port"; - numericUpDown_Clients_Port.Size = new Size(62, 23); - numericUpDown_Clients_Port.TabIndex = 1; - numericUpDown_Clients_Port.Value = new decimal(new int[] { 1001, 0, 0, 0 }); - // - // label_Clients_Port - // - label_Clients_Port.AutoSize = true; - label_Clients_Port.Location = new Point(6, 19); - label_Clients_Port.Name = "label_Clients_Port"; - label_Clients_Port.Size = new Size(32, 15); - label_Clients_Port.TabIndex = 0; - label_Clients_Port.Tag = "#clients_port"; - label_Clients_Port.Text = "Port:"; - // - // tabPage_Model - // - tabPage_Model.Location = new Point(4, 24); - tabPage_Model.Name = "tabPage_Model"; - tabPage_Model.Padding = new Padding(3); - tabPage_Model.Size = new Size(210, 409); - tabPage_Model.TabIndex = 1; - tabPage_Model.Tag = "#model"; - tabPage_Model.Text = "Model"; - tabPage_Model.UseVisualStyleBackColor = true; - // - // tabPage_Area - // - tabPage_Area.Location = new Point(4, 24); - tabPage_Area.Name = "tabPage_Area"; - tabPage_Area.Size = new Size(210, 409); - tabPage_Area.TabIndex = 2; - tabPage_Area.Tag = "#area"; - tabPage_Area.Text = "Area"; - tabPage_Area.UseVisualStyleBackColor = true; - // - // groupBox_Navi - // - groupBox_Navi.Controls.Add(panel1); - groupBox_Navi.Controls.Add(comboBox_Drone); - groupBox_Navi.Dock = DockStyle.Right; - groupBox_Navi.Location = new Point(684, 24); - groupBox_Navi.Name = "groupBox_Navi"; - groupBox_Navi.Size = new Size(200, 437); - groupBox_Navi.TabIndex = 3; - groupBox_Navi.TabStop = false; - groupBox_Navi.Tag = "#navigation"; - groupBox_Navi.Text = "Navigation"; - // - // panel1 - // - panel1.Controls.Add(button_Drone_Color); - panel1.Controls.Add(comboBox_Drone_Rotor); - panel1.Dock = DockStyle.Fill; - panel1.Location = new Point(3, 42); - panel1.Name = "panel1"; - panel1.Size = new Size(194, 392); - panel1.TabIndex = 3; - // - // button_Drone_Color - // - button_Drone_Color.BackColor = Color.Tomato; - button_Drone_Color.Location = new Point(13, 6); - button_Drone_Color.Name = "button_Drone_Color"; - button_Drone_Color.Size = new Size(45, 23); - button_Drone_Color.TabIndex = 1; - button_Drone_Color.UseVisualStyleBackColor = false; - // - // comboBox_Drone_Rotor - // - comboBox_Drone_Rotor.FormattingEnabled = true; - comboBox_Drone_Rotor.Items.AddRange(new object[] { "4-Rotor", "6-Rotor", "8-Rotor" }); - comboBox_Drone_Rotor.Location = new Point(114, 6); - comboBox_Drone_Rotor.Name = "comboBox_Drone_Rotor"; - comboBox_Drone_Rotor.Size = new Size(71, 23); - comboBox_Drone_Rotor.TabIndex = 2; - comboBox_Drone_Rotor.Text = "4-Rotor"; - // - // comboBox_Drone - // - comboBox_Drone.Dock = DockStyle.Top; - comboBox_Drone.FormattingEnabled = true; - comboBox_Drone.Location = new Point(3, 19); - comboBox_Drone.Name = "comboBox_Drone"; - comboBox_Drone.Size = new Size(194, 23); - comboBox_Drone.TabIndex = 0; - // - // timer_Test - // - timer_Test.Enabled = true; - timer_Test.Interval = 10; - timer_Test.Tick += timer_Test_Tick; - // - // Form_Main - // - AutoScaleDimensions = new SizeF(7F, 15F); - AutoScaleMode = AutoScaleMode.Font; - ClientSize = new Size(884, 461); - Controls.Add(groupBox_Screen); - Controls.Add(groupBox_Navi); - Controls.Add(tabControl_Menu); - Controls.Add(menuStrip_Menu); - Icon = (Icon)resources.GetObject("$this.Icon"); - MainMenuStrip = menuStrip_Menu; - MinimumSize = new Size(900, 500); - Name = "Form_Main"; - Text = "Drone Simulator V1.0"; - FormClosing += Form_Main_FormClosing; - menuStrip_Menu.ResumeLayout(false); - menuStrip_Menu.PerformLayout(); - groupBox_Screen.ResumeLayout(false); - ((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit(); - tabControl_Menu.ResumeLayout(false); - tabPage_Main.ResumeLayout(false); - groupBox_Visual.ResumeLayout(false); - groupBox_Visual.PerformLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).EndInit(); - groupBox_Clients.ResumeLayout(false); - groupBox_Clients.PerformLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit(); - groupBox_Navi.ResumeLayout(false); - panel1.ResumeLayout(false); - ResumeLayout(false); - PerformLayout(); - } - - #endregion - - private MenuStrip menuStrip_Menu; - private ToolStripMenuItem fileToolStripMenuItem; - private GroupBox groupBox_Screen; - private TabControl tabControl_Menu; - private TabPage tabPage_Main; - private TabPage tabPage_Model; - private Label label_Clients_Port; - private GroupBox groupBox_Clients; - private NumericUpDown numericUpDown_Clients_Port; - private Label label_Clients_Num; - private Label label_Clients_Count; - private Button button_Client_Start; - private NumericUpDown numericUpDown_Clients_Limit; - private Label label_Clients_Limit; - private GroupBox groupBox_Visual; - private Button button_Visual_Start; - private NumericUpDown numericUpDown_Visual_Port; - private Label label_Visual_Port; - private PictureBox pictureBox_2D; - private GroupBox groupBox_Navi; - private ComboBox comboBox_Drone; - private TabPage tabPage_Area; - private Button button_Drone_Color; - private ComboBox comboBox_Drone_Rotor; - private Panel panel1; - private ToolStripMenuItem exitToolStripMenuItem; - private System.Windows.Forms.Timer timer_Test; - } -} diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs deleted file mode 100644 index 9e6489a..0000000 --- a/DroneSimulator/FormMain.cs +++ /dev/null @@ -1,150 +0,0 @@ -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; - -namespace DroneSimulator -{ - public partial class Form_Main : Form - { - Screen2D screen2D = null; - - NetServerClients netServerClient = new NetServerClients(); - - List AllDrones = new List(); - - public Form_Main() - { - InitializeComponent(); - } - - private void ConnectionCallback(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(0.5f, 10.0f); - - 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 ReceiveCallback(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; - - Drone.DataIn id = new Drone.DataIn(); - - id.fromBytes(data.Buffer); - - drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR); - - Drone.DataOut od = new Drone.DataOut(); - - od.AccX= drone.Acc.X; od.AccY= drone.Acc.Y; od.AccZ= drone.Acc.Z; - od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z; - od.PosX= drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y; - od.LaserRange = drone.LaserRange; - - try { data.Client.Send(od.getBytes()); } - 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, ConnectionCallback, ReceiveCallback); - switch (done) - { - case NetServerClients.ServerState.Error: - { - MessageBox.Show("Error to start server"); - 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(); - } - } -} diff --git a/DroneSimulator/FormMain.resx b/DroneSimulator/FormMain.resx deleted file mode 100644 index 8f19afc..0000000 --- a/DroneSimulator/FormMain.resx +++ /dev/null @@ -1,383 +0,0 @@ - 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-namespace DroneSimulator -{ - internal class NetServerClients - { - public class ConnectData - { - public int ID; - public bool Connect; - public int Count; - - public Socket? Client; - } - - public class ReceiveData - { - public int ID; - public byte[]? Buffer; - public int Size; - - public Socket? Client; - } - - private class ClientData - { - public int ID; - public Socket? workSocket = null; - public const int BufferSize = 1024; - public byte[] buffer = new byte[BufferSize]; - } - - private int SocketID = 0; - private int SocketLimit; - private Socket? ServerSocket; - private List ClientSockets = new List(); - - public delegate void ServerCallback(object o); - - private ServerCallback? ConnectionCallback; - private ServerCallback? ReceiveCallback; - - private bool Active = false; - - public enum ServerState { Error, Start, Stop }; - - public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) - { - if (Active) - { - ServerSocket?.Close(); - foreach (ClientData c in ClientSockets) - { - try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } - c.workSocket?.Close(); - } - ClientSockets.Clear(); - return ServerState.Stop; - } - - ConnectionCallback = Connection; - ReceiveCallback = Receive; - - SocketLimit = Limit; - - IPEndPoint ip = new(IPAddress.Any, Port); - ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); - - try - { - ServerSocket.Bind(ip); - ServerSocket.Listen(10); - ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); - Active = true; - } - catch { ServerSocket.Close(); return ServerState.Error; } - - return ServerState.Start; - } - - public void AcceptCallback(IAsyncResult ar) - { - Socket listener = (Socket)ar.AsyncState; - if (listener == null) return; - - Socket handler; - - try { handler = listener.EndAccept(ar); } - catch{ ServerSocket?.Close(); Active = false; return; } - - if (SocketLimit > ClientSockets.Count) - { - ClientData clientData = new ClientData(); - - clientData.ID = ++SocketID; - - clientData.workSocket = handler; - - ClientSockets.Add(clientData); - - ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); - - handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); - } - else handler.Close(); - - listener.BeginAccept(new AsyncCallback(AcceptCallback), listener); - } - - public void ReadCallback(IAsyncResult ar) - { - ClientData cd = (ClientData)ar.AsyncState; - if (cd == null) return; - - int bytes = 0; - try { bytes = cd.workSocket.EndReceive(ar); } - catch { } - - if (bytes == 0) - { - cd.workSocket?.Close(); - - ClientSockets.Remove(cd); - - ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null }); - - return; - } - - ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); - - try - { - cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); - } - catch { } - } - } -} diff --git a/DroneSimulator/Program.cs b/DroneSimulator/Program.cs deleted file mode 100644 index efb14d6..0000000 --- a/DroneSimulator/Program.cs +++ /dev/null @@ -1,17 +0,0 @@ -namespace DroneSimulator -{ - internal static class Program - { - /// - /// The main entry point for the application. - /// - [STAThread] - static void Main() - { - // To customize application configuration such as set high DPI settings or default font, - // see https://aka.ms/applicationconfiguration. - ApplicationConfiguration.Initialize(); - Application.Run(new Form_Main()); - } - } -} \ No newline at end of file diff --git a/DroneSimulator/Screen2D.cs b/DroneSimulator/Screen2D.cs deleted file mode 100644 index f8f3854..0000000 --- a/DroneSimulator/Screen2D.cs +++ /dev/null @@ -1,186 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Numerics; -using System.Reflection.Metadata; -using System.Text; -using System.Threading.Tasks; - -namespace DroneSimulator -{ - internal class Screen2D - { - - public delegate void DrawCallback(Bitmap bmp); - - public Screen2D(DrawCallback callback) - { - drawCallback = callback; - } - - private class DroneInfo - { - public int ID; - public Color RGB; - public Bitmap? Drone; - public Point PosXY; - public int Height = 0; - - public PointF TiltXY = new Point(0, 0); - public int Azimuth = 0; - } - - private DrawCallback drawCallback; - private Bitmap MainArea = new Bitmap(4096, 2560); - private List DroneList = new List(); - - public static Bitmap DrawQadro(Color ColorFill) - { - Bitmap drone = new Bitmap(130, 130); - - using (Graphics g = Graphics.FromImage(drone)) - { - g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed; - - SolidBrush solidBrush = new SolidBrush(ColorFill); - - Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) }; - g.FillPolygon(solidBrush, mid); - - g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35)); - g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35)); - g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35)); - g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35)); - - g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10)); - - g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129)); - - solidBrush.Dispose(); - } - - return RotateImage(drone, 90); - } - - private static Bitmap RotateImage(Bitmap bmp, float angle) - { - Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height); - - using (Graphics g = Graphics.FromImage(rotatedImage)) - { - // Set the rotation point to the center in the matrix - g.TranslateTransform(bmp.Width / 2, bmp.Height / 2); - // Rotate - g.RotateTransform(angle); - // Restore rotation point in the matrix - g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2); - // Draw the image on the bitmap - g.DrawImage(bmp, new Point(0, 0)); - } - - return rotatedImage; - } - - public void CreateDrone(Color ColorFill, int ID) - { - DroneInfo info = new DroneInfo(); - info.ID = ID; - info.RGB = ColorFill; - info.Drone = DrawQadro(ColorFill); - - DroneList.Add(info); - } - - public void RemoveDrone(int ID) - { - foreach (DroneInfo i in DroneList) - { - if (i.ID != ID) continue; - DroneList.Remove(i); - break; - } - } - - public void DrawScene() - { - using (Graphics g = Graphics.FromImage(MainArea)) - { - g.Clear(Color.Gainsboro); - SolidBrush shadowBrush = new SolidBrush(Color.Black); - g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 }); - - foreach (var d in DroneList) - { - if (d.Azimuth >= 360) d.Azimuth -= 360; - var bmp = RotateImage(d.Drone, d.Azimuth); - - g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130); - - g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2)); - - //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130)); - - float x1 = 0, y1 = 0; - float x2 = 130, y2 = 0; - float x3 = 0, y3 = 130; - - const float TO_RADI = MathF.PI / 180; - - Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0); - Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI); - - tilt = tilt * rotate * rotate; - - if (tilt.Y > 0) - { - x1 = (int)(Math.Sin(tilt.Y) * 130); - x3 = (int)(Math.Sin(tilt.Y) * 130); - } - else - { - x2 = (int)(Math.Cos(tilt.Y) * 130); - } - - if (tilt.X > 0) - { - y1 = (int)(Math.Sin(tilt.X) * 130); - y2 = (int)(Math.Sin(tilt.X) * 130); - } - else - { - y3 = (int)(Math.Cos(tilt.X) * 130); - } - - PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2); - PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3); - PointF[] dest = { ul, ur, dl }; - - g.DrawImage(bmp, dest); - } - } - - drawCallback(MainArea); - } - - public void Move(int id, Vector3 pos, Vector4 tilt) - { - const float TO_GRAD = 180 / MathF.PI; - const float TO_RADI = MathF.PI / 180; - - foreach (var d in DroneList) - { - if (d.ID != id) continue; - - d.PosXY.X = (int)pos.X; - d.PosXY.Y = MainArea.Height - (int)pos.Y; - d.Height = 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zd-=zI?+srX|AU{afRVr*b*z_I#7_TYtcI_u$DIC%$xTmm`o8~#EYBvaxUD6$$C4rm z_m_vX9q`e+#;}WqoE$9hrf>T~dJys>yM&+Xy;*N~4{v6Y++na2263M_;Bpo48YC9{ z%kbKRt?qgJ-O;A`_+C5|%D-nz}fKM;-RmXc;H7lh(FE!OwH*F<* z%q8ilFsB!DbIPl;IQwGS13ZSfkSM#1kt;4l5xk-Pa+GtF0764g{Q0v7h=lYsKQIk; z_tj+Izwm~!-t$vi-X5>c~5VlccT_hF^o3o(h>1W8bP#eEOEbRb-M*+swzEHe*}M-#@a zcHP`aq(5?T5kyTrVAiQOKPBRIdL0Ow4s_4FEUN0kf4B9ncKpuxN%`EeDkV@91Y3)g zirw$qCx5Ayke+oe2`#jsKzoA1j0bHrk20Y1M&quJQ$AxN0Flm>xLzvL8r46)Ap%=6 z=;O})!%#e!v6Jzt(&Xa2#jY?G|1?45&DDuCcFr$XnhSa22o1Am;bD*kC|q*msn7%l z3wTElg5j}wk;Dj~jN=;6vW0iqUOso3-}W(sNcKHyEfd zm=J8G_#XHrmhE^AOwNAPh0znsWmRKaY)b9l`eXbpAFIOQo9M&3%cbx_hcR4rk%c~v z0Zp?zvFAa+Hb_SWC=J6OYC66eP^Hb#)q$+N7l?DhKlF-^+L}lQl$%v(Lfm;?KPT_| zmRQKUHPsnvDHptYvFm$1L6ae=>sL1NZVY%D#c+b3=6WZzc?}H2GQ{OOz8Es;DmhVA5oB3J;kE0rJJj^Vq#b z&PjET;Do?lSR&<-ukUK?PmUCxG!3Z6=mE?7B`#N!tTB4QFDUW%Po0+WRFw@U6okww zdsmZZh?y%n7%s!36i^;^bq8%6KSHCfvuehAPk-uG2goOr_3&( Date: Thu, 3 Apr 2025 22:33:04 +0300 Subject: [PATCH 08/34] =?UTF-8?q?=D0=9F=D0=B5=D1=80=D0=B5=D0=BD=D0=BE?= =?UTF-8?q?=D1=81=20=D0=B2=20=D0=BE=D0=B1=D1=89=D1=83=D1=8E=20=D1=80=D0=B5?= =?UTF-8?q?=D0=BF=D1=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneClient/README.md | 3 + DroneSimulator/.gitignore | 3 + DroneSimulator/Drone.cs | 266 ++++++++++++ DroneSimulator/DroneSimulator.csproj | 16 + DroneSimulator/DroneSimulator.csproj.user | 8 + DroneSimulator/DroneSimulator.sln | 25 ++ DroneSimulator/FormMain.Designer.cs | 474 ++++++++++++++++++++++ DroneSimulator/FormMain.cs | 207 ++++++++++ DroneSimulator/FormMain.resx | 383 +++++++++++++++++ DroneSimulator/NetServerClients.cs | 140 +++++++ DroneSimulator/NetServerVisual.cs | 134 ++++++ DroneSimulator/Program.cs | 17 + DroneSimulator/Screen2D.cs | 180 ++++++++ DroneSimulator/icon.ico | Bin 0 -> 14898 bytes 14 files changed, 1856 insertions(+) create mode 100644 DroneClient/README.md create mode 100644 DroneSimulator/.gitignore create mode 100644 DroneSimulator/Drone.cs create mode 100644 DroneSimulator/DroneSimulator.csproj create mode 100644 DroneSimulator/DroneSimulator.csproj.user create mode 100644 DroneSimulator/DroneSimulator.sln create mode 100644 DroneSimulator/FormMain.Designer.cs create mode 100644 DroneSimulator/FormMain.cs create mode 100644 DroneSimulator/FormMain.resx create mode 100644 DroneSimulator/NetServerClients.cs create mode 100644 DroneSimulator/NetServerVisual.cs create mode 100644 DroneSimulator/Program.cs create mode 100644 DroneSimulator/Screen2D.cs create mode 100644 DroneSimulator/icon.ico diff --git a/DroneClient/README.md b/DroneClient/README.md new file mode 100644 index 0000000..facae82 --- /dev/null +++ b/DroneClient/README.md @@ -0,0 +1,3 @@ +# Client + +Образец клиента для подключения к симулятору. diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore new file mode 100644 index 0000000..98d63b2 --- /dev/null +++ b/DroneSimulator/.gitignore @@ -0,0 +1,3 @@ +.vs/ +obj/ +bin/ \ No newline at end of file diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs new file mode 100644 index 0000000..0fba4f6 --- /dev/null +++ b/DroneSimulator/Drone.cs @@ -0,0 +1,266 @@ +using System.Numerics; +using System.Runtime.InteropServices; + +namespace DroneSimulator +{ + internal class Drone + { + public int ID; + public float Mass; // Масса + public bool Active; // Живой? + public float Length; // Длинна лучей + public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение + public Quaternion Quat; // Основной кватернион + public float Power = 0; // Тяга всех двигателей + public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw + + public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп + public float LaserRange; // Имитация: Дальномер + + private const float Gravity = 1.0f; + + private const float TO_GRAD = 180 / MathF.PI; + private const float TO_RADI = MathF.PI / 180; + + private Thread DroneThread; + private int Timer; + + private static int CounterID = 0; + + public static byte[] getBytes(object data) + { + int size = Marshal.SizeOf(data); + byte[] arr = new byte[size]; + + IntPtr ptr = IntPtr.Zero; + try + { + ptr = Marshal.AllocHGlobal(size); + Marshal.StructureToPtr(data, ptr, true); + Marshal.Copy(ptr, arr, 0, size); + } + finally + { + Marshal.FreeHGlobal(ptr); + } + return arr; + } + + public static object fromBytes(byte[] arr, Type type) + { + object mem = new object(); + + int size = Marshal.SizeOf(type); + IntPtr ptr = IntPtr.Zero; + try + { + ptr = Marshal.AllocHGlobal(size); + + Marshal.Copy(arr, 0, ptr, size); + + mem = Marshal.PtrToStructure(ptr, type); + } + finally + { + Marshal.FreeHGlobal(ptr); + } + + return mem; + } + + public struct DataOut + { + public float AccX, AccY, AccZ; + public float GyrX, GyrY, GyrZ; + public float PosX, PosY; + public float LaserRange; + } + + public struct DataIn + { + public float MotorUL, MotorUR, MotorDL, MotorDR; + } + + public struct DataVisual + { + public int ID; // Идентификатор + public float W, X, Y, Z; // Кватернион вращения + public float PosX, PosY, PosZ; // Координаты в пространстве + } + + public DataVisual GetVisual() + { + return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z }; + } + + private void ThreadFunction() + { + while (DroneThread != null) + { + float time = Environment.TickCount - Timer; + Timer = Environment.TickCount; + Action(time / 100); + Thread.Sleep(1); + } + } + + public Drone(int id) + { + ID = id; + Active = false; + PosXYZ = new Vector3(2000, 1000, 0); + SpdXYZ = Vector3.Zero; + AccXYZ = Vector3.Zero; + Quat = Quaternion.Identity; + + DroneThread = new Thread(new ThreadStart(ThreadFunction)); + Timer = Environment.TickCount; + DroneThread.Start(); + } + + public int Create(float mass, float len) + { + Mass = Range(mass); + Length = len; + + Active = true; + + return ID; + } + + public void Close() + { + DroneThread = null; + } + + private float GetAngle(float a1, float a2, float az) + { + if (a2 == 0.0f && az == 0.0f) + { + if (a1 > 0) return 90; + if (a1 < 0) return -90; + return 0; + } + return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD; + } + + public void Rotate(float x, float y, float z) + { + x = x * MathF.PI / 180; + y = y * MathF.PI / 180; + z = -z * MathF.PI / 180; + + Quaternion map = Quat; + Quaternion spd = new Quaternion(x, y, z, 0); + Quaternion aq = spd * map; + + map.W -= 0.5f * aq.W; + map.X -= 0.5f * aq.X; + map.Y -= 0.5f * aq.Y; + map.Z -= 0.5f * aq.Z; + + Quat = Quaternion.Normalize(map); + } + + public Vector4 GetOrientation() + { + Quaternion grav = new Quaternion(0, 0, 1, 0); + + grav = (Quat * grav) * Quaternion.Inverse(Quat); + + float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD; + if (yaw < 0.0f) yaw = 360.0f + yaw; + + return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z); + } + + public void Action(float time) + { + if (!Active) return; + + float flow = Power; + + if (PosXYZ.Z < 100) + { + flow += flow * 0.1f; // Воздушная подушка + } + + Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat; + AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass; + + SpdPRY += AccPRY * time / (Mass * Length); + + SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time; + PosXYZ += SpdXYZ * time; + + if (PosXYZ.Z < 0) + { + SpdPRY = Vector3.Zero; + SpdXYZ.X = 0; + SpdXYZ.Y = 0; + Quat = Quaternion.Identity; + } + else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z); + + Vector4 ori = GetOrientation(); + + if (PosXYZ.Z < 0) + { + PosXYZ.Z = 0; + + /*if (SpdXYZ.Z < -5) + { + Active = false; // Сильно ударился о землю + }*/ + + /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45) + { + Active = false; // Повредил винты при посадке + }*/ + + SpdXYZ.Z = 0; + + Acc = new Vector3(0, 0, 1); + Gyr = Vector3.Zero; + LaserRange = 0; + } + else + { + /*if (ori.W < 0) + { + Active = false; // Перевернулся вверх ногами + }*/ + + Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0); + grav = (Quat * grav) * Quaternion.Inverse(Quat); + Acc = new Vector3(grav.X, grav.Y, grav.Z); + + Gyr = SpdPRY; + + float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI; + + if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt); + else LaserRange = float.MaxValue; + } + } + + private float Range(float pow) + { + if (pow > 1) pow = 1; + if (pow < 0) pow = 0; + + return pow; + } + + public void SetQadroPow(float ul, float ur, float dl, float dr) + { + ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr); + + Power = (ul + ur + dl + dr) / 4; + + AccPRY.Y = ((ul + dl) - (ur + dr)); + AccPRY.X = ((ul + ur) - (dl + dr)); + AccPRY.Z = ((ul + dr) - (dl + ur)) / 4; + } + } +} diff --git a/DroneSimulator/DroneSimulator.csproj b/DroneSimulator/DroneSimulator.csproj new file mode 100644 index 0000000..da8dc2d --- /dev/null +++ b/DroneSimulator/DroneSimulator.csproj @@ -0,0 +1,16 @@ + + + + WinExe + net9.0-windows + enable + true + enable + icon.ico + + + + + + + \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.csproj.user b/DroneSimulator/DroneSimulator.csproj.user new file mode 100644 index 0000000..cf5c74f --- /dev/null +++ b/DroneSimulator/DroneSimulator.csproj.user @@ -0,0 +1,8 @@ + + + + + Form + + + \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.sln b/DroneSimulator/DroneSimulator.sln new file mode 100644 index 0000000..05ccc73 --- /dev/null +++ b/DroneSimulator/DroneSimulator.sln @@ -0,0 +1,25 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.13.35913.81 d17.13 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DroneSimulator", "DroneSimulator.csproj", "{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Any CPU = Debug|Any CPU + Release|Any CPU = Release|Any CPU + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.Build.0 = Debug|Any CPU + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.ActiveCfg = Release|Any CPU + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.Build.0 = Release|Any CPU + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {F4724E16-C228-4B38-BB06-B90A7A057219} + EndGlobalSection +EndGlobal diff --git a/DroneSimulator/FormMain.Designer.cs b/DroneSimulator/FormMain.Designer.cs new file mode 100644 index 0000000..bab9e3b --- /dev/null +++ b/DroneSimulator/FormMain.Designer.cs @@ -0,0 +1,474 @@ +namespace DroneSimulator +{ + partial class Form_Main + { + /// + /// Required designer variable. + /// + private System.ComponentModel.IContainer components = null; + + /// + /// Clean up any resources being used. + /// + /// true if managed resources should be disposed; otherwise, false. + protected override void Dispose(bool disposing) + { + if (disposing && (components != null)) + { + components.Dispose(); + } + base.Dispose(disposing); + } + + #region Windows Form Designer generated code + + /// + /// Required method for Designer support - do not modify + /// the contents of this method with the code editor. + /// + private void InitializeComponent() + { + components = new System.ComponentModel.Container(); + System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form_Main)); + menuStrip_Menu = new MenuStrip(); + fileToolStripMenuItem = new ToolStripMenuItem(); + exitToolStripMenuItem = new ToolStripMenuItem(); + groupBox_Screen = new GroupBox(); + pictureBox_2D = new PictureBox(); + tabControl_Menu = new TabControl(); + tabPage_Main = new TabPage(); + groupBox_Visual = new GroupBox(); + numericUpDown_Visual_Limit = new NumericUpDown(); + label1 = new Label(); + label_Visual_Num = new Label(); + label3 = new Label(); + button_Visual_Start = new Button(); + numericUpDown_Visual_Port = new NumericUpDown(); + label_Visual_Port = new Label(); + groupBox_Clients = new GroupBox(); + numericUpDown_Clients_Limit = new NumericUpDown(); + label_Clients_Limit = new Label(); + label_Clients_Num = new Label(); + label_Clients_Count = new Label(); + button_Client_Start = new Button(); + numericUpDown_Clients_Port = new NumericUpDown(); + label_Clients_Port = new Label(); + tabPage_Model = new TabPage(); + tabPage_Area = new TabPage(); + groupBox_Navi = new GroupBox(); + panel1 = new Panel(); + button_Drone_Color = new Button(); + comboBox_Drone_Rotor = new ComboBox(); + comboBox_Drone = new ComboBox(); + timer_Test = new System.Windows.Forms.Timer(components); + menuStrip_Menu.SuspendLayout(); + groupBox_Screen.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit(); + tabControl_Menu.SuspendLayout(); + tabPage_Main.SuspendLayout(); + groupBox_Visual.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).BeginInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit(); + groupBox_Clients.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit(); + groupBox_Navi.SuspendLayout(); + panel1.SuspendLayout(); + SuspendLayout(); + // + // menuStrip_Menu + // + menuStrip_Menu.Items.AddRange(new ToolStripItem[] { fileToolStripMenuItem }); + menuStrip_Menu.Location = new Point(0, 0); + menuStrip_Menu.Name = "menuStrip_Menu"; + menuStrip_Menu.Size = new Size(884, 24); + menuStrip_Menu.TabIndex = 0; + menuStrip_Menu.Text = "menuStrip1"; + // + // fileToolStripMenuItem + // + fileToolStripMenuItem.DropDownItems.AddRange(new ToolStripItem[] { exitToolStripMenuItem }); + fileToolStripMenuItem.Name = "fileToolStripMenuItem"; + fileToolStripMenuItem.Size = new Size(37, 20); + fileToolStripMenuItem.Tag = "#file"; + fileToolStripMenuItem.Text = "File"; + // + // exitToolStripMenuItem + // + exitToolStripMenuItem.Name = "exitToolStripMenuItem"; + exitToolStripMenuItem.Size = new Size(93, 22); + exitToolStripMenuItem.Tag = "#exit"; + exitToolStripMenuItem.Text = "Exit"; + exitToolStripMenuItem.Click += exitToolStripMenuItem_Click; + // + // groupBox_Screen + // + groupBox_Screen.Controls.Add(pictureBox_2D); + groupBox_Screen.Dock = DockStyle.Fill; + groupBox_Screen.Location = new Point(218, 24); + groupBox_Screen.Name = "groupBox_Screen"; + groupBox_Screen.Size = new Size(466, 437); + groupBox_Screen.TabIndex = 1; + groupBox_Screen.TabStop = false; + // + // pictureBox_2D + // + pictureBox_2D.BackColor = Color.Gainsboro; + pictureBox_2D.Dock = DockStyle.Fill; + pictureBox_2D.Location = new Point(3, 19); + pictureBox_2D.Name = "pictureBox_2D"; + pictureBox_2D.Size = new Size(460, 415); + pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom; + pictureBox_2D.TabIndex = 0; + pictureBox_2D.TabStop = false; + // + // tabControl_Menu + // + tabControl_Menu.Controls.Add(tabPage_Main); + tabControl_Menu.Controls.Add(tabPage_Model); + tabControl_Menu.Controls.Add(tabPage_Area); + tabControl_Menu.Dock = DockStyle.Left; + tabControl_Menu.Location = new Point(0, 24); + tabControl_Menu.Name = "tabControl_Menu"; + tabControl_Menu.SelectedIndex = 0; + tabControl_Menu.Size = new Size(218, 437); + tabControl_Menu.TabIndex = 2; + // + // tabPage_Main + // + tabPage_Main.Controls.Add(groupBox_Visual); + tabPage_Main.Controls.Add(groupBox_Clients); + tabPage_Main.Location = new Point(4, 24); + tabPage_Main.Name = "tabPage_Main"; + tabPage_Main.Padding = new Padding(3); + tabPage_Main.Size = new Size(210, 409); + tabPage_Main.TabIndex = 0; + tabPage_Main.Tag = "#main"; + tabPage_Main.Text = "Main"; + tabPage_Main.UseVisualStyleBackColor = true; + // + // groupBox_Visual + // + groupBox_Visual.Controls.Add(numericUpDown_Visual_Limit); + groupBox_Visual.Controls.Add(label1); + groupBox_Visual.Controls.Add(label_Visual_Num); + groupBox_Visual.Controls.Add(label3); + groupBox_Visual.Controls.Add(button_Visual_Start); + groupBox_Visual.Controls.Add(numericUpDown_Visual_Port); + groupBox_Visual.Controls.Add(label_Visual_Port); + groupBox_Visual.Dock = DockStyle.Top; + groupBox_Visual.Location = new Point(3, 83); + groupBox_Visual.Name = "groupBox_Visual"; + groupBox_Visual.Size = new Size(204, 91); + groupBox_Visual.TabIndex = 2; + groupBox_Visual.TabStop = false; + groupBox_Visual.Tag = "#visual"; + groupBox_Visual.Text = "Visual"; + // + // numericUpDown_Visual_Limit + // + numericUpDown_Visual_Limit.Location = new Point(44, 57); + numericUpDown_Visual_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); + numericUpDown_Visual_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Visual_Limit.Name = "numericUpDown_Visual_Limit"; + numericUpDown_Visual_Limit.Size = new Size(42, 23); + numericUpDown_Visual_Limit.TabIndex = 13; + numericUpDown_Visual_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 }); + // + // label1 + // + label1.AutoSize = true; + label1.Location = new Point(6, 59); + label1.Name = "label1"; + label1.Size = new Size(37, 15); + label1.TabIndex = 12; + label1.Tag = "#clients_limit"; + label1.Text = "Limit:"; + // + // label_Visual_Num + // + label_Visual_Num.AutoSize = true; + label_Visual_Num.Location = new Point(161, 59); + label_Visual_Num.Name = "label_Visual_Num"; + label_Visual_Num.Size = new Size(13, 15); + label_Visual_Num.TabIndex = 11; + label_Visual_Num.Text = "0"; + // + // label3 + // + label3.AutoSize = true; + label3.Location = new Point(112, 59); + label3.Name = "label3"; + label3.Size = new Size(43, 15); + label3.TabIndex = 10; + label3.Tag = "#clients_count"; + label3.Text = "Count:"; + // + // button_Visual_Start + // + button_Visual_Start.Location = new Point(112, 22); + button_Visual_Start.Name = "button_Visual_Start"; + button_Visual_Start.Size = new Size(86, 23); + button_Visual_Start.TabIndex = 9; + button_Visual_Start.Tag = "#visual_start"; + button_Visual_Start.Text = "Start"; + button_Visual_Start.UseVisualStyleBackColor = true; + button_Visual_Start.Click += button_Visual_Start_Click; + // + // numericUpDown_Visual_Port + // + numericUpDown_Visual_Port.Location = new Point(44, 24); + numericUpDown_Visual_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); + numericUpDown_Visual_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Visual_Port.Name = "numericUpDown_Visual_Port"; + numericUpDown_Visual_Port.Size = new Size(62, 23); + numericUpDown_Visual_Port.TabIndex = 8; + numericUpDown_Visual_Port.Value = new decimal(new int[] { 1002, 0, 0, 0 }); + // + // label_Visual_Port + // + label_Visual_Port.AutoSize = true; + label_Visual_Port.Location = new Point(6, 26); + label_Visual_Port.Name = "label_Visual_Port"; + label_Visual_Port.Size = new Size(32, 15); + label_Visual_Port.TabIndex = 7; + label_Visual_Port.Tag = "#visual_port"; + label_Visual_Port.Text = "Port:"; + // + // groupBox_Clients + // + groupBox_Clients.Controls.Add(numericUpDown_Clients_Limit); + groupBox_Clients.Controls.Add(label_Clients_Limit); + groupBox_Clients.Controls.Add(label_Clients_Num); + groupBox_Clients.Controls.Add(label_Clients_Count); + groupBox_Clients.Controls.Add(button_Client_Start); + groupBox_Clients.Controls.Add(numericUpDown_Clients_Port); + groupBox_Clients.Controls.Add(label_Clients_Port); + groupBox_Clients.Dock = DockStyle.Top; + groupBox_Clients.Location = new Point(3, 3); + groupBox_Clients.Name = "groupBox_Clients"; + groupBox_Clients.Size = new Size(204, 80); + groupBox_Clients.TabIndex = 1; + groupBox_Clients.TabStop = false; + groupBox_Clients.Tag = "#clients"; + groupBox_Clients.Text = "Clients"; + // + // numericUpDown_Clients_Limit + // + numericUpDown_Clients_Limit.Location = new Point(44, 48); + numericUpDown_Clients_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); + numericUpDown_Clients_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Clients_Limit.Name = "numericUpDown_Clients_Limit"; + numericUpDown_Clients_Limit.Size = new Size(42, 23); + numericUpDown_Clients_Limit.TabIndex = 6; + numericUpDown_Clients_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 }); + // + // label_Clients_Limit + // + label_Clients_Limit.AutoSize = true; + label_Clients_Limit.Location = new Point(6, 50); + label_Clients_Limit.Name = "label_Clients_Limit"; + label_Clients_Limit.Size = new Size(37, 15); + label_Clients_Limit.TabIndex = 5; + label_Clients_Limit.Tag = "#clients_limit"; + label_Clients_Limit.Text = "Limit:"; + // + // label_Clients_Num + // + label_Clients_Num.AutoSize = true; + label_Clients_Num.Location = new Point(161, 50); + label_Clients_Num.Name = "label_Clients_Num"; + label_Clients_Num.Size = new Size(13, 15); + label_Clients_Num.TabIndex = 4; + label_Clients_Num.Text = "0"; + // + // label_Clients_Count + // + label_Clients_Count.AutoSize = true; + label_Clients_Count.Location = new Point(112, 50); + label_Clients_Count.Name = "label_Clients_Count"; + label_Clients_Count.Size = new Size(43, 15); + label_Clients_Count.TabIndex = 3; + label_Clients_Count.Tag = "#clients_count"; + label_Clients_Count.Text = "Count:"; + // + // button_Client_Start + // + button_Client_Start.BackColor = Color.Transparent; + button_Client_Start.Location = new Point(112, 15); + button_Client_Start.Name = "button_Client_Start"; + button_Client_Start.Size = new Size(86, 23); + button_Client_Start.TabIndex = 2; + button_Client_Start.Tag = ""; + button_Client_Start.Text = "Start"; + button_Client_Start.UseVisualStyleBackColor = false; + button_Client_Start.Click += button_Client_Start_Click; + // + // numericUpDown_Clients_Port + // + numericUpDown_Clients_Port.Location = new Point(44, 17); + numericUpDown_Clients_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); + numericUpDown_Clients_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Clients_Port.Name = "numericUpDown_Clients_Port"; + numericUpDown_Clients_Port.Size = new Size(62, 23); + numericUpDown_Clients_Port.TabIndex = 1; + numericUpDown_Clients_Port.Value = new decimal(new int[] { 1001, 0, 0, 0 }); + // + // label_Clients_Port + // + label_Clients_Port.AutoSize = true; + label_Clients_Port.Location = new Point(6, 19); + label_Clients_Port.Name = "label_Clients_Port"; + label_Clients_Port.Size = new Size(32, 15); + label_Clients_Port.TabIndex = 0; + label_Clients_Port.Tag = "#clients_port"; + label_Clients_Port.Text = "Port:"; + // + // tabPage_Model + // + tabPage_Model.Location = new Point(4, 24); + tabPage_Model.Name = "tabPage_Model"; + tabPage_Model.Padding = new Padding(3); + tabPage_Model.Size = new Size(210, 409); + tabPage_Model.TabIndex = 1; + tabPage_Model.Tag = "#model"; + tabPage_Model.Text = "Model"; + tabPage_Model.UseVisualStyleBackColor = true; + // + // tabPage_Area + // + tabPage_Area.Location = new Point(4, 24); + tabPage_Area.Name = "tabPage_Area"; + tabPage_Area.Size = new Size(210, 409); + tabPage_Area.TabIndex = 2; + tabPage_Area.Tag = "#area"; + tabPage_Area.Text = "Area"; + tabPage_Area.UseVisualStyleBackColor = true; + // + // groupBox_Navi + // + groupBox_Navi.Controls.Add(panel1); + groupBox_Navi.Controls.Add(comboBox_Drone); + groupBox_Navi.Dock = DockStyle.Right; + groupBox_Navi.Location = new Point(684, 24); + groupBox_Navi.Name = "groupBox_Navi"; + groupBox_Navi.Size = new Size(200, 437); + groupBox_Navi.TabIndex = 3; + groupBox_Navi.TabStop = false; + groupBox_Navi.Tag = "#navigation"; + groupBox_Navi.Text = "Navigation"; + // + // panel1 + // + panel1.Controls.Add(button_Drone_Color); + panel1.Controls.Add(comboBox_Drone_Rotor); + panel1.Dock = DockStyle.Fill; + panel1.Location = new Point(3, 42); + panel1.Name = "panel1"; + panel1.Size = new Size(194, 392); + panel1.TabIndex = 3; + // + // button_Drone_Color + // + button_Drone_Color.BackColor = Color.Tomato; + button_Drone_Color.Location = new Point(13, 6); + button_Drone_Color.Name = "button_Drone_Color"; + button_Drone_Color.Size = new Size(45, 23); + button_Drone_Color.TabIndex = 1; + button_Drone_Color.UseVisualStyleBackColor = false; + // + // comboBox_Drone_Rotor + // + comboBox_Drone_Rotor.FormattingEnabled = true; + comboBox_Drone_Rotor.Items.AddRange(new object[] { "4-Rotor", "6-Rotor", "8-Rotor" }); + comboBox_Drone_Rotor.Location = new Point(114, 6); + comboBox_Drone_Rotor.Name = "comboBox_Drone_Rotor"; + comboBox_Drone_Rotor.Size = new Size(71, 23); + comboBox_Drone_Rotor.TabIndex = 2; + comboBox_Drone_Rotor.Text = "4-Rotor"; + // + // comboBox_Drone + // + comboBox_Drone.Dock = DockStyle.Top; + comboBox_Drone.FormattingEnabled = true; + comboBox_Drone.Location = new Point(3, 19); + comboBox_Drone.Name = "comboBox_Drone"; + comboBox_Drone.Size = new Size(194, 23); + comboBox_Drone.TabIndex = 0; + // + // timer_Test + // + timer_Test.Enabled = true; + timer_Test.Interval = 10; + timer_Test.Tick += timer_Test_Tick; + // + // Form_Main + // + AutoScaleDimensions = new SizeF(7F, 15F); + AutoScaleMode = AutoScaleMode.Font; + ClientSize = new Size(884, 461); + Controls.Add(groupBox_Screen); + Controls.Add(groupBox_Navi); + Controls.Add(tabControl_Menu); + Controls.Add(menuStrip_Menu); + Icon = (Icon)resources.GetObject("$this.Icon"); + MainMenuStrip = menuStrip_Menu; + MinimumSize = new Size(900, 500); + Name = "Form_Main"; + Text = "Drone Simulator V1.0"; + FormClosing += Form_Main_FormClosing; + menuStrip_Menu.ResumeLayout(false); + menuStrip_Menu.PerformLayout(); + groupBox_Screen.ResumeLayout(false); + ((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit(); + tabControl_Menu.ResumeLayout(false); + tabPage_Main.ResumeLayout(false); + groupBox_Visual.ResumeLayout(false); + groupBox_Visual.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).EndInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).EndInit(); + groupBox_Clients.ResumeLayout(false); + groupBox_Clients.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit(); + groupBox_Navi.ResumeLayout(false); + panel1.ResumeLayout(false); + ResumeLayout(false); + PerformLayout(); + } + + #endregion + + private MenuStrip menuStrip_Menu; + private ToolStripMenuItem fileToolStripMenuItem; + private GroupBox groupBox_Screen; + private TabControl tabControl_Menu; + private TabPage tabPage_Main; + private TabPage tabPage_Model; + private Label label_Clients_Port; + private GroupBox groupBox_Clients; + private NumericUpDown numericUpDown_Clients_Port; + private Label label_Clients_Num; + private Label label_Clients_Count; + private Button button_Client_Start; + private NumericUpDown numericUpDown_Clients_Limit; + private Label label_Clients_Limit; + private GroupBox groupBox_Visual; + private Button button_Visual_Start; + private NumericUpDown numericUpDown_Visual_Port; + private Label label_Visual_Port; + private PictureBox pictureBox_2D; + private GroupBox groupBox_Navi; + private ComboBox comboBox_Drone; + private TabPage tabPage_Area; + private Button button_Drone_Color; + private ComboBox comboBox_Drone_Rotor; + private Panel panel1; + private ToolStripMenuItem exitToolStripMenuItem; + private System.Windows.Forms.Timer timer_Test; + private NumericUpDown numericUpDown_Visual_Limit; + private Label label1; + private Label label_Visual_Num; + private Label label3; + } +} diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs new file mode 100644 index 0000000..41e4719 --- /dev/null +++ b/DroneSimulator/FormMain.cs @@ -0,0 +1,207 @@ +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; + +namespace DroneSimulator +{ + public partial class Form_Main : Form + { + Screen2D screen2D = null; + + NetServerClients netServerClient = new NetServerClients(); + NetServerVisual netServerVisual = new NetServerVisual(); + + List AllDrones = new List(); + + 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(0.5f, 10.0f); + + 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; + + Drone.DataIn id = (Drone.DataIn)Drone.fromBytes(data.Buffer, typeof(Drone.DataIn)); + + drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR); + + Drone.DataOut od = new Drone.DataOut(); + + od.AccX = drone.Acc.X; od.AccY = drone.Acc.Y; od.AccZ = drone.Acc.Z; + od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z; + od.PosX = drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y; + od.LaserRange = drone.LaserRange; + + try { data.Client.Send(Drone.getBytes(od)); } + 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; + } + } + } + } +} diff --git a/DroneSimulator/FormMain.resx 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Client; + } + + public class ReceiveData + { + public int ID; + public byte[]? Buffer; + public int Size; + + public Socket? Client; + } + + private class ClientData + { + public int ID; + public Socket? workSocket = null; + public const int BufferSize = 1024; + public byte[] buffer = new byte[BufferSize]; + } + + private int SocketID = 0; + private int SocketLimit; + private Socket? ServerSocket; + private List ClientSockets = new List(); + + public delegate void ServerCallback(object o); + + private ServerCallback? ConnectionCallback; + private ServerCallback? ReceiveCallback; + + private bool Active = false; + + public enum ServerState { Error, Start, Stop }; + + public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) + { + if (Active) + { + ServerSocket?.Close(); + foreach (ClientData c in ClientSockets) + { + try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } + c.workSocket?.Close(); + } + ClientSockets.Clear(); + return ServerState.Stop; + } + + ConnectionCallback = Connection; + ReceiveCallback = Receive; + + SocketLimit = Limit; + + IPEndPoint ip = new(IPAddress.Any, Port); + ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); + + try + { + ServerSocket.Bind(ip); + ServerSocket.Listen(10); + ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); + Active = true; + } + catch { ServerSocket.Close(); return ServerState.Error; } + + return ServerState.Start; + } + + public void AcceptCallback(IAsyncResult ar) + { + Socket listener = (Socket)ar.AsyncState; + if (listener == null) return; + + Socket handler; + + try { handler = listener.EndAccept(ar); } + catch{ ServerSocket?.Close(); Active = false; return; } + + if (SocketLimit > ClientSockets.Count) + { + ClientData clientData = new ClientData(); + + clientData.ID = ++SocketID; + + clientData.workSocket = handler; + + ClientSockets.Add(clientData); + + ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); + + handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); + } + else handler.Close(); + + listener.BeginAccept(new AsyncCallback(AcceptCallback), listener); + } + + public void ReadCallback(IAsyncResult ar) + { + ClientData cd = (ClientData)ar.AsyncState; + if (cd == null) return; + + int bytes = 0; + try { bytes = cd.workSocket.EndReceive(ar); } + catch { } + + if (bytes == 0) + { + cd.workSocket?.Close(); + + ClientSockets.Remove(cd); + + ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null }); + + return; + } + + ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); + + try + { + cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + } + catch { } + } + } +} diff --git a/DroneSimulator/NetServerVisual.cs b/DroneSimulator/NetServerVisual.cs new file mode 100644 index 0000000..41dd579 --- /dev/null +++ b/DroneSimulator/NetServerVisual.cs @@ -0,0 +1,134 @@ +using System.Net.Sockets; +using System.Net; + +namespace DroneSimulator +{ + internal class NetServerVisual + { + public class ConnectData + { + public bool Connect; + public int Count; + + public Socket? Client; + } + + public class ReceiveData + { + public byte[]? Buffer; + public int Size; + + public Socket? Client; + } + + private class ClientData + { + public Socket? workSocket = null; + public const int BufferSize = 1024; + public byte[] buffer = new byte[BufferSize]; + } + + private int SocketLimit; + private Socket? ServerSocket; + private List ClientSockets = new List(); + + public delegate void ServerCallback(object o); + + private ServerCallback? ConnectionCallback; + private ServerCallback? ReceiveCallback; + + private bool Active = false; + + public enum ServerState { Error, Start, Stop }; + + public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) + { + if (Active) + { + ServerSocket?.Close(); + foreach (ClientData c in ClientSockets) + { + try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } + c.workSocket?.Close(); + } + ClientSockets.Clear(); + return ServerState.Stop; + } + + ConnectionCallback = Connection; + ReceiveCallback = Receive; + + SocketLimit = Limit; + + IPEndPoint ip = new(IPAddress.Any, Port); + ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); + + try + { + ServerSocket.Bind(ip); + ServerSocket.Listen(10); + ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); + Active = true; + } + catch { ServerSocket.Close(); return ServerState.Error; } + + return ServerState.Start; + } + + public void AcceptCallback(IAsyncResult ar) + { + Socket listener = (Socket)ar.AsyncState; + if (listener == null) return; + + Socket handler; + + try { handler = listener.EndAccept(ar); } + catch{ ServerSocket?.Close(); Active = false; return; } + + if (SocketLimit > ClientSockets.Count) + { + ClientData clientData = new ClientData(); + + clientData.workSocket = handler; + + ClientSockets.Add(clientData); + + ConnectionCallback(new ConnectData { Connect = true, Count = ClientSockets.Count, Client = handler }); + + handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); + } + else handler.Close(); + + listener.BeginAccept(new AsyncCallback(AcceptCallback), listener); + } + + public void ReadCallback(IAsyncResult ar) + { + ClientData cd = (ClientData)ar.AsyncState; + if (cd == null) return; + + int bytes = 0; + try { bytes = cd.workSocket.EndReceive(ar); } + catch { } + + if (bytes == 0) + { + cd.workSocket?.Close(); + + ClientSockets.Remove(cd); + + ConnectionCallback(new ConnectData { Connect = false, Count = ClientSockets.Count, Client = null }); + + return; + } + + ReceiveCallback(new ReceiveData { Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); + + try + { + cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + } + catch { } + } + } +} diff --git a/DroneSimulator/Program.cs b/DroneSimulator/Program.cs new file mode 100644 index 0000000..efb14d6 --- /dev/null +++ b/DroneSimulator/Program.cs @@ -0,0 +1,17 @@ +namespace DroneSimulator +{ + internal static class Program + { + /// + /// The main entry point for the application. + /// + [STAThread] + static void Main() + { + // To customize application configuration such as set high DPI settings or default font, + // see https://aka.ms/applicationconfiguration. + ApplicationConfiguration.Initialize(); + Application.Run(new Form_Main()); + } + } +} \ No newline at end of file diff --git a/DroneSimulator/Screen2D.cs b/DroneSimulator/Screen2D.cs new file mode 100644 index 0000000..36a4a72 --- /dev/null +++ b/DroneSimulator/Screen2D.cs @@ -0,0 +1,180 @@ +using System.Numerics; + +namespace DroneSimulator +{ + internal class Screen2D + { + + public delegate void DrawCallback(Bitmap bmp); + + public Screen2D(DrawCallback callback) + { + drawCallback = callback; + } + + private class DroneInfo + { + public int ID; + public Color RGB; + public Bitmap? Drone; + public Point PosXY; + public int Height = 0; + + public PointF TiltXY = new Point(0, 0); + public int Azimuth = 0; + } + + private DrawCallback drawCallback; + private Bitmap MainArea = new Bitmap(4096, 2560); + private List DroneList = new List(); + + public static Bitmap DrawQadro(Color ColorFill) + { + Bitmap drone = new Bitmap(130, 130); + + using (Graphics g = Graphics.FromImage(drone)) + { + g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed; + + SolidBrush solidBrush = new SolidBrush(ColorFill); + + Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) }; + g.FillPolygon(solidBrush, mid); + + g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35)); + g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35)); + g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35)); + g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35)); + + g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10)); + + g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129)); + + solidBrush.Dispose(); + } + + return RotateImage(drone, 90); + } + + private static Bitmap RotateImage(Bitmap bmp, float angle) + { + Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height); + + using (Graphics g = Graphics.FromImage(rotatedImage)) + { + // Set the rotation point to the center in the matrix + g.TranslateTransform(bmp.Width / 2, bmp.Height / 2); + // Rotate + g.RotateTransform(angle); + // Restore rotation point in the matrix + g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2); + // Draw the image on the bitmap + g.DrawImage(bmp, new Point(0, 0)); + } + + return rotatedImage; + } + + public void CreateDrone(Color ColorFill, int ID) + { + DroneInfo info = new DroneInfo(); + info.ID = ID; + info.RGB = ColorFill; + info.Drone = DrawQadro(ColorFill); + + DroneList.Add(info); + } + + public void RemoveDrone(int ID) + { + foreach (DroneInfo i in DroneList) + { + if (i.ID != ID) continue; + DroneList.Remove(i); + break; + } + } + + public void DrawScene() + { + using (Graphics g = Graphics.FromImage(MainArea)) + { + g.Clear(Color.Gainsboro); + SolidBrush shadowBrush = new SolidBrush(Color.Black); + g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 }); + + foreach (var d in DroneList) + { + if (d.Azimuth >= 360) d.Azimuth -= 360; + var bmp = RotateImage(d.Drone, d.Azimuth); + + g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130); + + g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2)); + + //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130)); + + float x1 = 0, y1 = 0; + float x2 = 130, y2 = 0; + float x3 = 0, y3 = 130; + + const float TO_RADI = MathF.PI / 180; + + Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0); + Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI); + + tilt = tilt * rotate * rotate; + + if (tilt.Y > 0) + { + x1 = (int)(Math.Sin(tilt.Y) * 130); + x3 = (int)(Math.Sin(tilt.Y) * 130); + } + else + { + x2 = (int)(Math.Cos(tilt.Y) * 130); + } + + if (tilt.X > 0) + { + y1 = (int)(Math.Sin(tilt.X) * 130); + y2 = (int)(Math.Sin(tilt.X) * 130); + } + else + { + y3 = (int)(Math.Cos(tilt.X) * 130); + } + + PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2); + PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3); + PointF[] dest = { ul, ur, dl }; + + g.DrawImage(bmp, dest); + } + } + + drawCallback(MainArea); + } + + public void Move(int id, Vector3 pos, Vector4 tilt) + { + const float TO_GRAD = 180 / MathF.PI; + const float TO_RADI = MathF.PI / 180; + + foreach (var d in DroneList) + { + if (d.ID != id) continue; + + d.PosXY.X = (int)pos.X; + d.PosXY.Y = MainArea.Height - (int)pos.Y; + d.Height = 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=?UTF-8?q?=D0=B8=D0=B3=D0=BD=D0=BE=D1=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneSimulator/.gitignore => .gitignore | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename DroneSimulator/.gitignore => .gitignore (100%) diff --git a/DroneSimulator/.gitignore b/.gitignore similarity index 100% rename from DroneSimulator/.gitignore rename to .gitignore From b2599c94f89b6947cd80f49c74f047558a89d5ed Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Thu, 3 Apr 2025 22:59:03 +0300 Subject: [PATCH 10/34] =?UTF-8?q?=D0=B8=D0=B3=D0=BD=D0=BE=D1=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneClient/.gitignore | 3 --- 1 file changed, 3 deletions(-) delete mode 100644 DroneClient/.gitignore diff --git a/DroneClient/.gitignore b/DroneClient/.gitignore deleted file mode 100644 index 98d63b2..0000000 --- a/DroneClient/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -.vs/ -obj/ -bin/ \ No 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text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneSimulator/.gitignore | 1 + .../DroneSimulator.AssemblyInfo.cs | 12 ++++++------ .../DroneSimulator.AssemblyInfoInputs.cache | 2 +- ...or.GeneratedMSBuildEditorConfig.editorconfig | 2 +- .../net9.0-windows/DroneSimulator.assets.cache | Bin 231 -> 227 bytes .../obj/DroneSimulator.csproj.nuget.dgspec.json | 14 +++++++------- .../obj/DroneSimulator.csproj.nuget.g.props | 4 ++-- DroneSimulator/obj/project.assets.json | 12 ++++++------ DroneSimulator/obj/project.nuget.cache | 4 ++-- 9 files changed, 26 insertions(+), 25 deletions(-) create mode 100644 DroneSimulator/.gitignore diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore new file mode 100644 index 0000000..a4d6d9c --- /dev/null +++ b/DroneSimulator/.gitignore @@ -0,0 +1 @@ +.vs/ \ No newline at end of file diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs index a494b3c..8640a1f 100644 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs +++ b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs @@ -1,10 +1,10 @@ //------------------------------------------------------------------------------ // -// Этот код создан программой. -// Исполняемая версия:4.0.30319.42000 +// This code was generated by a tool. +// Runtime Version:4.0.30319.42000 // -// Изменения в этом файле могут привести к неправильной работе и будут потеряны в случае -// повторной генерации кода. +// Changes to this file may cause incorrect behavior and will be lost if +// the code is regenerated. // //------------------------------------------------------------------------------ @@ -14,12 +14,12 @@ using System.Reflection; [assembly: System.Reflection.AssemblyCompanyAttribute("DroneSimulator")] [assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")] [assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")] -[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")] +[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+ddf80ed6f73e1bc58ce17aed89a3889033108246")] [assembly: System.Reflection.AssemblyProductAttribute("DroneSimulator")] [assembly: System.Reflection.AssemblyTitleAttribute("DroneSimulator")] [assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")] [assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")] [assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")] -// Создано классом WriteCodeFragment MSBuild. +// Generated by the MSBuild WriteCodeFragment class. diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache index ac31a13..de2caba 100644 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache +++ b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache @@ -1 +1 @@ -7f461f329c2aabe3c068a957f4f02cdcdb168c359c556cd0c46598798ec3c65d +fe77b46f9af6de6fd357b7a45241ea3605973563d200d40676bd4154c43cb03e diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig index 62904fc..01bf74c 100644 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig +++ b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig @@ -14,7 +14,7 @@ build_property.PlatformNeutralAssembly = build_property.EnforceExtendedAnalyzerRules = build_property._SupportedPlatformList = Linux,macOS,Windows build_property.RootNamespace = DroneSimulator -build_property.ProjectDir = D:\CPL\Simulator\DroneSimulator\DroneSimulator\ +build_property.ProjectDir = D:\Files\GitHub\Simulator\DroneSimulator\ build_property.EnableComHosting = build_property.EnableGeneratedComInterfaceComImportInterop = build_property.CsWinRTUseWindowsUIXamlProjections = false diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache index c6f44beb03b109617223038eb810d1dfc0315217..f6146e95846eb0ab3391bf56bd8ff2c0c0626a79 100644 GIT binary patch delta 74 zcmaFP_?S^Mz}wxChk=2?J;vzVz4z}OlWaxQE^OYuxrr7tXcqEEgYEu delta 78 zcmV-U0I~n$0p|fJP)kQa3;+NCQjcpnorS^SGQ0(AV#&Oeq+h?Wj9KCn_5&ronGPxa k5Vkw6F*0ssI2B11Y{RdZ!>b6n7r(6G?G(6EtaeZt)!!vFvP diff --git a/DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json b/DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json index 51e9e8d..15a8023 100644 --- a/DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json +++ b/DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json @@ -1,23 +1,23 @@ { "format": 1, "restore": { - "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj": {} + "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj": {} }, "projects": { - "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj": { + "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj": { "version": "1.0.0", "restore": { - "projectUniqueName": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", + "projectUniqueName": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", "projectName": "DroneSimulator", - "projectPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", - "packagesPath": "C:\\Users\\Дана\\.nuget\\packages\\", - "outputPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\obj\\", + "projectPath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", + "packagesPath": "C:\\Users\\USER\\.nuget\\packages\\", + "outputPath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\obj\\", "projectStyle": "PackageReference", "fallbackFolders": [ "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages" ], "configFilePaths": [ - "C:\\Users\\Дана\\AppData\\Roaming\\NuGet\\NuGet.Config", + "C:\\Users\\USER\\AppData\\Roaming\\NuGet\\NuGet.Config", "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.FallbackLocation.config", "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.Offline.config" ], diff --git a/DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props b/DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props index 02c5408..c200bda 100644 --- a/DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props +++ b/DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props @@ -5,12 +5,12 @@ NuGet $(MSBuildThisFileDirectory)project.assets.json $(UserProfile)\.nuget\packages\ - C:\Users\Дана\.nuget\packages\;C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages + C:\Users\USER\.nuget\packages\;C:\Program Files (x86)\Microsoft Visual Studio\Shared\NuGetPackages PackageReference 6.13.2 - + \ No newline at end of file diff --git a/DroneSimulator/obj/project.assets.json b/DroneSimulator/obj/project.assets.json index 54aadae..b4a231d 100644 --- a/DroneSimulator/obj/project.assets.json +++ b/DroneSimulator/obj/project.assets.json @@ -8,23 +8,23 @@ "net9.0-windows7.0": [] }, "packageFolders": { - "C:\\Users\\Дана\\.nuget\\packages\\": {}, + "C:\\Users\\USER\\.nuget\\packages\\": {}, "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages": {} }, "project": { "version": "1.0.0", "restore": { - "projectUniqueName": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", + "projectUniqueName": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", "projectName": "DroneSimulator", - "projectPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", - "packagesPath": "C:\\Users\\Дана\\.nuget\\packages\\", - "outputPath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\obj\\", + "projectPath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", + "packagesPath": "C:\\Users\\USER\\.nuget\\packages\\", + "outputPath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\obj\\", "projectStyle": "PackageReference", "fallbackFolders": [ "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages" ], "configFilePaths": [ - "C:\\Users\\Дана\\AppData\\Roaming\\NuGet\\NuGet.Config", + "C:\\Users\\USER\\AppData\\Roaming\\NuGet\\NuGet.Config", "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.FallbackLocation.config", "C:\\Program Files (x86)\\NuGet\\Config\\Microsoft.VisualStudio.Offline.config" ], diff --git a/DroneSimulator/obj/project.nuget.cache b/DroneSimulator/obj/project.nuget.cache index f08d225..ce3cf50 100644 --- a/DroneSimulator/obj/project.nuget.cache +++ b/DroneSimulator/obj/project.nuget.cache @@ -1,8 +1,8 @@ { "version": 2, - "dgSpecHash": "PBD6ejBWMGo=", + "dgSpecHash": "xXbw4XbSJV8=", "success": true, - "projectFilePath": "D:\\CPL\\Simulator\\DroneSimulator\\DroneSimulator\\DroneSimulator.csproj", + "projectFilePath": "D:\\Files\\GitHub\\Simulator\\DroneSimulator\\DroneSimulator.csproj", "expectedPackageFiles": [], "logs": [] } \ No newline at end of file From e1eb3bd73fce60ac23526ba4038f6eb43b265816 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Mon, 31 Mar 2025 19:58:01 +0300 Subject: [PATCH 16/34] =?UTF-8?q?=D0=B8=D0=B3=D0=BD=D0=BE=D1=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneSimulator/.gitignore | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore index a4d6d9c..98d63b2 100644 --- a/DroneSimulator/.gitignore +++ b/DroneSimulator/.gitignore @@ -1 +1,3 @@ -.vs/ \ No newline at end of file +.vs/ +obj/ +bin/ \ No newline at end of file From b19fb44822f90db390a3bf9367dd5622648eb69c Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Mon, 31 Mar 2025 19:58:36 +0300 Subject: [PATCH 17/34] =?UTF-8?q?=D1=83=D0=B1=D0=B8=D0=B2=D0=B0=D1=82?= =?UTF-8?q?=D1=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../net9.0-windows/DroneSimulator.deps.json | 23 ----- .../Debug/net9.0-windows/DroneSimulator.dll | Bin 58368 -> 0 bytes .../Debug/net9.0-windows/DroneSimulator.exe | Bin 162304 -> 0 bytes .../Debug/net9.0-windows/DroneSimulator.pdb | Bin 19740 -> 0 bytes .../DroneSimulator.runtimeconfig.json | 19 ---- ...CoreApp,Version=v9.0.AssemblyAttributes.cs | 4 - .../DroneSimulator.AssemblyInfo.cs | 25 ------ .../DroneSimulator.AssemblyInfoInputs.cache | 1 - .../DroneSimulator.Form_Main.resources | Bin 15363 -> 0 bytes ....GeneratedMSBuildEditorConfig.editorconfig | 22 ----- .../DroneSimulator.GlobalUsings.g.cs | 10 --- .../DroneSimulator.assets.cache | Bin 227 -> 0 bytes ...oneSimulator.csproj.BuildWithSkipAnalyzers | 0 ...neSimulator.csproj.CoreCompileInputs.cache | 1 - ...DroneSimulator.csproj.FileListAbsolute.txt | 48 ---------- ...oneSimulator.csproj.GenerateResource.cache | Bin 102 -> 0 bytes .../DroneSimulator.designer.deps.json | 11 --- ...DroneSimulator.designer.runtimeconfig.json | 25 ------ .../Debug/net9.0-windows/DroneSimulator.dll | Bin 58368 -> 0 bytes .../DroneSimulator.genruntimeconfig.cache | 1 - .../Debug/net9.0-windows/DroneSimulator.pdb | Bin 19740 -> 0 bytes .../obj/Debug/net9.0-windows/apphost.exe | Bin 162304 -> 0 bytes .../net9.0-windows/ref/DroneSimulator.dll | Bin 24064 -> 0 bytes .../net9.0-windows/refint/DroneSimulator.dll | Bin 24064 -> 0 bytes .../DroneSimulator.csproj.nuget.dgspec.json | 76 ---------------- .../obj/DroneSimulator.csproj.nuget.g.props | 16 ---- .../obj/DroneSimulator.csproj.nuget.g.targets | 2 - DroneSimulator/obj/project.assets.json | 82 ------------------ DroneSimulator/obj/project.nuget.cache | 8 -- 29 files changed, 374 deletions(-) delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.deps.json delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.dll delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.exe delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.pdb delete mode 100644 DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.runtimeconfig.json delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.Form_Main.resources delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.GenerateResource.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.designer.deps.json delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.designer.runtimeconfig.json delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.dll delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.genruntimeconfig.cache delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.pdb delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/apphost.exe delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/ref/DroneSimulator.dll delete mode 100644 DroneSimulator/obj/Debug/net9.0-windows/refint/DroneSimulator.dll delete mode 100644 DroneSimulator/obj/DroneSimulator.csproj.nuget.dgspec.json delete mode 100644 DroneSimulator/obj/DroneSimulator.csproj.nuget.g.props delete mode 100644 DroneSimulator/obj/DroneSimulator.csproj.nuget.g.targets delete mode 100644 DroneSimulator/obj/project.assets.json delete mode 100644 DroneSimulator/obj/project.nuget.cache diff --git a/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.deps.json b/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.deps.json deleted file mode 100644 index fbaa818..0000000 --- a/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.deps.json +++ /dev/null @@ -1,23 +0,0 @@ -{ - "runtimeTarget": { - "name": ".NETCoreApp,Version=v9.0", - "signature": "" - }, - "compilationOptions": {}, - "targets": { - ".NETCoreApp,Version=v9.0": { - "DroneSimulator/1.0.0": { - "runtime": { - "DroneSimulator.dll": {} - } - } - } - }, - "libraries": { - "DroneSimulator/1.0.0": { - "type": "project", - "serviceable": false, - "sha512": "" - } - } -} \ No newline at end of file diff --git a/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.dll b/DroneSimulator/bin/Debug/net9.0-windows/DroneSimulator.dll deleted file mode 100644 index d16af7e78125208b3b5d823aa634ba2e6baee84b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 58368 zcmdRXcU%<7^Jvd(WQj{gKvq#)0TB>$K%!zI3W%q;zygcF;_iYVqJTN)Gv}PMo;jVK zIeVT7!=0GZnLWi<)w2r=-uL@{?|nY+kGI~|R8?13S65e8_w>wiJ(H#q9wCGe-|ycE z`30`{=}h5&2c=MK;kMU;>@Ydk;1{OHxdw5WDy=L}qt4JMa%8EB++4LzmZFqt@^fXX 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a/DroneSimulator/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs b/DroneSimulator/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs deleted file mode 100644 index feda5e9..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/.NETCoreApp,Version=v9.0.AssemblyAttributes.cs +++ /dev/null @@ -1,4 +0,0 @@ -// -using System; -using System.Reflection; -[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETCoreApp,Version=v9.0", FrameworkDisplayName = ".NET 9.0")] diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs deleted file mode 100644 index 8640a1f..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfo.cs +++ /dev/null @@ -1,25 +0,0 @@ -//------------------------------------------------------------------------------ -// -// This code was generated by a tool. -// Runtime Version:4.0.30319.42000 -// -// Changes to this file may cause incorrect behavior and will be lost if -// the code is regenerated. -// -//------------------------------------------------------------------------------ - -using System; -using System.Reflection; - -[assembly: System.Reflection.AssemblyCompanyAttribute("DroneSimulator")] -[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")] -[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")] -[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+ddf80ed6f73e1bc58ce17aed89a3889033108246")] -[assembly: System.Reflection.AssemblyProductAttribute("DroneSimulator")] -[assembly: System.Reflection.AssemblyTitleAttribute("DroneSimulator")] -[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")] -[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")] -[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")] - -// Generated by the MSBuild 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-build_property.ApplicationUseCompatibleTextRendering = -build_property.ApplicationVisualStyles = -build_property.TargetFramework = net9.0-windows -build_property.TargetPlatformMinVersion = 7.0 -build_property.UsingMicrosoftNETSdkWeb = -build_property.ProjectTypeGuids = -build_property.InvariantGlobalization = -build_property.PlatformNeutralAssembly = -build_property.EnforceExtendedAnalyzerRules = -build_property._SupportedPlatformList = Linux,macOS,Windows -build_property.RootNamespace = DroneSimulator -build_property.ProjectDir = D:\Files\GitHub\Simulator\DroneSimulator\ -build_property.EnableComHosting = -build_property.EnableGeneratedComInterfaceComImportInterop = -build_property.CsWinRTUseWindowsUIXamlProjections = false -build_property.EffectiveAnalysisLevelStyle = 9.0 -build_property.EnableCodeStyleSeverity = diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs deleted file mode 100644 index 84bbb89..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs +++ /dev/null @@ -1,10 +0,0 @@ -// -global using global::System; -global using global::System.Collections.Generic; -global using global::System.Drawing; -global using global::System.IO; -global using global::System.Linq; -global using global::System.Net.Http; -global using global::System.Threading; -global using global::System.Threading.Tasks; -global using global::System.Windows.Forms; diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.assets.cache deleted file mode 100644 index f6146e95846eb0ab3391bf56bd8ff2c0c0626a79..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 227 zcmWIWc6a1qU|?{MF*v1V9ZVtq diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers deleted file mode 100644 index e69de29..0000000 diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache deleted file mode 100644 index 50ef240..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache +++ /dev/null @@ -1 +0,0 @@ -051ffb89f1ee627ab3b9aaef920afd665a18f0f3c3fe82852812d5c6608dcb30 diff --git a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt b/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt deleted file mode 100644 index c46d5df..0000000 --- a/DroneSimulator/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt +++ /dev/null @@ -1,48 +0,0 @@ -R:\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.exe 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zgRHc`@L}hexf(R6o^&|%!zb9=M<(H!Ch7y*`w;A6)Rhu<#?K&AO)z$N26wv1N)2|I z!PY>cy%@kgLU;>VLEFZRfQLQ;m@ejFfb{WO5JML{AV#R+6MjJ;;ADWhVG<~oE}n4L zMX(W36O$OBVVIFG9d@C4(NR}462Ap;39Kfp2EvO!vLuQ?u>2zlQ6e*$HlWT)MYP`a z#f71?VStN8YJ(_XH(cHUSRl}WE;bqish)|qf9LxLtfo|T{}XJR5`j)TW6?Te?Gklv z@c&UFBdjYBLmz91sA&V-z%;Re=%T-Cax&u>6y5Lu|=LZ~7Wl~i!? zIL8qkHnuhmA1Bi&UaMT1zB5E=~7>mqRQ5Q5&75Or{nxW~inH!1dXb|eoAbRms zYHQsVg!|Xh_V4RJOZz~}D4=&Rq!Hng7nA}*U_D%RB3u$fct!Jv zr{=gg+H?d_4i2|Wl#v#LgJUj;+sveapBFB|AX(t2qJ*>=LV})#OGf0|g$ys;(U6`< zpTUOx**FLcQ%SW%kql&x_1O_(MJ|05J?#)Zorbr4oApvw#XT7zVh0>fsHmx6XO7jM zOw^1KJRL=cr-4}T0IBrJ)OSAAicZ@##vXsu(Seihu;-s<426d}SH=Aw)CU7LOw%BU z0`~9>8nik#*A7^22ygHUs8B+6ARb*>Q9a07p~Psj3TOH^DGvHU_^w9NqS@0X8PeP# xvLs9m;x`o>gn~ry-v`J^1kXC)m>kDd3M3*;M~$XSv!;a^f(0Vfw -using System; -using System.Reflection; -[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETCoreApp,Version=v9.0", FrameworkDisplayName = ".NET 9.0")] diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfo.cs b/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfo.cs deleted file mode 100644 index a3fe7a8..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfo.cs +++ /dev/null @@ -1,25 +0,0 @@ -//------------------------------------------------------------------------------ -// -// Этот код создан программой. -// Исполняемая версия:4.0.30319.42000 -// -// Изменения в этом файле могут привести к неправильной работе и будут потеряны в случае -// повторной генерации кода. -// -//------------------------------------------------------------------------------ - -using System; -using System.Reflection; - -[assembly: System.Reflection.AssemblyCompanyAttribute("DroneClient")] -[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")] -[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")] -[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")] -[assembly: System.Reflection.AssemblyProductAttribute("DroneClient")] -[assembly: System.Reflection.AssemblyTitleAttribute("DroneClient")] -[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")] -[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")] -[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")] - -// Создано классом WriteCodeFragment MSBuild. - diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfoInputs.cache b/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfoInputs.cache deleted file mode 100644 index 550a2a5..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneClient.AssemblyInfoInputs.cache +++ /dev/null @@ -1 +0,0 @@ -372de9fd6d36597e50cdb2250f48b9cb0d5e8e1a2d1e568b83e287afe9580301 diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.GeneratedMSBuildEditorConfig.editorconfig b/DroneClient/obj/Debug/net9.0-windows/DroneClient.GeneratedMSBuildEditorConfig.editorconfig deleted file mode 100644 index 8652b6b..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneClient.GeneratedMSBuildEditorConfig.editorconfig +++ /dev/null @@ -1,22 +0,0 @@ -is_global = true -build_property.ApplicationManifest = -build_property.StartupObject = -build_property.ApplicationDefaultFont = -build_property.ApplicationHighDpiMode = -build_property.ApplicationUseCompatibleTextRendering = -build_property.ApplicationVisualStyles = -build_property.TargetFramework = net9.0-windows -build_property.TargetPlatformMinVersion = 7.0 -build_property.UsingMicrosoftNETSdkWeb = -build_property.ProjectTypeGuids = -build_property.InvariantGlobalization = -build_property.PlatformNeutralAssembly = -build_property.EnforceExtendedAnalyzerRules = -build_property._SupportedPlatformList = Linux,macOS,Windows -build_property.RootNamespace = DroneClient -build_property.ProjectDir = D:\CPL\Simulator\DroneClient\DroneClient\ -build_property.EnableComHosting = -build_property.EnableGeneratedComInterfaceComImportInterop = -build_property.CsWinRTUseWindowsUIXamlProjections = false -build_property.EffectiveAnalysisLevelStyle = 9.0 -build_property.EnableCodeStyleSeverity = diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.GlobalUsings.g.cs b/DroneClient/obj/Debug/net9.0-windows/DroneClient.GlobalUsings.g.cs deleted file mode 100644 index 84bbb89..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneClient.GlobalUsings.g.cs +++ /dev/null @@ -1,10 +0,0 @@ -// -global using global::System; -global using global::System.Collections.Generic; -global using global::System.Drawing; -global using global::System.IO; -global using global::System.Linq; -global using global::System.Net.Http; -global using global::System.Threading; -global using global::System.Threading.Tasks; -global using global::System.Windows.Forms; diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneClient.assets.cache 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System.Reflection.AssemblyTitleAttribute("DroneSimulator")] -[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")] -[assembly: System.Runtime.Versioning.TargetPlatformAttribute("Windows7.0")] -[assembly: System.Runtime.Versioning.SupportedOSPlatformAttribute("Windows7.0")] - -// Generated by the MSBuild WriteCodeFragment class. - diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache deleted file mode 100644 index ac31a13..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.AssemblyInfoInputs.cache +++ /dev/null @@ -1 +0,0 @@ -7f461f329c2aabe3c068a957f4f02cdcdb168c359c556cd0c46598798ec3c65d diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.Form_Main.resources b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.Form_Main.resources deleted file mode 100644 index 6c05a9776bd7cbae976fdcec7e3a254e93018279..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 180 zcmX?i>is@O1_p+SK%5g?SzMBus~417oL^d$oLUTL1*ImYq!#HYR*8GxXUf^%t3Noi54ZC+|=Nl{{sjzU0bQch;FcWPxwes*e}ZIZcpqG__J onW3ezNveT`r81^vrFkWpxv4PQgHubGfR2KJ07n-P+5+SQ04Y>DD*ylh diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig deleted file mode 100644 index 3009e19..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GeneratedMSBuildEditorConfig.editorconfig +++ /dev/null @@ -1,22 +0,0 @@ -is_global = true -build_property.ApplicationManifest = -build_property.StartupObject = -build_property.ApplicationDefaultFont = -build_property.ApplicationHighDpiMode = -build_property.ApplicationUseCompatibleTextRendering = -build_property.ApplicationVisualStyles = -build_property.TargetFramework = net9.0-windows -build_property.TargetPlatformMinVersion = 7.0 -build_property.UsingMicrosoftNETSdkWeb = -build_property.ProjectTypeGuids = -build_property.InvariantGlobalization = -build_property.PlatformNeutralAssembly = -build_property.EnforceExtendedAnalyzerRules = -build_property._SupportedPlatformList = Linux,macOS,Windows -build_property.RootNamespace = DroneSimulator -build_property.ProjectDir = D:\Files\Main\Projects\Fly\DroneClient\ -build_property.EnableComHosting = -build_property.EnableGeneratedComInterfaceComImportInterop = -build_property.CsWinRTUseWindowsUIXamlProjections = false -build_property.EffectiveAnalysisLevelStyle = 9.0 -build_property.EnableCodeStyleSeverity = diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs deleted file mode 100644 index 84bbb89..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.GlobalUsings.g.cs +++ /dev/null @@ -1,10 +0,0 @@ -// -global using global::System; -global using global::System.Collections.Generic; -global using global::System.Drawing; -global using global::System.IO; -global using global::System.Linq; -global using global::System.Net.Http; -global using global::System.Threading; -global using global::System.Threading.Tasks; -global using global::System.Windows.Forms; diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.assets.cache b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.assets.cache deleted file mode 100644 index dd57bbd4344680fc71625cecf4a60d6747a8b9bf..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 227 zcmWIWc6a1qU|?Wp>r;y5lkZ&LqPE{vYq|0cezlqDyOqAWbeib|uHVXhAE<^{zywq% z=WG=dTAW%`91|Ms8Wf|KSDKz$5>t?voSm4SS{ws1${naApeR4RC^1*TEi)&zSV7gu zqQb&V)yOi&H#4~?zc@dwL?JA*xHK_GA-JS8B{M%JI3uwrH6_Nc)IGH%0BRT^X8`~b Ctumhg diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.BuildWithSkipAnalyzers deleted file mode 100644 index e69de29..0000000 diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache deleted file mode 100644 index 50ef240..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.CoreCompileInputs.cache +++ /dev/null @@ -1 +0,0 @@ -051ffb89f1ee627ab3b9aaef920afd665a18f0f3c3fe82852812d5c6608dcb30 diff --git a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt b/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt deleted file mode 100644 index 93aac95..0000000 --- a/DroneClient/obj/Debug/net9.0-windows/DroneSimulator.csproj.FileListAbsolute.txt +++ /dev/null @@ -1,32 +0,0 @@ -R:\DroneSimulator\bin\Debug\net9.0-windows\DroneSimulator.exe 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- "version": 2, - "dgSpecHash": "ddOSNwF62rQ=", - "success": true, - "projectFilePath": "D:\\CPL\\Simulator\\DroneClient\\DroneClient\\DroneClient.csproj", - "expectedPackageFiles": [], - "logs": [] -} \ No newline at end of file From 215236fa15b65903a96a37b7ac1aeae78337abec Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Mon, 31 Mar 2025 20:09:45 +0300 Subject: [PATCH 19/34] =?UTF-8?q?=D0=9F=D0=BE=D1=87=D0=B8=D0=BD=D0=B8?= =?UTF-8?q?=D0=BD=20Socket?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneClient/NetClient.cs | 34 +++++++++++++++++------------- DroneSimulator/FormMain.cs | 4 +++- DroneSimulator/NetServerClients.cs | 26 +++++++++++++++++------ 3 files changed, 41 insertions(+), 23 deletions(-) diff --git a/DroneClient/NetClient.cs b/DroneClient/NetClient.cs index 603c61f..27f8f61 100644 --- a/DroneClient/NetClient.cs +++ b/DroneClient/NetClient.cs @@ -31,6 +31,7 @@ namespace DroneSimulator public byte[] buffer = new byte[size]; } + private bool Connected = false; private Socket? ServerSocket = null; private ServerData DataServer = new ServerData(); @@ -43,10 +44,11 @@ namespace DroneSimulator public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive) { - if (ServerSocket != null) + if (Connected) { - ServerSocket.Close(); - ServerSocket = null; + try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { } + ServerSocket?.Close(); + Connected = false; return ClientState.Stop; } @@ -56,24 +58,26 @@ namespace DroneSimulator IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port); ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); - try - { - ServerSocket.Connect(ep); - } - catch { ServerSocket.Close(); ServerSocket = null; return ClientState.Error; } + try { ServerSocket.Connect(ep); } + catch { ServerSocket.Close(); return ClientState.Error; } + + Connected = true; ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket }); ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket }; - ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); + + try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); } + catch { } return ClientState.Connected; } public void Close() { + try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { } ServerSocket?.Close(); - ServerSocket = null; + Connected = false; } public void ReadCallback(IAsyncResult ar) @@ -82,23 +86,23 @@ namespace DroneSimulator if (cd == null) return; int bytes = 0; - try { bytes = ServerSocket.EndReceive(ar); } - catch { } + try { bytes = ServerSocket.EndReceive(ar); } catch { } if (bytes == 0) { ServerSocket?.Close(); - if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null }); + Connected = false; - ServerSocket = null; + if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null }); return; } ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket }); - ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); + try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); } + catch { } } } } diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs index b7926ff..9e6489a 100644 --- a/DroneSimulator/FormMain.cs +++ b/DroneSimulator/FormMain.cs @@ -81,7 +81,8 @@ namespace DroneSimulator od.PosX= drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y; od.LaserRange = drone.LaserRange; - data.Client.Send(od.getBytes()); + try { data.Client.Send(od.getBytes()); } + catch { } } private void button_Client_Start_Click(object sender, EventArgs e) @@ -102,6 +103,7 @@ namespace DroneSimulator } case NetServerClients.ServerState.Stop: { + label_Clients_Num.Text = "0"; button_Client_Start.Text = "Start"; button_Client_Start.BackColor = Color.Transparent; break; diff --git a/DroneSimulator/NetServerClients.cs b/DroneSimulator/NetServerClients.cs index d8ebdce..0a6384d 100644 --- a/DroneSimulator/NetServerClients.cs +++ b/DroneSimulator/NetServerClients.cs @@ -38,7 +38,7 @@ namespace DroneSimulator private int SocketID = 0; private int SocketLimit; - private Socket? ServerSocket = null; + private Socket? ServerSocket; private List ClientSockets = new List(); public delegate void ServerCallback(object o); @@ -46,14 +46,21 @@ namespace DroneSimulator private ServerCallback? ConnectionCallback; private ServerCallback? ReceiveCallback; + private bool Active = false; + public enum ServerState { Error, Start, Stop }; public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) { - if (ServerSocket != null) + if (Active) { - ServerSocket.Close(); - foreach (ClientData c in ClientSockets) { c.workSocket?.Shutdown(SocketShutdown.Both); c.workSocket?.Close(); } + ServerSocket?.Close(); + foreach (ClientData c in ClientSockets) + { + try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } + c.workSocket?.Close(); + } + ClientSockets.Clear(); return ServerState.Stop; } @@ -70,8 +77,9 @@ namespace DroneSimulator ServerSocket.Bind(ip); ServerSocket.Listen(10); ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); + Active = true; } - catch { ServerSocket.Close(); ServerSocket = null; return ServerState.Error; } + catch { ServerSocket.Close(); return ServerState.Error; } return ServerState.Start; } @@ -84,7 +92,7 @@ namespace DroneSimulator Socket handler; try { handler = listener.EndAccept(ar); } - catch{ ServerSocket?.Close(); ServerSocket = null; return; } + catch{ ServerSocket?.Close(); Active = false; return; } if (SocketLimit > ClientSockets.Count) { @@ -127,7 +135,11 @@ namespace DroneSimulator ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); - cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + try + { + cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + } + catch { } } } } From 2c08331bbeff66d80287f0f448e09acaff9b97d3 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Mon, 31 Mar 2025 20:36:04 +0300 Subject: [PATCH 20/34] =?UTF-8?q?=D0=BD=D0=B5=D0=BD=D1=83=D0=BD=D0=B0=20?= =?UTF-8?q?=D1=82=D1=83=D1=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneSimulator/.gitignore | 3 - DroneSimulator/Drone.cs | 262 -------------- DroneSimulator/DroneSimulator.csproj | 16 - DroneSimulator/DroneSimulator.csproj.user | 8 - DroneSimulator/DroneSimulator.sln | 25 -- DroneSimulator/FormMain.Designer.cs | 420 ---------------------- DroneSimulator/FormMain.cs | 150 -------- DroneSimulator/FormMain.resx | 383 -------------------- DroneSimulator/NetServerClients.cs | 145 -------- DroneSimulator/Program.cs | 17 - DroneSimulator/Screen2D.cs | 186 ---------- DroneSimulator/icon.ico | Bin 14898 -> 0 bytes 12 files changed, 1615 deletions(-) delete mode 100644 DroneSimulator/.gitignore delete mode 100644 DroneSimulator/Drone.cs delete mode 100644 DroneSimulator/DroneSimulator.csproj delete mode 100644 DroneSimulator/DroneSimulator.csproj.user delete mode 100644 DroneSimulator/DroneSimulator.sln delete mode 100644 DroneSimulator/FormMain.Designer.cs delete mode 100644 DroneSimulator/FormMain.cs delete mode 100644 DroneSimulator/FormMain.resx delete mode 100644 DroneSimulator/NetServerClients.cs delete mode 100644 DroneSimulator/Program.cs delete mode 100644 DroneSimulator/Screen2D.cs delete mode 100644 DroneSimulator/icon.ico diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore deleted file mode 100644 index 98d63b2..0000000 --- a/DroneSimulator/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -.vs/ -obj/ -bin/ \ No newline at end of file diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs deleted file mode 100644 index df65b3a..0000000 --- a/DroneSimulator/Drone.cs +++ /dev/null @@ -1,262 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Numerics; -using System.Runtime.InteropServices; -using System.Text; -using System.Threading.Tasks; -using static System.Windows.Forms.AxHost; - -namespace DroneSimulator -{ - internal class Drone - { - public int ID; - public float Mass; // Масса - public bool Active; // Живой? - public float Length; // Длинна лучей - public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение - public Quaternion Quat; // Основной кватернион - public float Power = 0; // Тяга всех двигателей - public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw - - public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп - public float LaserRange; // Имитация: Дальномер - - private const float Gravity = 1.0f; - - private const float TO_GRAD = 180 / MathF.PI; - private const float TO_RADI = MathF.PI / 180; - - private Thread DroneThread; - private int Timer; - - private static int CounterID = 0; - - - - public struct DataOut - { - public float AccX, AccY, AccZ; - public float GyrX, GyrY, GyrZ; - public float PosX, PosY; - public float LaserRange; - - public byte[] getBytes() - { - int size = Marshal.SizeOf(this); - byte[] arr = new byte[size]; - - IntPtr ptr = IntPtr.Zero; - try - { - ptr = Marshal.AllocHGlobal(size); - Marshal.StructureToPtr(this, ptr, true); - Marshal.Copy(ptr, arr, 0, size); - } - finally - { - Marshal.FreeHGlobal(ptr); - } - return arr; - } - } - - public struct DataIn - { - public float MotorUL, MotorUR, MotorDL, MotorDR; - - public void fromBytes(byte[] arr) - { - DataIn mem = new DataIn(); - - int size = Marshal.SizeOf(mem); - IntPtr ptr = IntPtr.Zero; - try - { - ptr = Marshal.AllocHGlobal(size); - - Marshal.Copy(arr, 0, ptr, size); - - mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType()); - } - finally - { - Marshal.FreeHGlobal(ptr); - } - - this = mem; - } - } - - private void ThreadFunction() - { - while (DroneThread != null) - { - float time = Environment.TickCount - Timer; - Timer = Environment.TickCount; - Action(time / 100); - Thread.Sleep(1); - } - } - - public Drone(int id) - { - ID = id; - Active = false; - PosXYZ = new Vector3(2000, 1000, 0); - SpdXYZ = Vector3.Zero; - AccXYZ = Vector3.Zero; - Quat = Quaternion.Identity; - - DroneThread = new Thread(new ThreadStart(ThreadFunction)); - Timer = Environment.TickCount; - DroneThread.Start(); - } - - public int Create(float mass, float len) - { - Mass = Range(mass); - Length = len; - - Active = true; - - return ID; - } - - public void Close() - { - DroneThread = null; - } - - private float GetAngle(float a1, float a2, float az) - { - if (a2 == 0.0f && az == 0.0f) - { - if (a1 > 0) return 90; - if (a1 < 0) return -90; - return 0; - } - return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD; - } - - public void Rotate(float x, float y, float z) - { - x = x * MathF.PI / 180; - y = y * MathF.PI / 180; - z = -z * MathF.PI / 180; - - Quaternion map = Quat; - Quaternion spd = new Quaternion(x, y, z, 0); - Quaternion aq = spd * map; - - map.W -= 0.5f * aq.W; - map.X -= 0.5f * aq.X; - map.Y -= 0.5f * aq.Y; - map.Z -= 0.5f * aq.Z; - - Quat = Quaternion.Normalize(map); - } - - public Vector4 GetOrientation() - { - Quaternion grav = new Quaternion(0, 0, 1, 0); - - grav = (Quat * grav) * Quaternion.Inverse(Quat); - - float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD; - if (yaw < 0.0f) yaw = 360.0f + yaw; - - return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z); - } - - public void Action(float time) - { - if (!Active) return; - - float flow = Power; - - if (PosXYZ.Z < 100) - { - flow += flow * 0.1f; // Воздушная подушка - } - - Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat; - AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass; - - SpdPRY += AccPRY * time / (Mass * Length); - - SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time; - PosXYZ += SpdXYZ * time; - - if (PosXYZ.Z < 0) - { - SpdPRY = Vector3.Zero; - SpdXYZ.X = 0; - SpdXYZ.Y = 0; - Quat = Quaternion.Identity; - } - else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z); - - Vector4 ori = GetOrientation(); - - if (PosXYZ.Z < 0) - { - PosXYZ.Z = 0; - - /*if (SpdXYZ.Z < -5) - { - Active = false; // Сильно ударился о землю - }*/ - - /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45) - { - Active = false; // Повредил винты при посадке - }*/ - - SpdXYZ.Z = 0; - - Acc = new Vector3(0, 0, 1); - Gyr = Vector3.Zero; - LaserRange = 0; - } - else - { - /*if (ori.W < 0) - { - Active = false; // Перевернулся вверх ногами - }*/ - - Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0); - grav = (Quat * grav) * Quaternion.Inverse(Quat); - Acc = new Vector3(grav.X, grav.Y, grav.Z); - - Gyr = SpdPRY; - - float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI; - - if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt); - else LaserRange = float.MaxValue; - } - } - - private float Range(float pow) - { - if (pow > 1) pow = 1; - if (pow < 0) pow = 0; - - return pow; - } - - public void SetQadroPow(float ul, float ur, float dl, float dr) - { - ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr); - - Power = (ul + ur + dl + dr) / 4; - - AccPRY.Y = ((ul + dl) - (ur + dr)); - AccPRY.X = ((ul + ur) - (dl + dr)); - AccPRY.Z = ((ul + dr) - (dl + ur)) / 4; - } - } -} diff --git a/DroneSimulator/DroneSimulator.csproj b/DroneSimulator/DroneSimulator.csproj deleted file mode 100644 index da8dc2d..0000000 --- a/DroneSimulator/DroneSimulator.csproj +++ /dev/null @@ -1,16 +0,0 @@ - - - - WinExe - net9.0-windows - enable - true - enable - icon.ico - - - - - - - \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.csproj.user b/DroneSimulator/DroneSimulator.csproj.user deleted file mode 100644 index cf5c74f..0000000 --- a/DroneSimulator/DroneSimulator.csproj.user +++ /dev/null @@ -1,8 +0,0 @@ - - - - - Form - - - \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.sln b/DroneSimulator/DroneSimulator.sln deleted file mode 100644 index 05ccc73..0000000 --- a/DroneSimulator/DroneSimulator.sln +++ /dev/null @@ -1,25 +0,0 @@ - -Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio Version 17 -VisualStudioVersion = 17.13.35913.81 d17.13 -MinimumVisualStudioVersion = 10.0.40219.1 -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DroneSimulator", "DroneSimulator.csproj", "{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - Debug|Any CPU = Debug|Any CPU - Release|Any CPU = Release|Any CPU - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.Build.0 = Debug|Any CPU - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.ActiveCfg = Release|Any CPU - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.Build.0 = Release|Any CPU - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection - GlobalSection(ExtensibilityGlobals) = postSolution - SolutionGuid = {F4724E16-C228-4B38-BB06-B90A7A057219} - EndGlobalSection -EndGlobal diff --git a/DroneSimulator/FormMain.Designer.cs b/DroneSimulator/FormMain.Designer.cs deleted file mode 100644 index 2997b8d..0000000 --- a/DroneSimulator/FormMain.Designer.cs +++ /dev/null @@ -1,420 +0,0 @@ -namespace DroneSimulator -{ - partial class Form_Main - { - ///

- /// Required designer variable. - /// - private System.ComponentModel.IContainer components = null; - - /// - /// Clean up any resources being used. - /// - /// true if managed resources should be disposed; otherwise, false. - protected override void Dispose(bool disposing) - { - if (disposing && (components != null)) - { - components.Dispose(); - } - base.Dispose(disposing); - } - - #region Windows Form Designer generated code - - /// - /// Required method for Designer support - do not modify - /// the contents of this method with the code editor. - /// - private void InitializeComponent() - { - components = new System.ComponentModel.Container(); - System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form_Main)); - menuStrip_Menu = new MenuStrip(); - fileToolStripMenuItem = new ToolStripMenuItem(); - exitToolStripMenuItem = new ToolStripMenuItem(); - groupBox_Screen = new GroupBox(); - pictureBox_2D = new PictureBox(); - tabControl_Menu = new TabControl(); - tabPage_Main = new TabPage(); - groupBox_Visual = new GroupBox(); - button_Visual_Start = new Button(); - numericUpDown_Visual_Port = new NumericUpDown(); - label_Visual_Port = new Label(); - groupBox_Clients = new GroupBox(); - numericUpDown_Clients_Limit = new NumericUpDown(); - label_Clients_Limit = new Label(); - label_Clients_Num = new Label(); - label_Clients_Count = new Label(); - button_Client_Start = new Button(); - numericUpDown_Clients_Port = new NumericUpDown(); - label_Clients_Port = new Label(); - tabPage_Model = new TabPage(); - tabPage_Area = new TabPage(); - groupBox_Navi = new GroupBox(); - panel1 = new Panel(); - button_Drone_Color = new Button(); - comboBox_Drone_Rotor = new ComboBox(); - comboBox_Drone = new ComboBox(); - timer_Test = new System.Windows.Forms.Timer(components); - menuStrip_Menu.SuspendLayout(); - groupBox_Screen.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit(); - tabControl_Menu.SuspendLayout(); - tabPage_Main.SuspendLayout(); - groupBox_Visual.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit(); - groupBox_Clients.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit(); - groupBox_Navi.SuspendLayout(); - panel1.SuspendLayout(); - SuspendLayout(); - // - // menuStrip_Menu - // - menuStrip_Menu.Items.AddRange(new ToolStripItem[] { fileToolStripMenuItem }); - menuStrip_Menu.Location = new Point(0, 0); - menuStrip_Menu.Name = "menuStrip_Menu"; - menuStrip_Menu.Size = new Size(884, 24); - menuStrip_Menu.TabIndex = 0; - menuStrip_Menu.Text = "menuStrip1"; - // - // fileToolStripMenuItem - // - fileToolStripMenuItem.DropDownItems.AddRange(new ToolStripItem[] { exitToolStripMenuItem }); - fileToolStripMenuItem.Name = "fileToolStripMenuItem"; - fileToolStripMenuItem.Size = new Size(37, 20); - fileToolStripMenuItem.Tag = "#file"; - fileToolStripMenuItem.Text = "File"; - // - // exitToolStripMenuItem - // - exitToolStripMenuItem.Name = "exitToolStripMenuItem"; - exitToolStripMenuItem.Size = new Size(93, 22); - exitToolStripMenuItem.Tag = "#exit"; - exitToolStripMenuItem.Text = "Exit"; - exitToolStripMenuItem.Click += exitToolStripMenuItem_Click; - // - // groupBox_Screen - // - groupBox_Screen.Controls.Add(pictureBox_2D); - groupBox_Screen.Dock = DockStyle.Fill; - groupBox_Screen.Location = new Point(218, 24); - groupBox_Screen.Name = "groupBox_Screen"; - groupBox_Screen.Size = new Size(466, 437); - groupBox_Screen.TabIndex = 1; - groupBox_Screen.TabStop = false; - // - // pictureBox_2D - // - pictureBox_2D.BackColor = Color.Gainsboro; - pictureBox_2D.Dock = DockStyle.Fill; - pictureBox_2D.Location = new Point(3, 19); - pictureBox_2D.Name = "pictureBox_2D"; - pictureBox_2D.Size = new Size(460, 415); - pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom; - pictureBox_2D.TabIndex = 0; - pictureBox_2D.TabStop = false; - // - // tabControl_Menu - // - tabControl_Menu.Controls.Add(tabPage_Main); - tabControl_Menu.Controls.Add(tabPage_Model); - tabControl_Menu.Controls.Add(tabPage_Area); - tabControl_Menu.Dock = DockStyle.Left; - tabControl_Menu.Location = new Point(0, 24); - tabControl_Menu.Name = "tabControl_Menu"; - tabControl_Menu.SelectedIndex = 0; - tabControl_Menu.Size = new Size(218, 437); - tabControl_Menu.TabIndex = 2; - // - // tabPage_Main - // - tabPage_Main.Controls.Add(groupBox_Visual); - tabPage_Main.Controls.Add(groupBox_Clients); - tabPage_Main.Location = new Point(4, 24); - tabPage_Main.Name = "tabPage_Main"; - tabPage_Main.Padding = new Padding(3); - tabPage_Main.Size = new Size(210, 409); - tabPage_Main.TabIndex = 0; - tabPage_Main.Tag = "#main"; - tabPage_Main.Text = "Main"; - tabPage_Main.UseVisualStyleBackColor = true; - // - // groupBox_Visual - // - groupBox_Visual.Controls.Add(button_Visual_Start); - groupBox_Visual.Controls.Add(numericUpDown_Visual_Port); - groupBox_Visual.Controls.Add(label_Visual_Port); - groupBox_Visual.Dock = DockStyle.Top; - groupBox_Visual.Location = new Point(3, 83); - groupBox_Visual.Name = "groupBox_Visual"; - groupBox_Visual.Size = new Size(204, 62); - groupBox_Visual.TabIndex = 2; - groupBox_Visual.TabStop = false; - groupBox_Visual.Tag = "#visual"; - groupBox_Visual.Text = "Visual"; - // - // button_Visual_Start - // - button_Visual_Start.Location = new Point(112, 22); - button_Visual_Start.Name = "button_Visual_Start"; - button_Visual_Start.Size = new Size(86, 23); - button_Visual_Start.TabIndex = 9; - button_Visual_Start.Tag = "#visual_start"; - button_Visual_Start.Text = "Start"; - button_Visual_Start.UseVisualStyleBackColor = true; - // - // numericUpDown_Visual_Port - // - numericUpDown_Visual_Port.Location = new Point(44, 24); - numericUpDown_Visual_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); - numericUpDown_Visual_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); - numericUpDown_Visual_Port.Name = "numericUpDown_Visual_Port"; - numericUpDown_Visual_Port.Size = new Size(62, 23); - numericUpDown_Visual_Port.TabIndex = 8; - numericUpDown_Visual_Port.Value = new decimal(new int[] { 1002, 0, 0, 0 }); - // - // label_Visual_Port - // - label_Visual_Port.AutoSize = true; - label_Visual_Port.Location = new Point(6, 26); - label_Visual_Port.Name = "label_Visual_Port"; - label_Visual_Port.Size = new Size(32, 15); - label_Visual_Port.TabIndex = 7; - label_Visual_Port.Tag = "#visual_port"; - label_Visual_Port.Text = "Port:"; - // - // groupBox_Clients - // - groupBox_Clients.Controls.Add(numericUpDown_Clients_Limit); - groupBox_Clients.Controls.Add(label_Clients_Limit); - groupBox_Clients.Controls.Add(label_Clients_Num); - groupBox_Clients.Controls.Add(label_Clients_Count); - groupBox_Clients.Controls.Add(button_Client_Start); - groupBox_Clients.Controls.Add(numericUpDown_Clients_Port); - groupBox_Clients.Controls.Add(label_Clients_Port); - groupBox_Clients.Dock = DockStyle.Top; - groupBox_Clients.Location = new Point(3, 3); - groupBox_Clients.Name = "groupBox_Clients"; - groupBox_Clients.Size = new Size(204, 80); - groupBox_Clients.TabIndex = 1; - groupBox_Clients.TabStop = false; - groupBox_Clients.Tag = "#clients"; - groupBox_Clients.Text = "Clients"; - // - // numericUpDown_Clients_Limit - // - numericUpDown_Clients_Limit.Location = new Point(44, 48); - numericUpDown_Clients_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); - numericUpDown_Clients_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); - numericUpDown_Clients_Limit.Name = "numericUpDown_Clients_Limit"; - numericUpDown_Clients_Limit.Size = new Size(42, 23); - numericUpDown_Clients_Limit.TabIndex = 6; - numericUpDown_Clients_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 }); - // - // label_Clients_Limit - // - label_Clients_Limit.AutoSize = true; - label_Clients_Limit.Location = new Point(6, 50); - label_Clients_Limit.Name = "label_Clients_Limit"; - label_Clients_Limit.Size = new Size(37, 15); - label_Clients_Limit.TabIndex = 5; - label_Clients_Limit.Tag = "#clients_limit"; - label_Clients_Limit.Text = "Limit:"; - // - // label_Clients_Num - // - label_Clients_Num.AutoSize = true; - label_Clients_Num.Location = new Point(161, 50); - label_Clients_Num.Name = "label_Clients_Num"; - label_Clients_Num.Size = new Size(13, 15); - label_Clients_Num.TabIndex = 4; - label_Clients_Num.Text = "0"; - // - // label_Clients_Count - // - label_Clients_Count.AutoSize = true; - label_Clients_Count.Location = new Point(112, 50); - label_Clients_Count.Name = "label_Clients_Count"; - label_Clients_Count.Size = new Size(43, 15); - label_Clients_Count.TabIndex = 3; - label_Clients_Count.Tag = "#clients_count"; - label_Clients_Count.Text = "Count:"; - // - // button_Client_Start - // - button_Client_Start.BackColor = Color.Transparent; - button_Client_Start.Location = new Point(112, 15); - button_Client_Start.Name = "button_Client_Start"; - button_Client_Start.Size = new Size(86, 23); - button_Client_Start.TabIndex = 2; - button_Client_Start.Tag = ""; - button_Client_Start.Text = "Start"; - button_Client_Start.UseVisualStyleBackColor = false; - button_Client_Start.Click += button_Client_Start_Click; - // - // numericUpDown_Clients_Port - // - numericUpDown_Clients_Port.Location = new Point(44, 17); - numericUpDown_Clients_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); - numericUpDown_Clients_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); - numericUpDown_Clients_Port.Name = "numericUpDown_Clients_Port"; - numericUpDown_Clients_Port.Size = new Size(62, 23); - numericUpDown_Clients_Port.TabIndex = 1; - numericUpDown_Clients_Port.Value = new decimal(new int[] { 1001, 0, 0, 0 }); - // - // label_Clients_Port - // - label_Clients_Port.AutoSize = true; - label_Clients_Port.Location = new Point(6, 19); - label_Clients_Port.Name = "label_Clients_Port"; - label_Clients_Port.Size = new Size(32, 15); - label_Clients_Port.TabIndex = 0; - label_Clients_Port.Tag = "#clients_port"; - label_Clients_Port.Text = "Port:"; - // - // tabPage_Model - // - tabPage_Model.Location = new Point(4, 24); - tabPage_Model.Name = "tabPage_Model"; - tabPage_Model.Padding = new Padding(3); - tabPage_Model.Size = new Size(210, 409); - tabPage_Model.TabIndex = 1; - tabPage_Model.Tag = "#model"; - tabPage_Model.Text = "Model"; - tabPage_Model.UseVisualStyleBackColor = true; - // - // tabPage_Area - // - tabPage_Area.Location = new Point(4, 24); - tabPage_Area.Name = "tabPage_Area"; - tabPage_Area.Size = new Size(210, 409); - tabPage_Area.TabIndex = 2; - tabPage_Area.Tag = "#area"; - tabPage_Area.Text = "Area"; - tabPage_Area.UseVisualStyleBackColor = true; - // - // groupBox_Navi - // - groupBox_Navi.Controls.Add(panel1); - groupBox_Navi.Controls.Add(comboBox_Drone); - groupBox_Navi.Dock = DockStyle.Right; - groupBox_Navi.Location = new Point(684, 24); - groupBox_Navi.Name = "groupBox_Navi"; - groupBox_Navi.Size = new Size(200, 437); - groupBox_Navi.TabIndex = 3; - groupBox_Navi.TabStop = false; - groupBox_Navi.Tag = "#navigation"; - groupBox_Navi.Text = "Navigation"; - // - // panel1 - // - panel1.Controls.Add(button_Drone_Color); - panel1.Controls.Add(comboBox_Drone_Rotor); - panel1.Dock = DockStyle.Fill; - panel1.Location = new Point(3, 42); - panel1.Name = "panel1"; - panel1.Size = new Size(194, 392); - panel1.TabIndex = 3; - // - // button_Drone_Color - // - button_Drone_Color.BackColor = Color.Tomato; - button_Drone_Color.Location = new Point(13, 6); - button_Drone_Color.Name = "button_Drone_Color"; - button_Drone_Color.Size = new Size(45, 23); - button_Drone_Color.TabIndex = 1; - button_Drone_Color.UseVisualStyleBackColor = false; - // - // comboBox_Drone_Rotor - // - comboBox_Drone_Rotor.FormattingEnabled = true; - comboBox_Drone_Rotor.Items.AddRange(new object[] { "4-Rotor", "6-Rotor", "8-Rotor" }); - comboBox_Drone_Rotor.Location = new Point(114, 6); - comboBox_Drone_Rotor.Name = "comboBox_Drone_Rotor"; - comboBox_Drone_Rotor.Size = new Size(71, 23); - comboBox_Drone_Rotor.TabIndex = 2; - comboBox_Drone_Rotor.Text = "4-Rotor"; - // - // comboBox_Drone - // - comboBox_Drone.Dock = DockStyle.Top; - comboBox_Drone.FormattingEnabled = true; - comboBox_Drone.Location = new Point(3, 19); - comboBox_Drone.Name = "comboBox_Drone"; - comboBox_Drone.Size = new Size(194, 23); - comboBox_Drone.TabIndex = 0; - // - // timer_Test - // - timer_Test.Enabled = true; - timer_Test.Interval = 10; - timer_Test.Tick += timer_Test_Tick; - // - // Form_Main - // - AutoScaleDimensions = new SizeF(7F, 15F); - AutoScaleMode = AutoScaleMode.Font; - ClientSize = new Size(884, 461); - Controls.Add(groupBox_Screen); - Controls.Add(groupBox_Navi); - Controls.Add(tabControl_Menu); - Controls.Add(menuStrip_Menu); - Icon = (Icon)resources.GetObject("$this.Icon"); - MainMenuStrip = menuStrip_Menu; - MinimumSize = new Size(900, 500); - Name = "Form_Main"; - Text = "Drone Simulator V1.0"; - FormClosing += Form_Main_FormClosing; - menuStrip_Menu.ResumeLayout(false); - menuStrip_Menu.PerformLayout(); - groupBox_Screen.ResumeLayout(false); - ((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit(); - tabControl_Menu.ResumeLayout(false); - tabPage_Main.ResumeLayout(false); - groupBox_Visual.ResumeLayout(false); - groupBox_Visual.PerformLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).EndInit(); - groupBox_Clients.ResumeLayout(false); - groupBox_Clients.PerformLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit(); - groupBox_Navi.ResumeLayout(false); - panel1.ResumeLayout(false); - ResumeLayout(false); - PerformLayout(); - } - - #endregion - - private MenuStrip menuStrip_Menu; - private ToolStripMenuItem fileToolStripMenuItem; - private GroupBox groupBox_Screen; - private TabControl tabControl_Menu; - private TabPage tabPage_Main; - private TabPage tabPage_Model; - private Label label_Clients_Port; - private GroupBox groupBox_Clients; - private NumericUpDown numericUpDown_Clients_Port; - private Label label_Clients_Num; - private Label label_Clients_Count; - private Button button_Client_Start; - private NumericUpDown numericUpDown_Clients_Limit; - private Label label_Clients_Limit; - private GroupBox groupBox_Visual; - private Button button_Visual_Start; - private NumericUpDown numericUpDown_Visual_Port; - private Label label_Visual_Port; - private PictureBox pictureBox_2D; - private GroupBox groupBox_Navi; - private ComboBox comboBox_Drone; - private TabPage tabPage_Area; - private Button button_Drone_Color; - private ComboBox comboBox_Drone_Rotor; - private Panel panel1; - private ToolStripMenuItem exitToolStripMenuItem; - private System.Windows.Forms.Timer timer_Test; - } -} diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs deleted file mode 100644 index 9e6489a..0000000 --- a/DroneSimulator/FormMain.cs +++ /dev/null @@ -1,150 +0,0 @@ -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; - -namespace DroneSimulator -{ - public partial class Form_Main : Form - { - Screen2D screen2D = null; - - NetServerClients netServerClient = new NetServerClients(); - - List AllDrones = new List(); - - public Form_Main() - { - InitializeComponent(); - } - - private void ConnectionCallback(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(0.5f, 10.0f); - - 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 ReceiveCallback(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; - - Drone.DataIn id = new Drone.DataIn(); - - id.fromBytes(data.Buffer); - - drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR); - - Drone.DataOut od = new Drone.DataOut(); - - od.AccX= drone.Acc.X; od.AccY= drone.Acc.Y; od.AccZ= drone.Acc.Z; - od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z; - od.PosX= drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y; - od.LaserRange = drone.LaserRange; - - try { data.Client.Send(od.getBytes()); } - 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, ConnectionCallback, ReceiveCallback); - switch (done) - { - case NetServerClients.ServerState.Error: - { - MessageBox.Show("Error to start server"); - 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(); - } - } -} diff --git a/DroneSimulator/FormMain.resx b/DroneSimulator/FormMain.resx deleted file mode 100644 index 8f19afc..0000000 --- a/DroneSimulator/FormMain.resx +++ /dev/null @@ -1,383 +0,0 @@ - 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-namespace DroneSimulator -{ - internal class NetServerClients - { - public class ConnectData - { - public int ID; - public bool Connect; - public int Count; - - public Socket? Client; - } - - public class ReceiveData - { - public int ID; - public byte[]? Buffer; - public int Size; - - public Socket? Client; - } - - private class ClientData - { - public int ID; - public Socket? workSocket = null; - public const int BufferSize = 1024; - public byte[] buffer = new byte[BufferSize]; - } - - private int SocketID = 0; - private int SocketLimit; - private Socket? ServerSocket; - private List ClientSockets = new List(); - - public delegate void ServerCallback(object o); - - private ServerCallback? ConnectionCallback; - private ServerCallback? ReceiveCallback; - - private bool Active = false; - - public enum ServerState { Error, Start, Stop }; - - public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) - { - if (Active) - { - ServerSocket?.Close(); - foreach (ClientData c in ClientSockets) - { - try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } - c.workSocket?.Close(); - } - ClientSockets.Clear(); - return ServerState.Stop; - } - - ConnectionCallback = Connection; - ReceiveCallback = Receive; - - SocketLimit = Limit; - - IPEndPoint ip = new(IPAddress.Any, Port); - ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); - - try - { - ServerSocket.Bind(ip); - ServerSocket.Listen(10); - ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); - Active = true; - } - catch { ServerSocket.Close(); return ServerState.Error; } - - return ServerState.Start; - } - - public void AcceptCallback(IAsyncResult ar) - { - Socket listener = (Socket)ar.AsyncState; - if (listener == null) return; - - Socket handler; - - try { handler = listener.EndAccept(ar); } - catch{ ServerSocket?.Close(); Active = false; return; } - - if (SocketLimit > ClientSockets.Count) - { - ClientData clientData = new ClientData(); - - clientData.ID = ++SocketID; - - clientData.workSocket = handler; - - ClientSockets.Add(clientData); - - ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); - - handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); - } - else handler.Close(); - - listener.BeginAccept(new AsyncCallback(AcceptCallback), listener); - } - - public void ReadCallback(IAsyncResult ar) - { - ClientData cd = (ClientData)ar.AsyncState; - if (cd == null) return; - - int bytes = 0; - try { bytes = cd.workSocket.EndReceive(ar); } - catch { } - - if (bytes == 0) - { - cd.workSocket?.Close(); - - ClientSockets.Remove(cd); - - ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null }); - - return; - } - - ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); - - try - { - cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); - } - catch { } - } - } -} diff --git a/DroneSimulator/Program.cs b/DroneSimulator/Program.cs deleted file mode 100644 index efb14d6..0000000 --- a/DroneSimulator/Program.cs +++ /dev/null @@ -1,17 +0,0 @@ -namespace DroneSimulator -{ - internal static class Program - { - /// - /// The main entry point for the application. - /// - [STAThread] - static void Main() - { - // To customize application configuration such as set high DPI settings or default font, - // see https://aka.ms/applicationconfiguration. - ApplicationConfiguration.Initialize(); - Application.Run(new Form_Main()); - } - } -} \ No newline at end of file diff --git a/DroneSimulator/Screen2D.cs b/DroneSimulator/Screen2D.cs deleted file mode 100644 index f8f3854..0000000 --- a/DroneSimulator/Screen2D.cs +++ /dev/null @@ -1,186 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Numerics; -using System.Reflection.Metadata; -using System.Text; -using System.Threading.Tasks; - -namespace DroneSimulator -{ - internal class Screen2D - { - - public delegate void DrawCallback(Bitmap bmp); - - public Screen2D(DrawCallback callback) - { - drawCallback = callback; - } - - private class DroneInfo - { - public int ID; - public Color RGB; - public Bitmap? Drone; - public Point PosXY; - public int Height = 0; - - public PointF TiltXY = new Point(0, 0); - public int Azimuth = 0; - } - - private DrawCallback drawCallback; - private Bitmap MainArea = new Bitmap(4096, 2560); - private List DroneList = new List(); - - public static Bitmap DrawQadro(Color ColorFill) - { - Bitmap drone = new Bitmap(130, 130); - - using (Graphics g = Graphics.FromImage(drone)) - { - g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed; - - SolidBrush solidBrush = new SolidBrush(ColorFill); - - Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) }; - g.FillPolygon(solidBrush, mid); - - g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35)); - g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35)); - g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35)); - g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35)); - - g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10)); - - g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129)); - - solidBrush.Dispose(); - } - - return RotateImage(drone, 90); - } - - private static Bitmap RotateImage(Bitmap bmp, float angle) - { - Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height); - - using (Graphics g = Graphics.FromImage(rotatedImage)) - { - // Set the rotation point to the center in the matrix - g.TranslateTransform(bmp.Width / 2, bmp.Height / 2); - // Rotate - g.RotateTransform(angle); - // Restore rotation point in the matrix - g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2); - // Draw the image on the bitmap - g.DrawImage(bmp, new Point(0, 0)); - } - - return rotatedImage; - } - - public void CreateDrone(Color ColorFill, int ID) - { - DroneInfo info = new DroneInfo(); - info.ID = ID; - info.RGB = ColorFill; - info.Drone = DrawQadro(ColorFill); - - DroneList.Add(info); - } - - public void RemoveDrone(int ID) - { - foreach (DroneInfo i in DroneList) - { - if (i.ID != ID) continue; - DroneList.Remove(i); - break; - } - } - - public void DrawScene() - { - using (Graphics g = Graphics.FromImage(MainArea)) - { - g.Clear(Color.Gainsboro); - SolidBrush shadowBrush = new SolidBrush(Color.Black); - g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 }); - - foreach (var d in DroneList) - { - if (d.Azimuth >= 360) d.Azimuth -= 360; - var bmp = RotateImage(d.Drone, d.Azimuth); - - g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130); - - g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2)); - - //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130)); - - float x1 = 0, y1 = 0; - float x2 = 130, y2 = 0; - float x3 = 0, y3 = 130; - - const float TO_RADI = MathF.PI / 180; - - Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0); - Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI); - - tilt = tilt * rotate * rotate; - - if (tilt.Y > 0) - { - x1 = (int)(Math.Sin(tilt.Y) * 130); - x3 = (int)(Math.Sin(tilt.Y) * 130); - } - else - { - x2 = (int)(Math.Cos(tilt.Y) * 130); - } - - if (tilt.X > 0) - { - y1 = (int)(Math.Sin(tilt.X) * 130); - y2 = (int)(Math.Sin(tilt.X) * 130); - } - else - { - y3 = (int)(Math.Cos(tilt.X) * 130); - } - - PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2); - PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3); - PointF[] dest = { ul, ur, dl }; - - g.DrawImage(bmp, dest); - } - } - - drawCallback(MainArea); - } - - public void Move(int id, Vector3 pos, Vector4 tilt) - { - const float TO_GRAD = 180 / MathF.PI; - const float TO_RADI = MathF.PI / 180; - - foreach (var d in DroneList) - { - if (d.ID != id) continue; - - d.PosXY.X = (int)pos.X; - d.PosXY.Y = MainArea.Height - (int)pos.Y; - d.Height = 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zd-=zI?+srX|AU{afRVr*b*z_I#7_TYtcI_u$DIC%$xTmm`o8~#EYBvaxUD6$$C4rm z_m_vX9q`e+#;}WqoE$9hrf>T~dJys>yM&+Xy;*N~4{v6Y++na2263M_;Bpo48YC9{ z%kbKRt?qgJ-O;A`_+C5|%D-nz}fKM;-RmXc;H7lh(FE!OwH*F<* z%q8ilFsB!DbIPl;IQwGS13ZSfkSM#1kt;4l5xk-Pa+GtF0764g{Q0v7h=lYsKQIk; z_tj+Izwm~!-t$vi-X5>c~5VlccT_hF^o3o(h>1W8bP#eEOEbRb-M*+swzEHe*}M-#@a zcHP`aq(5?T5kyTrVAiQOKPBRIdL0Ow4s_4FEUN0kf4B9ncKpuxN%`EeDkV@91Y3)g zirw$qCx5Ayke+oe2`#jsKzoA1j0bHrk20Y1M&quJQ$AxN0Flm>xLzvL8r46)Ap%=6 z=;O})!%#e!v6Jzt(&Xa2#jY?G|1?45&DDuCcFr$XnhSa22o1Am;bD*kC|q*msn7%l z3wTElg5j}wk;Dj~jN=;6vW0iqUOso3-}W(sNcKHyEfd zm=J8G_#XHrmhE^AOwNAPh0znsWmRKaY)b9l`eXbpAFIOQo9M&3%cbx_hcR4rk%c~v z0Zp?zvFAa+Hb_SWC=J6OYC66eP^Hb#)q$+N7l?DhKlF-^+L}lQl$%v(Lfm;?KPT_| zmRQKUHPsnvDHptYvFm$1L6ae=>sL1NZVY%D#c+b3=6WZzc?}H2GQ{OOz8Es;DmhVA5oB3J;kE0rJJj^Vq#b z&PjET;Do?lSR&<-ukUK?PmUCxG!3Z6=mE?7B`#N!tTB4QFDUW%Po0+WRFw@U6okww zdsmZZh?y%n7%s!36i^;^bq8%6KSHCfvuehAPk-uG2goOr_3&( Date: Thu, 3 Apr 2025 22:33:04 +0300 Subject: [PATCH 21/34] =?UTF-8?q?=D0=9F=D0=B5=D1=80=D0=B5=D0=BD=D0=BE?= =?UTF-8?q?=D1=81=20=D0=B2=20=D0=BE=D0=B1=D1=89=D1=83=D1=8E=20=D1=80=D0=B5?= =?UTF-8?q?=D0=BF=D1=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneClient/README.md | 3 + DroneSimulator/.gitignore | 3 + DroneSimulator/Drone.cs | 266 ++++++++++++ DroneSimulator/DroneSimulator.csproj | 16 + DroneSimulator/DroneSimulator.csproj.user | 8 + DroneSimulator/DroneSimulator.sln | 25 ++ DroneSimulator/FormMain.Designer.cs | 474 ++++++++++++++++++++++ DroneSimulator/FormMain.cs | 207 ++++++++++ DroneSimulator/FormMain.resx | 383 +++++++++++++++++ DroneSimulator/NetServerClients.cs | 140 +++++++ DroneSimulator/NetServerVisual.cs | 134 ++++++ DroneSimulator/Program.cs | 17 + DroneSimulator/Screen2D.cs | 180 ++++++++ DroneSimulator/icon.ico | Bin 0 -> 14898 bytes 14 files changed, 1856 insertions(+) create mode 100644 DroneClient/README.md create mode 100644 DroneSimulator/.gitignore create mode 100644 DroneSimulator/Drone.cs create mode 100644 DroneSimulator/DroneSimulator.csproj create mode 100644 DroneSimulator/DroneSimulator.csproj.user create mode 100644 DroneSimulator/DroneSimulator.sln create mode 100644 DroneSimulator/FormMain.Designer.cs create mode 100644 DroneSimulator/FormMain.cs create mode 100644 DroneSimulator/FormMain.resx create mode 100644 DroneSimulator/NetServerClients.cs create mode 100644 DroneSimulator/NetServerVisual.cs create mode 100644 DroneSimulator/Program.cs create mode 100644 DroneSimulator/Screen2D.cs create mode 100644 DroneSimulator/icon.ico diff --git a/DroneClient/README.md b/DroneClient/README.md new file mode 100644 index 0000000..facae82 --- /dev/null +++ b/DroneClient/README.md @@ -0,0 +1,3 @@ +# Client + +Образец клиента для подключения к симулятору. diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore new file mode 100644 index 0000000..98d63b2 --- /dev/null +++ b/DroneSimulator/.gitignore @@ -0,0 +1,3 @@ +.vs/ +obj/ +bin/ \ No newline at end of file diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs new file mode 100644 index 0000000..0fba4f6 --- /dev/null +++ b/DroneSimulator/Drone.cs @@ -0,0 +1,266 @@ +using System.Numerics; +using System.Runtime.InteropServices; + +namespace DroneSimulator +{ + internal class Drone + { + public int ID; + public float Mass; // Масса + public bool Active; // Живой? + public float Length; // Длинна лучей + public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение + public Quaternion Quat; // Основной кватернион + public float Power = 0; // Тяга всех двигателей + public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw + + public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп + public float LaserRange; // Имитация: Дальномер + + private const float Gravity = 1.0f; + + private const float TO_GRAD = 180 / MathF.PI; + private const float TO_RADI = MathF.PI / 180; + + private Thread DroneThread; + private int Timer; + + private static int CounterID = 0; + + public static byte[] getBytes(object data) + { + int size = Marshal.SizeOf(data); + byte[] arr = new byte[size]; + + IntPtr ptr = IntPtr.Zero; + try + { + ptr = Marshal.AllocHGlobal(size); + Marshal.StructureToPtr(data, ptr, true); + Marshal.Copy(ptr, arr, 0, size); + } + finally + { + Marshal.FreeHGlobal(ptr); + } + return arr; + } + + public static object fromBytes(byte[] arr, Type type) + { + object mem = new object(); + + int size = Marshal.SizeOf(type); + IntPtr ptr = IntPtr.Zero; + try + { + ptr = Marshal.AllocHGlobal(size); + + Marshal.Copy(arr, 0, ptr, size); + + mem = Marshal.PtrToStructure(ptr, type); + } + finally + { + Marshal.FreeHGlobal(ptr); + } + + return mem; + } + + public struct DataOut + { + public float AccX, AccY, AccZ; + public float GyrX, GyrY, GyrZ; + public float PosX, PosY; + public float LaserRange; + } + + public struct DataIn + { + public float MotorUL, MotorUR, MotorDL, MotorDR; + } + + public struct DataVisual + { + public int ID; // Идентификатор + public float W, X, Y, Z; // Кватернион вращения + public float PosX, PosY, PosZ; // Координаты в пространстве + } + + public DataVisual GetVisual() + { + return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z }; + } + + private void ThreadFunction() + { + while (DroneThread != null) + { + float time = Environment.TickCount - Timer; + Timer = Environment.TickCount; + Action(time / 100); + Thread.Sleep(1); + } + } + + public Drone(int id) + { + ID = id; + Active = false; + PosXYZ = new Vector3(2000, 1000, 0); + SpdXYZ = Vector3.Zero; + AccXYZ = Vector3.Zero; + Quat = Quaternion.Identity; + + DroneThread = new Thread(new ThreadStart(ThreadFunction)); + Timer = Environment.TickCount; + DroneThread.Start(); + } + + public int Create(float mass, float len) + { + Mass = Range(mass); + Length = len; + + Active = true; + + return ID; + } + + public void Close() + { + DroneThread = null; + } + + private float GetAngle(float a1, float a2, float az) + { + if (a2 == 0.0f && az == 0.0f) + { + if (a1 > 0) return 90; + if (a1 < 0) return -90; + return 0; + } + return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD; + } + + public void Rotate(float x, float y, float z) + { + x = x * MathF.PI / 180; + y = y * MathF.PI / 180; + z = -z * MathF.PI / 180; + + Quaternion map = Quat; + Quaternion spd = new Quaternion(x, y, z, 0); + Quaternion aq = spd * map; + + map.W -= 0.5f * aq.W; + map.X -= 0.5f * aq.X; + map.Y -= 0.5f * aq.Y; + map.Z -= 0.5f * aq.Z; + + Quat = Quaternion.Normalize(map); + } + + public Vector4 GetOrientation() + { + Quaternion grav = new Quaternion(0, 0, 1, 0); + + grav = (Quat * grav) * Quaternion.Inverse(Quat); + + float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD; + if (yaw < 0.0f) yaw = 360.0f + yaw; + + return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z); + } + + public void Action(float time) + { + if (!Active) return; + + float flow = Power; + + if (PosXYZ.Z < 100) + { + flow += flow * 0.1f; // Воздушная подушка + } + + Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat; + AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass; + + SpdPRY += AccPRY * time / (Mass * Length); + + SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time; + PosXYZ += SpdXYZ * time; + + if (PosXYZ.Z < 0) + { + SpdPRY = Vector3.Zero; + SpdXYZ.X = 0; + SpdXYZ.Y = 0; + Quat = Quaternion.Identity; + } + else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z); + + Vector4 ori = GetOrientation(); + + if (PosXYZ.Z < 0) + { + PosXYZ.Z = 0; + + /*if (SpdXYZ.Z < -5) + { + Active = false; // Сильно ударился о землю + }*/ + + /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45) + { + Active = false; // Повредил винты при посадке + }*/ + + SpdXYZ.Z = 0; + + Acc = new Vector3(0, 0, 1); + Gyr = Vector3.Zero; + LaserRange = 0; + } + else + { + /*if (ori.W < 0) + { + Active = false; // Перевернулся вверх ногами + }*/ + + Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0); + grav = (Quat * grav) * Quaternion.Inverse(Quat); + Acc = new Vector3(grav.X, grav.Y, grav.Z); + + Gyr = SpdPRY; + + float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI; + + if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt); + else LaserRange = float.MaxValue; + } + } + + private float Range(float pow) + { + if (pow > 1) pow = 1; + if (pow < 0) pow = 0; + + return pow; + } + + public void SetQadroPow(float ul, float ur, float dl, float dr) + { + ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr); + + Power = (ul + ur + dl + dr) / 4; + + AccPRY.Y = ((ul + dl) - (ur + dr)); + AccPRY.X = ((ul + ur) - (dl + dr)); + AccPRY.Z = ((ul + dr) - (dl + ur)) / 4; + } + } +} diff --git a/DroneSimulator/DroneSimulator.csproj b/DroneSimulator/DroneSimulator.csproj new file mode 100644 index 0000000..da8dc2d --- /dev/null +++ b/DroneSimulator/DroneSimulator.csproj @@ -0,0 +1,16 @@ + + + + WinExe + net9.0-windows + enable + true + enable + icon.ico + + + + + + + \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.csproj.user b/DroneSimulator/DroneSimulator.csproj.user new file mode 100644 index 0000000..cf5c74f --- /dev/null +++ b/DroneSimulator/DroneSimulator.csproj.user @@ -0,0 +1,8 @@ + + + + + Form + + + \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.sln b/DroneSimulator/DroneSimulator.sln new file mode 100644 index 0000000..05ccc73 --- /dev/null +++ b/DroneSimulator/DroneSimulator.sln @@ -0,0 +1,25 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.13.35913.81 d17.13 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DroneSimulator", "DroneSimulator.csproj", "{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Any CPU = Debug|Any CPU + Release|Any CPU = Release|Any CPU + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.Build.0 = Debug|Any CPU + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.ActiveCfg = Release|Any CPU + {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.Build.0 = Release|Any CPU + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {F4724E16-C228-4B38-BB06-B90A7A057219} + EndGlobalSection +EndGlobal diff --git a/DroneSimulator/FormMain.Designer.cs b/DroneSimulator/FormMain.Designer.cs new file mode 100644 index 0000000..bab9e3b --- /dev/null +++ b/DroneSimulator/FormMain.Designer.cs @@ -0,0 +1,474 @@ +namespace DroneSimulator +{ + partial class Form_Main + { + /// + /// Required designer variable. + /// + private System.ComponentModel.IContainer components = null; + + /// + /// Clean up any resources being used. + /// + /// true if managed resources should be disposed; otherwise, false. + protected override void Dispose(bool disposing) + { + if (disposing && (components != null)) + { + components.Dispose(); + } + base.Dispose(disposing); + } + + #region Windows Form Designer generated code + + /// + /// Required method for Designer support - do not modify + /// the contents of this method with the code editor. + /// + private void InitializeComponent() + { + components = new System.ComponentModel.Container(); + System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form_Main)); + menuStrip_Menu = new MenuStrip(); + fileToolStripMenuItem = new ToolStripMenuItem(); + exitToolStripMenuItem = new ToolStripMenuItem(); + groupBox_Screen = new GroupBox(); + pictureBox_2D = new PictureBox(); + tabControl_Menu = new TabControl(); + tabPage_Main = new TabPage(); + groupBox_Visual = new GroupBox(); + numericUpDown_Visual_Limit = new NumericUpDown(); + label1 = new Label(); + label_Visual_Num = new Label(); + label3 = new Label(); + button_Visual_Start = new Button(); + numericUpDown_Visual_Port = new NumericUpDown(); + label_Visual_Port = new Label(); + groupBox_Clients = new GroupBox(); + numericUpDown_Clients_Limit = new NumericUpDown(); + label_Clients_Limit = new Label(); + label_Clients_Num = new Label(); + label_Clients_Count = new Label(); + button_Client_Start = new Button(); + numericUpDown_Clients_Port = new NumericUpDown(); + label_Clients_Port = new Label(); + tabPage_Model = new TabPage(); + tabPage_Area = new TabPage(); + groupBox_Navi = new GroupBox(); + panel1 = new Panel(); + button_Drone_Color = new Button(); + comboBox_Drone_Rotor = new ComboBox(); + comboBox_Drone = new ComboBox(); + timer_Test = new System.Windows.Forms.Timer(components); + menuStrip_Menu.SuspendLayout(); + groupBox_Screen.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit(); + tabControl_Menu.SuspendLayout(); + tabPage_Main.SuspendLayout(); + groupBox_Visual.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).BeginInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit(); + groupBox_Clients.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit(); + groupBox_Navi.SuspendLayout(); + panel1.SuspendLayout(); + SuspendLayout(); + // + // menuStrip_Menu + // + menuStrip_Menu.Items.AddRange(new ToolStripItem[] { fileToolStripMenuItem }); + menuStrip_Menu.Location = new Point(0, 0); + menuStrip_Menu.Name = "menuStrip_Menu"; + menuStrip_Menu.Size = new Size(884, 24); + menuStrip_Menu.TabIndex = 0; + menuStrip_Menu.Text = "menuStrip1"; + // + // fileToolStripMenuItem + // + fileToolStripMenuItem.DropDownItems.AddRange(new ToolStripItem[] { exitToolStripMenuItem }); + fileToolStripMenuItem.Name = "fileToolStripMenuItem"; + fileToolStripMenuItem.Size = new Size(37, 20); + fileToolStripMenuItem.Tag = "#file"; + fileToolStripMenuItem.Text = "File"; + // + // exitToolStripMenuItem + // + exitToolStripMenuItem.Name = "exitToolStripMenuItem"; + exitToolStripMenuItem.Size = new Size(93, 22); + exitToolStripMenuItem.Tag = "#exit"; + exitToolStripMenuItem.Text = "Exit"; + exitToolStripMenuItem.Click += exitToolStripMenuItem_Click; + // + // groupBox_Screen + // + groupBox_Screen.Controls.Add(pictureBox_2D); + groupBox_Screen.Dock = DockStyle.Fill; + groupBox_Screen.Location = new Point(218, 24); + groupBox_Screen.Name = "groupBox_Screen"; + groupBox_Screen.Size = new Size(466, 437); + groupBox_Screen.TabIndex = 1; + groupBox_Screen.TabStop = false; + // + // pictureBox_2D + // + pictureBox_2D.BackColor = Color.Gainsboro; + pictureBox_2D.Dock = DockStyle.Fill; + pictureBox_2D.Location = new Point(3, 19); + pictureBox_2D.Name = "pictureBox_2D"; + pictureBox_2D.Size = new Size(460, 415); + pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom; + pictureBox_2D.TabIndex = 0; + pictureBox_2D.TabStop = false; + // + // tabControl_Menu + // + tabControl_Menu.Controls.Add(tabPage_Main); + tabControl_Menu.Controls.Add(tabPage_Model); + tabControl_Menu.Controls.Add(tabPage_Area); + tabControl_Menu.Dock = DockStyle.Left; + tabControl_Menu.Location = new Point(0, 24); + tabControl_Menu.Name = "tabControl_Menu"; + tabControl_Menu.SelectedIndex = 0; + tabControl_Menu.Size = new Size(218, 437); + tabControl_Menu.TabIndex = 2; + // + // tabPage_Main + // + tabPage_Main.Controls.Add(groupBox_Visual); + tabPage_Main.Controls.Add(groupBox_Clients); + tabPage_Main.Location = new Point(4, 24); + tabPage_Main.Name = "tabPage_Main"; + tabPage_Main.Padding = new Padding(3); + tabPage_Main.Size = new Size(210, 409); + tabPage_Main.TabIndex = 0; + tabPage_Main.Tag = "#main"; + tabPage_Main.Text = "Main"; + tabPage_Main.UseVisualStyleBackColor = true; + // + // groupBox_Visual + // + groupBox_Visual.Controls.Add(numericUpDown_Visual_Limit); + groupBox_Visual.Controls.Add(label1); + groupBox_Visual.Controls.Add(label_Visual_Num); + groupBox_Visual.Controls.Add(label3); + groupBox_Visual.Controls.Add(button_Visual_Start); + groupBox_Visual.Controls.Add(numericUpDown_Visual_Port); + groupBox_Visual.Controls.Add(label_Visual_Port); + groupBox_Visual.Dock = DockStyle.Top; + groupBox_Visual.Location = new Point(3, 83); + groupBox_Visual.Name = "groupBox_Visual"; + groupBox_Visual.Size = new Size(204, 91); + groupBox_Visual.TabIndex = 2; + groupBox_Visual.TabStop = false; + groupBox_Visual.Tag = "#visual"; + groupBox_Visual.Text = "Visual"; + // + // numericUpDown_Visual_Limit + // + numericUpDown_Visual_Limit.Location = new Point(44, 57); + numericUpDown_Visual_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); + numericUpDown_Visual_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Visual_Limit.Name = "numericUpDown_Visual_Limit"; + numericUpDown_Visual_Limit.Size = new Size(42, 23); + numericUpDown_Visual_Limit.TabIndex = 13; + numericUpDown_Visual_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 }); + // + // label1 + // + label1.AutoSize = true; + label1.Location = new Point(6, 59); + label1.Name = "label1"; + label1.Size = new Size(37, 15); + label1.TabIndex = 12; + label1.Tag = "#clients_limit"; + label1.Text = "Limit:"; + // + // label_Visual_Num + // + label_Visual_Num.AutoSize = true; + label_Visual_Num.Location = new Point(161, 59); + label_Visual_Num.Name = "label_Visual_Num"; + label_Visual_Num.Size = new Size(13, 15); + label_Visual_Num.TabIndex = 11; + label_Visual_Num.Text = "0"; + // + // label3 + // + label3.AutoSize = true; + label3.Location = new Point(112, 59); + label3.Name = "label3"; + label3.Size = new Size(43, 15); + label3.TabIndex = 10; + label3.Tag = "#clients_count"; + label3.Text = "Count:"; + // + // button_Visual_Start + // + button_Visual_Start.Location = new Point(112, 22); + button_Visual_Start.Name = "button_Visual_Start"; + button_Visual_Start.Size = new Size(86, 23); + button_Visual_Start.TabIndex = 9; + button_Visual_Start.Tag = "#visual_start"; + button_Visual_Start.Text = "Start"; + button_Visual_Start.UseVisualStyleBackColor = true; + button_Visual_Start.Click += button_Visual_Start_Click; + // + // numericUpDown_Visual_Port + // + numericUpDown_Visual_Port.Location = new Point(44, 24); + numericUpDown_Visual_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); + numericUpDown_Visual_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Visual_Port.Name = "numericUpDown_Visual_Port"; + numericUpDown_Visual_Port.Size = new Size(62, 23); + numericUpDown_Visual_Port.TabIndex = 8; + numericUpDown_Visual_Port.Value = new decimal(new int[] { 1002, 0, 0, 0 }); + // + // label_Visual_Port + // + label_Visual_Port.AutoSize = true; + label_Visual_Port.Location = new Point(6, 26); + label_Visual_Port.Name = "label_Visual_Port"; + label_Visual_Port.Size = new Size(32, 15); + label_Visual_Port.TabIndex = 7; + label_Visual_Port.Tag = "#visual_port"; + label_Visual_Port.Text = "Port:"; + // + // groupBox_Clients + // + groupBox_Clients.Controls.Add(numericUpDown_Clients_Limit); + groupBox_Clients.Controls.Add(label_Clients_Limit); + groupBox_Clients.Controls.Add(label_Clients_Num); + groupBox_Clients.Controls.Add(label_Clients_Count); + groupBox_Clients.Controls.Add(button_Client_Start); + groupBox_Clients.Controls.Add(numericUpDown_Clients_Port); + groupBox_Clients.Controls.Add(label_Clients_Port); + groupBox_Clients.Dock = DockStyle.Top; + groupBox_Clients.Location = new Point(3, 3); + groupBox_Clients.Name = "groupBox_Clients"; + groupBox_Clients.Size = new Size(204, 80); + groupBox_Clients.TabIndex = 1; + groupBox_Clients.TabStop = false; + groupBox_Clients.Tag = "#clients"; + groupBox_Clients.Text = "Clients"; + // + // numericUpDown_Clients_Limit + // + numericUpDown_Clients_Limit.Location = new Point(44, 48); + numericUpDown_Clients_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); + numericUpDown_Clients_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Clients_Limit.Name = "numericUpDown_Clients_Limit"; + numericUpDown_Clients_Limit.Size = new Size(42, 23); + numericUpDown_Clients_Limit.TabIndex = 6; + numericUpDown_Clients_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 }); + // + // label_Clients_Limit + // + label_Clients_Limit.AutoSize = true; + label_Clients_Limit.Location = new Point(6, 50); + label_Clients_Limit.Name = "label_Clients_Limit"; + label_Clients_Limit.Size = new Size(37, 15); + label_Clients_Limit.TabIndex = 5; + label_Clients_Limit.Tag = "#clients_limit"; + label_Clients_Limit.Text = "Limit:"; + // + // label_Clients_Num + // + label_Clients_Num.AutoSize = true; + label_Clients_Num.Location = new Point(161, 50); + label_Clients_Num.Name = "label_Clients_Num"; + label_Clients_Num.Size = new Size(13, 15); + label_Clients_Num.TabIndex = 4; + label_Clients_Num.Text = "0"; + // + // label_Clients_Count + // + label_Clients_Count.AutoSize = true; + label_Clients_Count.Location = new Point(112, 50); + label_Clients_Count.Name = "label_Clients_Count"; + label_Clients_Count.Size = new Size(43, 15); + label_Clients_Count.TabIndex = 3; + label_Clients_Count.Tag = "#clients_count"; + label_Clients_Count.Text = "Count:"; + // + // button_Client_Start + // + button_Client_Start.BackColor = Color.Transparent; + button_Client_Start.Location = new Point(112, 15); + button_Client_Start.Name = "button_Client_Start"; + button_Client_Start.Size = new Size(86, 23); + button_Client_Start.TabIndex = 2; + button_Client_Start.Tag = ""; + button_Client_Start.Text = "Start"; + button_Client_Start.UseVisualStyleBackColor = false; + button_Client_Start.Click += button_Client_Start_Click; + // + // numericUpDown_Clients_Port + // + numericUpDown_Clients_Port.Location = new Point(44, 17); + numericUpDown_Clients_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); + numericUpDown_Clients_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Clients_Port.Name = "numericUpDown_Clients_Port"; + numericUpDown_Clients_Port.Size = new Size(62, 23); + numericUpDown_Clients_Port.TabIndex = 1; + numericUpDown_Clients_Port.Value = new decimal(new int[] { 1001, 0, 0, 0 }); + // + // label_Clients_Port + // + label_Clients_Port.AutoSize = true; + label_Clients_Port.Location = new Point(6, 19); + label_Clients_Port.Name = "label_Clients_Port"; + label_Clients_Port.Size = new Size(32, 15); + label_Clients_Port.TabIndex = 0; + label_Clients_Port.Tag = "#clients_port"; + label_Clients_Port.Text = "Port:"; + // + // tabPage_Model + // + tabPage_Model.Location = new Point(4, 24); + tabPage_Model.Name = "tabPage_Model"; + tabPage_Model.Padding = new Padding(3); + tabPage_Model.Size = new Size(210, 409); + tabPage_Model.TabIndex = 1; + tabPage_Model.Tag = "#model"; + tabPage_Model.Text = "Model"; + tabPage_Model.UseVisualStyleBackColor = true; + // + // tabPage_Area + // + tabPage_Area.Location = new Point(4, 24); + tabPage_Area.Name = "tabPage_Area"; + tabPage_Area.Size = new Size(210, 409); + tabPage_Area.TabIndex = 2; + tabPage_Area.Tag = "#area"; + tabPage_Area.Text = "Area"; + tabPage_Area.UseVisualStyleBackColor = true; + // + // groupBox_Navi + // + groupBox_Navi.Controls.Add(panel1); + groupBox_Navi.Controls.Add(comboBox_Drone); + groupBox_Navi.Dock = DockStyle.Right; + groupBox_Navi.Location = new Point(684, 24); + groupBox_Navi.Name = "groupBox_Navi"; + groupBox_Navi.Size = new Size(200, 437); + groupBox_Navi.TabIndex = 3; + groupBox_Navi.TabStop = false; + groupBox_Navi.Tag = "#navigation"; + groupBox_Navi.Text = "Navigation"; + // + // panel1 + // + panel1.Controls.Add(button_Drone_Color); + panel1.Controls.Add(comboBox_Drone_Rotor); + panel1.Dock = DockStyle.Fill; + panel1.Location = new Point(3, 42); + panel1.Name = "panel1"; + panel1.Size = new Size(194, 392); + panel1.TabIndex = 3; + // + // button_Drone_Color + // + button_Drone_Color.BackColor = Color.Tomato; + button_Drone_Color.Location = new Point(13, 6); + button_Drone_Color.Name = "button_Drone_Color"; + button_Drone_Color.Size = new Size(45, 23); + button_Drone_Color.TabIndex = 1; + button_Drone_Color.UseVisualStyleBackColor = false; + // + // comboBox_Drone_Rotor + // + comboBox_Drone_Rotor.FormattingEnabled = true; + comboBox_Drone_Rotor.Items.AddRange(new object[] { "4-Rotor", "6-Rotor", "8-Rotor" }); + comboBox_Drone_Rotor.Location = new Point(114, 6); + comboBox_Drone_Rotor.Name = "comboBox_Drone_Rotor"; + comboBox_Drone_Rotor.Size = new Size(71, 23); + comboBox_Drone_Rotor.TabIndex = 2; + comboBox_Drone_Rotor.Text = "4-Rotor"; + // + // comboBox_Drone + // + comboBox_Drone.Dock = DockStyle.Top; + comboBox_Drone.FormattingEnabled = true; + comboBox_Drone.Location = new Point(3, 19); + comboBox_Drone.Name = "comboBox_Drone"; + comboBox_Drone.Size = new Size(194, 23); + comboBox_Drone.TabIndex = 0; + // + // timer_Test + // + timer_Test.Enabled = true; + timer_Test.Interval = 10; + timer_Test.Tick += timer_Test_Tick; + // + // Form_Main + // + AutoScaleDimensions = new SizeF(7F, 15F); + AutoScaleMode = AutoScaleMode.Font; + ClientSize = new Size(884, 461); + Controls.Add(groupBox_Screen); + Controls.Add(groupBox_Navi); + Controls.Add(tabControl_Menu); + Controls.Add(menuStrip_Menu); + Icon = (Icon)resources.GetObject("$this.Icon"); + MainMenuStrip = menuStrip_Menu; + MinimumSize = new Size(900, 500); + Name = "Form_Main"; + Text = "Drone Simulator V1.0"; + FormClosing += Form_Main_FormClosing; + menuStrip_Menu.ResumeLayout(false); + menuStrip_Menu.PerformLayout(); + groupBox_Screen.ResumeLayout(false); + ((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit(); + tabControl_Menu.ResumeLayout(false); + tabPage_Main.ResumeLayout(false); + groupBox_Visual.ResumeLayout(false); + groupBox_Visual.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Limit).EndInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).EndInit(); + groupBox_Clients.ResumeLayout(false); + groupBox_Clients.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit(); + groupBox_Navi.ResumeLayout(false); + panel1.ResumeLayout(false); + ResumeLayout(false); + PerformLayout(); + } + + #endregion + + private MenuStrip menuStrip_Menu; + private ToolStripMenuItem fileToolStripMenuItem; + private GroupBox groupBox_Screen; + private TabControl tabControl_Menu; + private TabPage tabPage_Main; + private TabPage tabPage_Model; + private Label label_Clients_Port; + private GroupBox groupBox_Clients; + private NumericUpDown numericUpDown_Clients_Port; + private Label label_Clients_Num; + private Label label_Clients_Count; + private Button button_Client_Start; + private NumericUpDown numericUpDown_Clients_Limit; + private Label label_Clients_Limit; + private GroupBox groupBox_Visual; + private Button button_Visual_Start; + private NumericUpDown numericUpDown_Visual_Port; + private Label label_Visual_Port; + private PictureBox pictureBox_2D; + private GroupBox groupBox_Navi; + private ComboBox comboBox_Drone; + private TabPage tabPage_Area; + private Button button_Drone_Color; + private ComboBox comboBox_Drone_Rotor; + private Panel panel1; + private ToolStripMenuItem exitToolStripMenuItem; + private System.Windows.Forms.Timer timer_Test; + private NumericUpDown numericUpDown_Visual_Limit; + private Label label1; + private Label label_Visual_Num; + private Label label3; + } +} diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs new file mode 100644 index 0000000..41e4719 --- /dev/null +++ b/DroneSimulator/FormMain.cs @@ -0,0 +1,207 @@ +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; + +namespace DroneSimulator +{ + public partial class Form_Main : Form + { + Screen2D screen2D = null; + + NetServerClients netServerClient = new NetServerClients(); + NetServerVisual netServerVisual = new NetServerVisual(); + + List AllDrones = new List(); + + 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(0.5f, 10.0f); + + 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; + + Drone.DataIn id = (Drone.DataIn)Drone.fromBytes(data.Buffer, typeof(Drone.DataIn)); + + drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR); + + Drone.DataOut od = new Drone.DataOut(); + + od.AccX = drone.Acc.X; od.AccY = drone.Acc.Y; od.AccZ = drone.Acc.Z; + od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z; + od.PosX = drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y; + od.LaserRange = drone.LaserRange; + + try { data.Client.Send(Drone.getBytes(od)); } + 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; + } + } + } + } +} diff --git a/DroneSimulator/FormMain.resx 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Client; + } + + public class ReceiveData + { + public int ID; + public byte[]? Buffer; + public int Size; + + public Socket? Client; + } + + private class ClientData + { + public int ID; + public Socket? workSocket = null; + public const int BufferSize = 1024; + public byte[] buffer = new byte[BufferSize]; + } + + private int SocketID = 0; + private int SocketLimit; + private Socket? ServerSocket; + private List ClientSockets = new List(); + + public delegate void ServerCallback(object o); + + private ServerCallback? ConnectionCallback; + private ServerCallback? ReceiveCallback; + + private bool Active = false; + + public enum ServerState { Error, Start, Stop }; + + public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) + { + if (Active) + { + ServerSocket?.Close(); + foreach (ClientData c in ClientSockets) + { + try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } + c.workSocket?.Close(); + } + ClientSockets.Clear(); + return ServerState.Stop; + } + + ConnectionCallback = Connection; + ReceiveCallback = Receive; + + SocketLimit = Limit; + + IPEndPoint ip = new(IPAddress.Any, Port); + ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); + + try + { + ServerSocket.Bind(ip); + ServerSocket.Listen(10); + ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); + Active = true; + } + catch { ServerSocket.Close(); return ServerState.Error; } + + return ServerState.Start; + } + + public void AcceptCallback(IAsyncResult ar) + { + Socket listener = (Socket)ar.AsyncState; + if (listener == null) return; + + Socket handler; + + try { handler = listener.EndAccept(ar); } + catch{ ServerSocket?.Close(); Active = false; return; } + + if (SocketLimit > ClientSockets.Count) + { + ClientData clientData = new ClientData(); + + clientData.ID = ++SocketID; + + clientData.workSocket = handler; + + ClientSockets.Add(clientData); + + ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); + + handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); + } + else handler.Close(); + + listener.BeginAccept(new AsyncCallback(AcceptCallback), listener); + } + + public void ReadCallback(IAsyncResult ar) + { + ClientData cd = (ClientData)ar.AsyncState; + if (cd == null) return; + + int bytes = 0; + try { bytes = cd.workSocket.EndReceive(ar); } + catch { } + + if (bytes == 0) + { + cd.workSocket?.Close(); + + ClientSockets.Remove(cd); + + ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null }); + + return; + } + + ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); + + try + { + cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + } + catch { } + } + } +} diff --git a/DroneSimulator/NetServerVisual.cs b/DroneSimulator/NetServerVisual.cs new file mode 100644 index 0000000..41dd579 --- /dev/null +++ b/DroneSimulator/NetServerVisual.cs @@ -0,0 +1,134 @@ +using System.Net.Sockets; +using System.Net; + +namespace DroneSimulator +{ + internal class NetServerVisual + { + public class ConnectData + { + public bool Connect; + public int Count; + + public Socket? Client; + } + + public class ReceiveData + { + public byte[]? Buffer; + public int Size; + + public Socket? Client; + } + + private class ClientData + { + public Socket? workSocket = null; + public const int BufferSize = 1024; + public byte[] buffer = new byte[BufferSize]; + } + + private int SocketLimit; + private Socket? ServerSocket; + private List ClientSockets = new List(); + + public delegate void ServerCallback(object o); + + private ServerCallback? ConnectionCallback; + private ServerCallback? ReceiveCallback; + + private bool Active = false; + + public enum ServerState { Error, Start, Stop }; + + public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) + { + if (Active) + { + ServerSocket?.Close(); + foreach (ClientData c in ClientSockets) + { + try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } + c.workSocket?.Close(); + } + ClientSockets.Clear(); + return ServerState.Stop; + } + + ConnectionCallback = Connection; + ReceiveCallback = Receive; + + SocketLimit = Limit; + + IPEndPoint ip = new(IPAddress.Any, Port); + ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); + + try + { + ServerSocket.Bind(ip); + ServerSocket.Listen(10); + ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); + Active = true; + } + catch { ServerSocket.Close(); return ServerState.Error; } + + return ServerState.Start; + } + + public void AcceptCallback(IAsyncResult ar) + { + Socket listener = (Socket)ar.AsyncState; + if (listener == null) return; + + Socket handler; + + try { handler = listener.EndAccept(ar); } + catch{ ServerSocket?.Close(); Active = false; return; } + + if (SocketLimit > ClientSockets.Count) + { + ClientData clientData = new ClientData(); + + clientData.workSocket = handler; + + ClientSockets.Add(clientData); + + ConnectionCallback(new ConnectData { Connect = true, Count = ClientSockets.Count, Client = handler }); + + handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); + } + else handler.Close(); + + listener.BeginAccept(new AsyncCallback(AcceptCallback), listener); + } + + public void ReadCallback(IAsyncResult ar) + { + ClientData cd = (ClientData)ar.AsyncState; + if (cd == null) return; + + int bytes = 0; + try { bytes = cd.workSocket.EndReceive(ar); } + catch { } + + if (bytes == 0) + { + cd.workSocket?.Close(); + + ClientSockets.Remove(cd); + + ConnectionCallback(new ConnectData { Connect = false, Count = ClientSockets.Count, Client = null }); + + return; + } + + ReceiveCallback(new ReceiveData { Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); + + try + { + cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + } + catch { } + } + } +} diff --git a/DroneSimulator/Program.cs b/DroneSimulator/Program.cs new file mode 100644 index 0000000..efb14d6 --- /dev/null +++ b/DroneSimulator/Program.cs @@ -0,0 +1,17 @@ +namespace DroneSimulator +{ + internal static class Program + { + /// + /// The main entry point for the application. + /// + [STAThread] + static void Main() + { + // To customize application configuration such as set high DPI settings or default font, + // see https://aka.ms/applicationconfiguration. + ApplicationConfiguration.Initialize(); + Application.Run(new Form_Main()); + } + } +} \ No newline at end of file diff --git a/DroneSimulator/Screen2D.cs b/DroneSimulator/Screen2D.cs new file mode 100644 index 0000000..36a4a72 --- /dev/null +++ b/DroneSimulator/Screen2D.cs @@ -0,0 +1,180 @@ +using System.Numerics; + +namespace DroneSimulator +{ + internal class Screen2D + { + + public delegate void DrawCallback(Bitmap bmp); + + public Screen2D(DrawCallback callback) + { + drawCallback = callback; + } + + private class DroneInfo + { + public int ID; + public Color RGB; + public Bitmap? Drone; + public Point PosXY; + public int Height = 0; + + public PointF TiltXY = new Point(0, 0); + public int Azimuth = 0; + } + + private DrawCallback drawCallback; + private Bitmap MainArea = new Bitmap(4096, 2560); + private List DroneList = new List(); + + public static Bitmap DrawQadro(Color ColorFill) + { + Bitmap drone = new Bitmap(130, 130); + + using (Graphics g = Graphics.FromImage(drone)) + { + g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed; + + SolidBrush solidBrush = new SolidBrush(ColorFill); + + Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) }; + g.FillPolygon(solidBrush, mid); + + g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35)); + g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35)); + g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35)); + g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35)); + + g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10)); + + g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129)); + + solidBrush.Dispose(); + } + + return RotateImage(drone, 90); + } + + private static Bitmap RotateImage(Bitmap bmp, float angle) + { + Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height); + + using (Graphics g = Graphics.FromImage(rotatedImage)) + { + // Set the rotation point to the center in the matrix + g.TranslateTransform(bmp.Width / 2, bmp.Height / 2); + // Rotate + g.RotateTransform(angle); + // Restore rotation point in the matrix + g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2); + // Draw the image on the bitmap + g.DrawImage(bmp, new Point(0, 0)); + } + + return rotatedImage; + } + + public void CreateDrone(Color ColorFill, int ID) + { + DroneInfo info = new DroneInfo(); + info.ID = ID; + info.RGB = ColorFill; + info.Drone = DrawQadro(ColorFill); + + DroneList.Add(info); + } + + public void RemoveDrone(int ID) + { + foreach (DroneInfo i in DroneList) + { + if (i.ID != ID) continue; + DroneList.Remove(i); + break; + } + } + + public void DrawScene() + { + using (Graphics g = Graphics.FromImage(MainArea)) + { + g.Clear(Color.Gainsboro); + SolidBrush shadowBrush = new SolidBrush(Color.Black); + g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 }); + + foreach (var d in DroneList) + { + if (d.Azimuth >= 360) d.Azimuth -= 360; + var bmp = RotateImage(d.Drone, d.Azimuth); + + g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130); + + g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2)); + + //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130)); + + float x1 = 0, y1 = 0; + float x2 = 130, y2 = 0; + float x3 = 0, y3 = 130; + + const float TO_RADI = MathF.PI / 180; + + Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0); + Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI); + + tilt = tilt * rotate * rotate; + + if (tilt.Y > 0) + { + x1 = (int)(Math.Sin(tilt.Y) * 130); + x3 = (int)(Math.Sin(tilt.Y) * 130); + } + else + { + x2 = (int)(Math.Cos(tilt.Y) * 130); + } + + if (tilt.X > 0) + { + y1 = (int)(Math.Sin(tilt.X) * 130); + y2 = (int)(Math.Sin(tilt.X) * 130); + } + else + { + y3 = (int)(Math.Cos(tilt.X) * 130); + } + + PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2); + PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3); + PointF[] dest = { ul, ur, dl }; + + g.DrawImage(bmp, dest); + } + } + + drawCallback(MainArea); + } + + public void Move(int id, Vector3 pos, Vector4 tilt) + { + const float TO_GRAD = 180 / MathF.PI; + const float TO_RADI = MathF.PI / 180; + + foreach (var d in DroneList) + { + if (d.ID != id) continue; + + d.PosXY.X = (int)pos.X; + d.PosXY.Y = MainArea.Height - (int)pos.Y; + d.Height = 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=?UTF-8?q?=D0=B8=D0=B3=D0=BD=D0=BE=D1=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneSimulator/.gitignore => .gitignore | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename DroneSimulator/.gitignore => .gitignore (100%) diff --git a/DroneSimulator/.gitignore b/.gitignore similarity index 100% rename from DroneSimulator/.gitignore rename to .gitignore From 114522ad0a5e399f0f9831fad8952d218a4fd318 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Thu, 3 Apr 2025 22:59:03 +0300 Subject: [PATCH 23/34] =?UTF-8?q?=D0=B8=D0=B3=D0=BD=D0=BE=D1=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneClient/.gitignore | 3 --- 1 file changed, 3 deletions(-) delete mode 100644 DroneClient/.gitignore diff --git a/DroneClient/.gitignore b/DroneClient/.gitignore deleted file mode 100644 index 98d63b2..0000000 --- a/DroneClient/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -.vs/ -obj/ -bin/ \ No newline at end of file From e6cb5430ef302c36eed351728ca5902276125515 Mon Sep 17 00:00:00 2001 From: sasklyarov Date: Thu, 3 Apr 2025 20:27:01 +0000 Subject: [PATCH 24/34] revert 0ae998f0fbbf7bdd74b7f1dc9649198f0840f426 revert Merge branch 'Sergey' into main --- .../b4ecf135-3670-4899-b1c2-d9acf7e44bf7.vsidx | Bin 43050 -> 0 bytes .../0fe0dd13-31f6-416a-83e7-eb616874f23b.vsidx | Bin 307837 -> 0 bytes 2 files changed, 0 insertions(+), 0 deletions(-) delete mode 100644 DroneClient/.vs/DroneClient/FileContentIndex/b4ecf135-3670-4899-b1c2-d9acf7e44bf7.vsidx delete mode 100644 DroneSimulator/.vs/DroneSimulator/FileContentIndex/0fe0dd13-31f6-416a-83e7-eb616874f23b.vsidx diff --git a/DroneClient/.vs/DroneClient/FileContentIndex/b4ecf135-3670-4899-b1c2-d9acf7e44bf7.vsidx b/DroneClient/.vs/DroneClient/FileContentIndex/b4ecf135-3670-4899-b1c2-d9acf7e44bf7.vsidx deleted file mode 100644 index c98924beb0cef9c2c9bfd87e65828be2054ae1b9..0000000000000000000000000000000000000000 GIT binary patch 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z8R-=XBl|_d$Oh3b@`M=pOT~8k@F9Fv)J=`nah>^tzGJN_qrN{;F8Unm?(IY7s$=wH zjcbfSeCxDU(sW#)XI!rZnql){5A7C;*K|;$*NbwIb{*8{47^i~1?ig01IV7ao`2NI z)jM)Uysqgo9>2yRQr0_-B1&t;ejAS*9nnaaeaPm(>+SKxTc{7$dM~=mdM~<5w+1>F z+^R3KO$>~(b{!hHhQ=-`M%qQfNP=z+?7P@`j#Z*!&jgQM;;~CCxx|u7lI>HPC#?e$jKKD+BpiCkC1| zQ8AJ!Dn@d|!>Hn7FDJT7#EWLxUQQ%I+>0y`_o64zuPUH#4{OE9w%*~;{ZIYAC08EH zPBAdD(26nguucr5(Oynuvwa%K+RlW1g8MAkh5PU!^t_3R(K}sijPzS=M!H1ENS6p1 zjYx!yMr5@a=@lX4|B8B~k+;RhNSX*4&7GbN0 zg23b?+!>Fdzj<`A;@>O_J>8vC6V@F){7RsdhGm1jR7)7C0 zjNVU6nay<^mZRv@gwfvdTw}Cf zsAXhLl^A8L??~{9x}|D;RviUp#_w$8gI|g$E()FRjtZ&}Wt%!fqf;3uSFU)-rZW)o z$F~h-tdB|=vnP>nou_B5w4zFebJ3B8S%Kv;R$w_*Em%+QQt$H&0M~l7Qj~hsQW>%B zT4M#zsp!0fw?Y5wOoDUK?_5t)@rqxaD$duztnlJfj!8A>Y4s|Nel8v=C;ewr8{6MM O_UmkX-ue5!%L`v Date: Thu, 3 Apr 2025 23:45:33 +0300 Subject: [PATCH 25/34] =?UTF-8?q?=D0=9A=D0=BB=D0=B8=D0=BD=D0=B8=D0=BD?= =?UTF-8?q?=D0=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneClient/Drone.cs | 7 +------ DroneClient/NetClient.cs | 7 +------ 2 files changed, 2 insertions(+), 12 deletions(-) diff --git a/DroneClient/Drone.cs b/DroneClient/Drone.cs index a7619d3..87eac05 100644 --- a/DroneClient/Drone.cs +++ b/DroneClient/Drone.cs @@ -1,9 +1,4 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Runtime.InteropServices; -using System.Text; -using System.Threading.Tasks; +using System.Runtime.InteropServices; namespace DroneClient { diff --git a/DroneClient/NetClient.cs b/DroneClient/NetClient.cs index 27f8f61..f343708 100644 --- a/DroneClient/NetClient.cs +++ b/DroneClient/NetClient.cs @@ -1,9 +1,4 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; -using System.Threading.Tasks; -using System.Net.Sockets; +using System.Net.Sockets; using System.Net; namespace DroneSimulator From b8ff486e5a71283699627f455ec797735557899f Mon Sep 17 00:00:00 2001 From: sasklyarov Date: Thu, 3 Apr 2025 20:49:36 +0000 Subject: [PATCH 26/34] hi --- www.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/www.txt b/www.txt index e69de29..685dda7 100644 --- a/www.txt +++ b/www.txt @@ -0,0 +1 @@ +Hi!!! \ No newline at end of file From 46e296b7c21d71458bdf1766670caf3bd4e76378 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Fri, 4 Apr 2025 02:12:55 +0300 Subject: [PATCH 27/34] =?UTF-8?q?=D0=94=D0=BE=D1=84=D0=B8=D0=B3=D0=B0=20?= =?UTF-8?q?=D0=B8=D1=81=D0=BF=D1=80=D0=B0=D0=B2=D0=BB=D0=B5=D0=BD=D0=B8?= =?UTF-8?q?=D0=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneClient/FormMain.cs | 26 +++++++++++--------- DroneSimulator/Drone.cs | 50 ++++++++++++++++++++++++++------------ DroneSimulator/FormMain.cs | 9 ++----- DroneSimulator/Screen2D.cs | 6 +++++ 4 files changed, 57 insertions(+), 34 deletions(-) diff --git a/DroneClient/FormMain.cs b/DroneClient/FormMain.cs index d479e1a..dee166e 100644 --- a/DroneClient/FormMain.cs +++ b/DroneClient/FormMain.cs @@ -112,37 +112,39 @@ namespace DroneSimulator private void button_UU_MouseDown(object sender, MouseEventArgs e) { + const float pow = 0.1f; + if (sender == button_UU) { - sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR -= 0.1f; - sendDrone.MotorDL += 0.1f; sendDrone.MotorDR += 0.1f; + sendDrone.MotorUL -= pow; sendDrone.MotorUR -= pow; + sendDrone.MotorDL += pow; sendDrone.MotorDR += pow; } if (sender == button_DD) { - sendDrone.MotorUL += 0.1f; sendDrone.MotorUR += 0.1f; - sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR -= 0.1f; + sendDrone.MotorUL += pow; sendDrone.MotorUR += pow; + sendDrone.MotorDL -= pow; sendDrone.MotorDR -= pow; } if (sender == button_LL) { - sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f; - sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f; + sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow; + sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow; } if (sender == button_RR) { - sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f; - sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f; + sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow; + sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow; } if (sender == button_ML) { - sendDrone.MotorUL -= 0.1f; sendDrone.MotorUR += 0.1f; - sendDrone.MotorDL += 0.1f; sendDrone.MotorDR -= 0.1f; + sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow; + sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow; } if (sender == button_MR) { - sendDrone.MotorUL += 0.1f; sendDrone.MotorUR -= 0.1f; - sendDrone.MotorDL -= 0.1f; sendDrone.MotorDR += 0.1f; + sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow; + sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow; } } diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs index 0fba4f6..fd0aaa7 100644 --- a/DroneSimulator/Drone.cs +++ b/DroneSimulator/Drone.cs @@ -9,6 +9,7 @@ namespace DroneSimulator public float Mass; // Масса public bool Active; // Живой? public float Length; // Длинна лучей + public float Dynamic; // Физика поведения public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение public Quaternion Quat; // Основной кватернион public float Power = 0; // Тяга всех двигателей @@ -76,6 +77,20 @@ namespace DroneSimulator public float LaserRange; } + public DataOut GetDataOut() + { + DataOut data = new DataOut(); + + data.AccX = Acc.X; data.AccY = Acc.Y; data.AccZ = Acc.Z; + data.GyrX = Gyr.X; data.GyrY = Gyr.Y; data.GyrZ = Gyr.Z; + + data.PosX = PosXYZ.X; data.PosY = PosXYZ.Y; + + data.LaserRange = LaserRange; + + return data; + } + public struct DataIn { public float MotorUL, MotorUR, MotorDL, MotorDR; @@ -99,7 +114,7 @@ namespace DroneSimulator { float time = Environment.TickCount - Timer; Timer = Environment.TickCount; - Action(time / 100); + Action(time / 1000); Thread.Sleep(1); } } @@ -108,7 +123,7 @@ namespace DroneSimulator { ID = id; Active = false; - PosXYZ = new Vector3(2000, 1000, 0); + PosXYZ = Vector3.Zero; SpdXYZ = Vector3.Zero; AccXYZ = Vector3.Zero; Quat = Quaternion.Identity; @@ -118,9 +133,10 @@ namespace DroneSimulator DroneThread.Start(); } - public int Create(float mass, float len) + public int Create(float mass, float len, float dynamic) { Mass = Range(mass); + Dynamic = dynamic * 100; Length = len; Active = true; @@ -180,19 +196,23 @@ namespace DroneSimulator float flow = Power; - if (PosXYZ.Z < 100) + if (PosXYZ.Z < 0.3f) { flow += flow * 0.1f; // Воздушная подушка } + SpdPRY += AccPRY * ((time * Dynamic) / (Mass * Length)); + + float dyn = Dynamic / 10; + Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat; - AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass; - - SpdPRY += AccPRY * time / (Mass * Length); - - SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time; + AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (dyn / Mass); + + SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity * dyn)) * time; PosXYZ += SpdXYZ * time; + AccXYZ /= dyn; + if (PosXYZ.Z < 0) { SpdPRY = Vector3.Zero; @@ -200,7 +220,7 @@ namespace DroneSimulator SpdXYZ.Y = 0; Quat = Quaternion.Identity; } - else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z); + else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time); Vector4 ori = GetOrientation(); @@ -213,7 +233,7 @@ namespace DroneSimulator Active = false; // Сильно ударился о землю }*/ - /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45) + /*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20) { Active = false; // Повредил винты при посадке }*/ @@ -226,13 +246,13 @@ namespace DroneSimulator } else { - /*if (ori.W < 0) + if (ori.W < 0) { - Active = false; // Перевернулся вверх ногами - }*/ + //Active = false; // Перевернулся вверх ногами + } Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0); - grav = (Quat * grav) * Quaternion.Inverse(Quat); + //grav = (Quat * grav) * Quaternion.Inverse(Quat); // Инерциальный акселерометр (тест) Acc = new Vector3(grav.X, grav.Y, grav.Z); Gyr = SpdPRY; diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs index 41e4719..d291450 100644 --- a/DroneSimulator/FormMain.cs +++ b/DroneSimulator/FormMain.cs @@ -33,7 +33,7 @@ namespace DroneSimulator if (data.Connect) { Drone drone = new Drone(data.ID); - drone.Create(0.5f, 10.0f); + drone.Create(0.5f, 1.0f, 1.0f); screen2D.CreateDrone(Color.Red, data.ID); @@ -73,12 +73,7 @@ namespace DroneSimulator drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR); - Drone.DataOut od = new Drone.DataOut(); - - od.AccX = drone.Acc.X; od.AccY = drone.Acc.Y; od.AccZ = drone.Acc.Z; - od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z; - od.PosX = drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y; - od.LaserRange = drone.LaserRange; + Drone.DataOut od = drone.GetDataOut(); try { data.Client.Send(Drone.getBytes(od)); } catch { } diff --git a/DroneSimulator/Screen2D.cs b/DroneSimulator/Screen2D.cs index 36a4a72..c967b1c 100644 --- a/DroneSimulator/Screen2D.cs +++ b/DroneSimulator/Screen2D.cs @@ -24,6 +24,7 @@ namespace DroneSimulator public int Azimuth = 0; } + private float Scale = 100; private DrawCallback drawCallback; private Bitmap MainArea = new Bitmap(4096, 2560); private List DroneList = new List(); @@ -161,6 +162,11 @@ namespace DroneSimulator const float TO_GRAD = 180 / MathF.PI; const float TO_RADI = MathF.PI / 180; + pos *= Scale; + + pos.X += MainArea.Width / 2; + pos.Y += MainArea.Height / 2; + foreach (var d in DroneList) { if (d.ID != id) continue; From bf037b08704cd828b9cbe7f4aa7ad185a643a5c0 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Fri, 4 Apr 2025 02:53:00 +0300 Subject: [PATCH 28/34] =?UTF-8?q?=D0=98=D1=81=D0=BF=D1=80=D0=B0=D0=B2?= =?UTF-8?q?=D0=BB=D0=B5=D0=BD=D0=B8=D1=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- DroneSimulator/Drone.cs | 23 +++++++++++------------ DroneSimulator/FormMain.cs | 2 +- 2 files changed, 12 insertions(+), 13 deletions(-) diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs index fd0aaa7..45d0e39 100644 --- a/DroneSimulator/Drone.cs +++ b/DroneSimulator/Drone.cs @@ -9,16 +9,17 @@ namespace DroneSimulator public float Mass; // Масса public bool Active; // Живой? public float Length; // Длинна лучей - public float Dynamic; // Физика поведения + public const float Dynamic = 10; // Динамика вращения public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение public Quaternion Quat; // Основной кватернион public float Power = 0; // Тяга всех двигателей + public float MaxPower; // Тяга всех двигателей public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп public float LaserRange; // Имитация: Дальномер - private const float Gravity = 1.0f; + private const float Gravity = 9.8f; private const float TO_GRAD = 180 / MathF.PI; private const float TO_RADI = MathF.PI / 180; @@ -133,11 +134,11 @@ namespace DroneSimulator DroneThread.Start(); } - public int Create(float mass, float len, float dynamic) + public int Create(float power, float mass, float len) { - Mass = Range(mass); - Dynamic = dynamic * 100; + Mass = mass; Length = len; + MaxPower = power; Active = true; @@ -201,17 +202,15 @@ namespace DroneSimulator flow += flow * 0.1f; // Воздушная подушка } - SpdPRY += AccPRY * ((time * Dynamic) / (Mass * Length)); - - float dyn = Dynamic / 10; + SpdPRY += AccPRY * (Dynamic * time / (Mass * Length)); Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat; - AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (dyn / Mass); + AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass); - SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity * dyn)) * time; + SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time; PosXYZ += SpdXYZ * time; - AccXYZ /= dyn; + AccXYZ /= Gravity; // Вернуть измерения в G if (PosXYZ.Z < 0) { @@ -269,7 +268,7 @@ namespace DroneSimulator if (pow > 1) pow = 1; if (pow < 0) pow = 0; - return pow; + return pow * MaxPower; } public void SetQadroPow(float ul, float ur, float dl, float dr) diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs index d291450..862c70c 100644 --- a/DroneSimulator/FormMain.cs +++ b/DroneSimulator/FormMain.cs @@ -33,7 +33,7 @@ namespace DroneSimulator if (data.Connect) { Drone drone = new Drone(data.ID); - drone.Create(0.5f, 1.0f, 1.0f); + drone.Create(1.0f, 0.5f, 1.0f); screen2D.CreateDrone(Color.Red, data.ID); From fd2318cbf6891b7bb5a8dcd791d9bb24f81ee957 Mon Sep 17 00:00:00 2001 From: sasklyarov Date: Fri, 4 Apr 2025 11:35:28 +0000 Subject: [PATCH 29/34] =?UTF-8?q?=D0=A3=D0=B4=D0=B0=D0=BB=D0=B8=D1=82?= =?UTF-8?q?=D1=8C=20www.txt?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- www.txt | 1 - 1 file changed, 1 deletion(-) delete mode 100644 www.txt diff --git a/www.txt b/www.txt deleted file mode 100644 index 685dda7..0000000 --- a/www.txt +++ /dev/null @@ -1 +0,0 @@ -Hi!!! \ No newline at end of file From da7f5a8404f4330b8efaee93ffe2f70f48949e37 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Sun, 6 Apr 2025 17:17:15 +0300 Subject: [PATCH 30/34] update --- Common/DroneData.cs | 42 +++++++++++++++ Common/DroneData.h | 42 +++++++++++++++ DroneClient/NetClient.cs | 4 +- DroneSimulator/Drone.cs | 87 ++++++++++++++++++++++++++---- DroneSimulator/DroneData.cs | 44 +++++++++++++++ DroneSimulator/FormMain.cs | 24 +++++---- DroneSimulator/NetServerClients.cs | 18 ++++--- 7 files changed, 233 insertions(+), 28 deletions(-) create mode 100644 Common/DroneData.cs create mode 100644 Common/DroneData.h create mode 100644 DroneSimulator/DroneData.cs diff --git a/Common/DroneData.cs b/Common/DroneData.cs new file mode 100644 index 0000000..b442bb9 --- /dev/null +++ b/Common/DroneData.cs @@ -0,0 +1,42 @@ +namespace DroneData +{ + enum StructType : ulong + { + // Output + DataIMU = 1, DataPos = 2, + + // Input + DataMotor4 = 1001, DataMotor6 = 1002 + }; + + public struct DataInfo + { + StructType Type; + ulong Size; + } + + public struct DataXYZ { float X, Y, Z; } + + public struct DataIMU + { + DataXYZ Acc, Gyr, Mag; + } + + public struct DataPos + { + DataXYZ Local; // + float LiDAR; // + } + + public struct DataMotor4 + { + ulong Count; + float M1, M2, M3, M4; + } + + public struct DataMotor6 + { + ulong Count; + float M1, M2, M3, M4, M5, M6; + } +} \ No newline at end of file diff --git a/Common/DroneData.h b/Common/DroneData.h new file mode 100644 index 0000000..14d3512 --- /dev/null +++ b/Common/DroneData.h @@ -0,0 +1,42 @@ +namespace DroneData +{ + enum class StructType : unsigned long + { + // Output + DataIMU = 1, DataPos = 2, + + // Input + DataMotor4 = 1001, DataMotor6 = 1002 + }; + + public struct DataInfo + { + StructType Type; + unsigned long Size; + }; + + public struct DataXYZ { float X, Y, Z; }; + + public struct DataIMU + { + DataXYZ Acc, Gyr, Mag; + }; + + public struct DataPos + { + DataXYZ Local; // + float LiDAR; // + }; + + public struct DataMotor4 + { + ulong Count; + float M1, M2, M3, M4; + }; + + public struct DataMotor6 + { + ulong Count; + float M1, M2, M3, M4, M5, M6; + }; +} \ No newline at end of file diff --git a/DroneClient/NetClient.cs b/DroneClient/NetClient.cs index f343708..fc93baf 100644 --- a/DroneClient/NetClient.cs +++ b/DroneClient/NetClient.cs @@ -41,9 +41,7 @@ namespace DroneSimulator { if (Connected) { - try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { } - ServerSocket?.Close(); - Connected = false; + Close(); return ClientState.Stop; } diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs index 45d0e39..612505a 100644 --- a/DroneSimulator/Drone.cs +++ b/DroneSimulator/Drone.cs @@ -1,5 +1,6 @@ using System.Numerics; using System.Runtime.InteropServices; +using System.Security.Cryptography; namespace DroneSimulator { @@ -12,8 +13,8 @@ namespace DroneSimulator public const float Dynamic = 10; // Динамика вращения public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение public Quaternion Quat; // Основной кватернион - public float Power = 0; // Тяга всех двигателей - public float MaxPower; // Тяга всех двигателей + public float Power = 0; // Тяга всех двигателей (0-1) + public float MaxPower; // Максимальная Тяга всех двигателей (КГ) public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп @@ -70,7 +71,7 @@ namespace DroneSimulator return mem; } - public struct DataOut + /*public struct DataOut { public float AccX, AccY, AccZ; public float GyrX, GyrY, GyrZ; @@ -95,7 +96,7 @@ namespace DroneSimulator public struct DataIn { public float MotorUL, MotorUR, MotorDL, MotorDR; - } + }*/ public struct DataVisual { @@ -113,9 +114,7 @@ namespace DroneSimulator { while (DroneThread != null) { - float time = Environment.TickCount - Timer; - Timer = Environment.TickCount; - Action(time / 1000); + Action(Environment.TickCount); Thread.Sleep(1); } } @@ -191,8 +190,11 @@ namespace DroneSimulator return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z); } - public void Action(float time) + public void Action(int tick) { + float time = (tick - Timer) / 1000.0f; + Timer = tick; + if (!Active) return; float flow = Power; @@ -206,7 +208,7 @@ namespace DroneSimulator Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat; AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) * (Gravity / Mass); - + SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time; PosXYZ += SpdXYZ * time; @@ -281,5 +283,72 @@ namespace DroneSimulator AccPRY.X = ((ul + ur) - (dl + dr)); AccPRY.Z = ((ul + dr) - (dl + ur)) / 4; } + + private DroneData.DataHead StreamHead = new DroneData.DataHead() { Type = DroneData.StructType.None, Size = 0 }; + + public int RecvDataStream(byte[] data) + { + if (StreamHead.Type == DroneData.StructType.None) return Marshal.SizeOf(typeof(DroneData.DataHead)); + + if (StreamHead.Type == DroneData.StructType.Head) + { + StreamHead = (DroneData.DataHead)fromBytes(data, typeof(DroneData.DataHead)); + + return (int)StreamHead.Size; + } + + switch(StreamHead.Type) + { + case DroneData.StructType.DataIMU: + { + DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU)); + /* обработка */ + break; + } + case DroneData.StructType.DataPos: + { + DroneData.DataPos pos = (DroneData.DataPos)fromBytes(data, typeof(DroneData.DataPos)); + /* обработка */ + break; + } + case DroneData.StructType.DataMotor4: + { + DroneData.DataMotor4 pos = (DroneData.DataMotor4)fromBytes(data, typeof(DroneData.DataMotor4)); + /* обработка */ + SetQadroPow(pos.UL, pos.UR, pos.DL, pos.DR); + break; + } + } + + return Marshal.SizeOf(typeof(DroneData.DataHead)); + } + + public byte[] SendDataStream(DroneData.StructType type) + { + switch(type) + { + case DroneData.StructType.DataIMU: + { + DroneData.DataIMU imu=new DroneData.DataIMU(); + + imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z; + imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z; + imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0; + + return getBytes(imu); + } + case DroneData.StructType.DataPos: + { + DroneData.DataPos pos = new DroneData.DataPos(); + + pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z; + pos.LiDAR = LaserRange; + + return getBytes(pos); + } + } + + return null; + } } } diff --git a/DroneSimulator/DroneData.cs b/DroneSimulator/DroneData.cs new file mode 100644 index 0000000..448299b --- /dev/null +++ b/DroneSimulator/DroneData.cs @@ -0,0 +1,44 @@ +namespace DroneData +{ + public enum StructType : ulong + { + None = 0, Head = 1, + + // Output + DataIMU = 1001, DataPos = 1002, + + // Input + DataMotor4 = 2001, DataMotor6 = 2002 + }; + + public struct DataHead + { + public StructType Type; + public ulong Size; + } + + public struct XYZ { public float X, Y, Z; } + + public struct DataIMU + { + public XYZ Acc, Gyr, Mag; + } + + public struct DataPos + { + public XYZ Local; // + public float LiDAR; // + } + + public struct DataMotor4 + { + public ulong Count; + public float UL, UR, DL, DR; + } + + public struct DataMotor6 + { + public ulong Count; + public float UL, UR, LL, RR, DL, DR; + } +} \ No newline at end of file diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs index 862c70c..84c70ab 100644 --- a/DroneSimulator/FormMain.cs +++ b/DroneSimulator/FormMain.cs @@ -4,6 +4,8 @@ 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; namespace DroneSimulator { @@ -21,7 +23,7 @@ namespace DroneSimulator InitializeComponent(); } - private void ClientConnectionCallback(object o) + private int ClientConnectionCallback(object o) { NetServerClients.ConnectData data = (NetServerClients.ConnectData)o; @@ -52,9 +54,11 @@ namespace DroneSimulator break; } } + + return Marshal.SizeOf(typeof(DroneData.DataHead)); } - private void ClientReceiveCallback(object o) + private int ClientReceiveCallback(object o) { NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o; @@ -67,16 +71,18 @@ namespace DroneSimulator break; } - if (drone == null) return; + if (drone == null) return 0; - Drone.DataIn id = (Drone.DataIn)Drone.fromBytes(data.Buffer, typeof(Drone.DataIn)); + int size=drone.RecvDataStream(data.Buffer); - drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR); - - Drone.DataOut od = drone.GetDataOut(); - - try { data.Client.Send(Drone.getBytes(od)); } + try + { + data.Client.Send(drone.SendDataStream(DroneData.StructType.DataIMU)); + data.Client.Send(drone.SendDataStream(DroneData.StructType.DataPos)); + } catch { } + + return size; } private void button_Client_Start_Click(object sender, EventArgs e) diff --git a/DroneSimulator/NetServerClients.cs b/DroneSimulator/NetServerClients.cs index 8c28f73..1e1d30d 100644 --- a/DroneSimulator/NetServerClients.cs +++ b/DroneSimulator/NetServerClients.cs @@ -1,5 +1,6 @@ using System.Net.Sockets; using System.Net; +using System.Drawing; namespace DroneSimulator { @@ -27,8 +28,7 @@ namespace DroneSimulator { public int ID; public Socket? workSocket = null; - public const int BufferSize = 1024; - public byte[] buffer = new byte[BufferSize]; + public byte[] buffer; } private int SocketID = 0; @@ -36,7 +36,7 @@ namespace DroneSimulator private Socket? ServerSocket; private List ClientSockets = new List(); - public delegate void ServerCallback(object o); + public delegate int ServerCallback(object o); private ServerCallback? ConnectionCallback; private ServerCallback? ReceiveCallback; @@ -99,9 +99,11 @@ namespace DroneSimulator ClientSockets.Add(clientData); - ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); + int size = ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); - handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); + clientData.buffer=new byte[size]; + + handler.BeginReceive(clientData.buffer, 0, size, 0, new AsyncCallback(ReadCallback), clientData); } else handler.Close(); @@ -128,11 +130,13 @@ namespace DroneSimulator return; } - ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); + int size = ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); + + cd.buffer = new byte[size]; try { - cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); + cd.workSocket?.BeginReceive(cd.buffer, 0, size, 0, new AsyncCallback(ReadCallback), cd); } catch { } } From 21b60b7f4c4ec6193e23e4a30748d8dfda977e38 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Sun, 6 Apr 2025 20:56:02 +0300 Subject: [PATCH 31/34] update --- Common/DroneData.cs | 61 +++++++--- DroneClient/Drone.cs | 180 +++++++++++++++++++++++++++-- DroneClient/DroneData.cs | 67 +++++++++++ DroneClient/FormMain.cs | 81 +++++++------ DroneClient/NetClient.cs | 5 + DroneSimulator/Drone.cs | 180 ++++++++++++++++++++--------- DroneSimulator/DroneData.cs | 29 ++++- DroneSimulator/FormMain.cs | 22 ++-- DroneSimulator/NetServerClients.cs | 20 ++-- 9 files changed, 498 insertions(+), 147 deletions(-) create mode 100644 DroneClient/DroneData.cs diff --git a/Common/DroneData.cs b/Common/DroneData.cs index b442bb9..8c14e2c 100644 --- a/Common/DroneData.cs +++ b/Common/DroneData.cs @@ -1,42 +1,67 @@ +using System.Runtime.InteropServices; + namespace DroneData { - enum StructType : ulong - { - // Output - DataIMU = 1, DataPos = 2, - - // Input - DataMotor4 = 1001, DataMotor6 = 1002 + public enum DataMode : ushort + { + None = 0, Response = 1, Request = 2 }; - public struct DataInfo + public enum DataType : ushort + { + None = 0, Head = 1, + + // Output + DataIMU = 1001, DataPos = 1002, + + // Input + DataMotor4 = 2001, DataMotor6 = 2002 + }; + + public struct DataHead { - StructType Type; - ulong Size; + public int Size; + + public DataMode Mode; + public DataType Type; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead)); } - public struct DataXYZ { float X, Y, Z; } + public struct XYZ { public float X, Y, Z; } public struct DataIMU { - DataXYZ Acc, Gyr, Mag; + public DataHead Head; + public XYZ Acc, Gyr, Mag; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU)); } public struct DataPos { - DataXYZ Local; // - float LiDAR; // + public DataHead Head; + public XYZ Local; // + public float LiDAR; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos)); } public struct DataMotor4 { - ulong Count; - float M1, M2, M3, M4; + public DataHead Head; + public ulong Count; + public float UL, UR, DL, DR; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4)); } public struct DataMotor6 { - ulong Count; - float M1, M2, M3, M4, M5, M6; + public DataHead Head; + public ulong Count; + public float UL, UR, LL, RR, DL, DR; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6)); } } \ No newline at end of file diff --git a/DroneClient/Drone.cs b/DroneClient/Drone.cs index 87eac05..74faa8b 100644 --- a/DroneClient/Drone.cs +++ b/DroneClient/Drone.cs @@ -1,21 +1,17 @@ -using System.Runtime.InteropServices; +using System.Drawing; +using System.Runtime.InteropServices; namespace DroneClient { internal class Drone { - public struct DataOut - { - public float AccX, AccY, AccZ; - public float GyrX, GyrY, GyrZ; - public float PosX, PosY; - public float LaserRange; - } - public struct DataIn - { - public float MotorUL, MotorUR, MotorDL, MotorDR; - } + public float AccX, AccY, AccZ; + public float GyrX, GyrY, GyrZ; + public float PosX, PosY; + public float LaserRange; + + public float MotorUL, MotorUR, MotorDL, MotorDR; public static byte[] getBytes(object data) { @@ -58,5 +54,165 @@ namespace DroneClient return mem; } + private byte[] SendDataMotor4() + { + DroneData.DataMotor4 mot4 = new DroneData.DataMotor4(); + + mot4.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMotor4)); + mot4.Head.Mode = DroneData.DataMode.Response; + mot4.Head.Type = DroneData.DataType.DataMotor4; + + mot4.UL = MotorUL; + mot4.UR = MotorUR; + mot4.DL = MotorDL; + mot4.DR = MotorDR; + + return getBytes(mot4); + } + + private byte[]? RecvDataIMU(byte[] data) + { + DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU)); + + AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z; + GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z; + + return new byte[0]; + } + + private byte[]? RecvDataPos(byte[] data) + { + DroneData.DataPos pos = (DroneData.DataPos)fromBytes(data, typeof(DroneData.DataPos)); + + PosX = pos.Local.X; PosY = pos.Local.Y; + LaserRange = pos.LiDAR; + + return new byte[0]; + } + + private byte[]? ClientRequestResponse(DroneData.DataHead head, byte[] body) + { + byte[] zero = new byte[0]; + + switch (head.Type) + { + case DroneData.DataType.DataIMU: + { + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + // ... // + // + return zero; + } + else + { + // Пришли данные + return RecvDataIMU(body); + } + } + + case DroneData.DataType.DataPos: + { + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + // ... // + // + return zero; + } + else + { + // Пришли данные + return RecvDataPos(body); + } + } + + case DroneData.DataType.DataMotor4: + { + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + return SendDataMotor4(); + } + else + { + // Пришли данные + // ... // + // + return zero; + } + } + } + + return zero; + } + + private const int DroneStreamCount = 512; + private byte[] DroneStreamData = new byte[DroneStreamCount]; + private int DroneStreamIndex = 0; + private DroneData.DataHead DroneStreamHead = new DroneData.DataHead() { Mode = DroneData.DataMode.None, Size = 0, Type = DroneData.DataType.None }; + + public List? DataStream(byte[]? data, int size) + { + List ret = new List(); + + if (data == null) return ret; // Последовательность не сформирована, ждать данных + + if (size + DroneStreamIndex > DroneStreamCount) return null; // Ошибка переполнения, поток сломан (конец) + + Array.Copy(data, 0, DroneStreamData, DroneStreamIndex, size); + DroneStreamIndex += size; + + while (true) + { + if (DroneStreamHead.Size == 0) // Заголовок ещё не получен + { + if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать + DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead)); + } + + if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный + + byte[] body = new byte[DroneStreamHead.Size]; + + Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size); + + int shift = DroneStreamHead.Size; + + DroneStreamIndex -= shift; + Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные + + DroneStreamHead.Size = 0; // Отменяем прошлый заголовок + + ret.Add(ClientRequestResponse(DroneStreamHead, body)); + } + + return ret; + } + + public byte[] SendReqest() + { + DroneData.DataHead imu = new DroneData.DataHead(); + imu.Size = DroneData.DataHead.StrLen; + imu.Mode = DroneData.DataMode.Request; + imu.Type = DroneData.DataType.DataIMU; + + DroneData.DataHead pos = new DroneData.DataHead(); + pos.Size = DroneData.DataHead.StrLen; + pos.Mode = DroneData.DataMode.Request; + pos.Type = DroneData.DataType.DataPos; + + byte[] si = getBytes(imu); + byte[] sp = getBytes(pos); + byte[] sm = SendDataMotor4(); + + byte[] send = new byte[si.Length + sp.Length + sm.Length]; + si.CopyTo(send, 0); + sp.CopyTo(send, si.Length); + sm.CopyTo(send, si.Length + sp.Length); + + return send; + } } } diff --git a/DroneClient/DroneData.cs b/DroneClient/DroneData.cs new file mode 100644 index 0000000..8c14e2c --- /dev/null +++ b/DroneClient/DroneData.cs @@ -0,0 +1,67 @@ +using System.Runtime.InteropServices; + +namespace DroneData +{ + public enum DataMode : ushort + { + None = 0, Response = 1, Request = 2 + }; + + public enum DataType : ushort + { + None = 0, Head = 1, + + // Output + DataIMU = 1001, DataPos = 1002, + + // Input + DataMotor4 = 2001, DataMotor6 = 2002 + }; + + public struct DataHead + { + public int Size; + + public DataMode Mode; + public DataType Type; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead)); + } + + public struct XYZ { public float X, Y, Z; } + + public struct DataIMU + { + public DataHead Head; + public XYZ Acc, Gyr, Mag; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU)); + } + + public struct DataPos + { + public DataHead Head; + public XYZ Local; // + public float LiDAR; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos)); + } + + public struct DataMotor4 + { + public DataHead Head; + public ulong Count; + public float UL, UR, DL, DR; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4)); + } + + public struct DataMotor6 + { + public DataHead Head; + public ulong Count; + public float UL, UR, LL, RR, DL, DR; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6)); + } +} \ No newline at end of file diff --git a/DroneClient/FormMain.cs b/DroneClient/FormMain.cs index dee166e..bc249ac 100644 --- a/DroneClient/FormMain.cs +++ b/DroneClient/FormMain.cs @@ -21,34 +21,37 @@ namespace DroneSimulator if (!data.Connect) { - Invoke((MethodInvoker)delegate + try { - button_Connect.Text = "Connect"; - button_Connect.BackColor = Color.Transparent; - MessageBox.Show("Connection closed"); - }); + Invoke((MethodInvoker)delegate + { + button_Connect.Text = "Connect"; + button_Connect.BackColor = Color.Transparent; + MessageBox.Show("Connection closed"); + }); + } + catch { } return; } - - byte[] send = Drone.getBytes(sendDrone); - - data.Server.Send(send); } - Drone.DataIn sendDrone; - - Drone.DataOut recvDrone; + Drone dataDrone = new Drone(); private void ReceiveCallback(object o) { ReceiveData data = (ReceiveData)o; - recvDrone = (Drone.DataOut)Drone.fromBytes(data.Buffer, typeof(Drone.DataOut)); + List? send = dataDrone.DataStream(data.Buffer, data.Size); - byte[] send = Drone.getBytes(sendDrone); - - try { data.Server.Send(send); } + if (send == null) return; + try + { + foreach (byte[]? b in send) + { + if (b != null) data.Server?.Send(b); + } + } catch { } } @@ -88,17 +91,19 @@ namespace DroneSimulator 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_Acc_X.Text = dataDrone.AccX.ToString(); + label_Acc_Y.Text = dataDrone.AccY.ToString(); + label_Acc_Z.Text = dataDrone.AccZ.ToString(); - label_Gyr_X.Text = recvDrone.GyrX.ToString(); - label_Gyr_Y.Text = recvDrone.GyrY.ToString(); - label_Gyr_Z.Text = recvDrone.GyrZ.ToString(); + label_Gyr_X.Text = dataDrone.GyrX.ToString(); + label_Gyr_Y.Text = dataDrone.GyrY.ToString(); + label_Gyr_Z.Text = dataDrone.GyrZ.ToString(); - label_Pos_X.Text = recvDrone.PosX.ToString(); - label_Pos_Y.Text = recvDrone.PosY.ToString(); - label_Pos_L.Text = recvDrone.LaserRange.ToString(); + label_Pos_X.Text = dataDrone.PosX.ToString(); + label_Pos_Y.Text = dataDrone.PosY.ToString(); + label_Pos_L.Text = dataDrone.LaserRange.ToString(); + + netClient.SendData(dataDrone.SendReqest()); } private void trackBar_Power_Scroll(object sender, EventArgs e) @@ -107,7 +112,7 @@ namespace DroneSimulator label_Pow.Text = pow.ToString(); - sendDrone.MotorUL = sendDrone.MotorUR = sendDrone.MotorDL = sendDrone.MotorDR = pow; + dataDrone.MotorUL = dataDrone.MotorUR = dataDrone.MotorDL = dataDrone.MotorDR = pow; } private void button_UU_MouseDown(object sender, MouseEventArgs e) @@ -116,35 +121,35 @@ namespace DroneSimulator if (sender == button_UU) { - sendDrone.MotorUL -= pow; sendDrone.MotorUR -= pow; - sendDrone.MotorDL += pow; sendDrone.MotorDR += pow; + dataDrone.MotorUL -= pow; dataDrone.MotorUR -= pow; + dataDrone.MotorDL += pow; dataDrone.MotorDR += pow; } if (sender == button_DD) { - sendDrone.MotorUL += pow; sendDrone.MotorUR += pow; - sendDrone.MotorDL -= pow; sendDrone.MotorDR -= pow; + dataDrone.MotorUL += pow; dataDrone.MotorUR += pow; + dataDrone.MotorDL -= pow; dataDrone.MotorDR -= pow; } if (sender == button_LL) { - sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow; - sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow; + dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow; + dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow; } if (sender == button_RR) { - sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow; - sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow; + dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow; + dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow; } if (sender == button_ML) { - sendDrone.MotorUL -= pow; sendDrone.MotorUR += pow; - sendDrone.MotorDL += pow; sendDrone.MotorDR -= pow; + dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow; + dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow; } if (sender == button_MR) { - sendDrone.MotorUL += pow; sendDrone.MotorUR -= pow; - sendDrone.MotorDL -= pow; sendDrone.MotorDR += pow; + dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow; + dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow; } } diff --git a/DroneClient/NetClient.cs b/DroneClient/NetClient.cs index fc93baf..12aa8cb 100644 --- a/DroneClient/NetClient.cs +++ b/DroneClient/NetClient.cs @@ -97,5 +97,10 @@ namespace DroneSimulator try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); } catch { } } + + public void SendData(byte[] data) + { + try { ServerSocket?.Send(data); } catch { } + } } } diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs index 612505a..9a50742 100644 --- a/DroneSimulator/Drone.cs +++ b/DroneSimulator/Drone.cs @@ -1,4 +1,5 @@ -using System.Numerics; +using System.CodeDom; +using System.Numerics; using System.Runtime.InteropServices; using System.Security.Cryptography; @@ -284,71 +285,142 @@ namespace DroneSimulator AccPRY.Z = ((ul + dr) - (dl + ur)) / 4; } - private DroneData.DataHead StreamHead = new DroneData.DataHead() { Type = DroneData.StructType.None, Size = 0 }; - - public int RecvDataStream(byte[] data) + private void RecvDataMotor4(byte[] data) { - if (StreamHead.Type == DroneData.StructType.None) return Marshal.SizeOf(typeof(DroneData.DataHead)); - - if (StreamHead.Type == DroneData.StructType.Head) - { - StreamHead = (DroneData.DataHead)fromBytes(data, typeof(DroneData.DataHead)); - - return (int)StreamHead.Size; - } - - switch(StreamHead.Type) - { - case DroneData.StructType.DataIMU: - { - DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU)); - /* обработка */ - break; - } - case DroneData.StructType.DataPos: - { - DroneData.DataPos pos = (DroneData.DataPos)fromBytes(data, typeof(DroneData.DataPos)); - /* обработка */ - break; - } - case DroneData.StructType.DataMotor4: - { - DroneData.DataMotor4 pos = (DroneData.DataMotor4)fromBytes(data, typeof(DroneData.DataMotor4)); - /* обработка */ - SetQadroPow(pos.UL, pos.UR, pos.DL, pos.DR); - break; - } - } - - return Marshal.SizeOf(typeof(DroneData.DataHead)); + DroneData.DataMotor4 mot = (DroneData.DataMotor4)fromBytes(data, typeof(DroneData.DataMotor4)); + /* обработка */ + SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR); } - public byte[] SendDataStream(DroneData.StructType type) + private byte[] SendDataIMU() { - switch(type) + DroneData.DataIMU imu = new DroneData.DataIMU(); + + imu.Head.Size = Marshal.SizeOf(typeof(DroneData.DataIMU)); + imu.Head.Mode = DroneData.DataMode.Response; + imu.Head.Type = DroneData.DataType.DataIMU; + + imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z; + imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z; + imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0; + + return getBytes(imu); + } + + private byte[] SendDataPos() + { + DroneData.DataPos pos = new DroneData.DataPos(); + + pos.Head.Size = Marshal.SizeOf(typeof(DroneData.DataPos)); + pos.Head.Mode = DroneData.DataMode.Response; + pos.Head.Type = DroneData.DataType.DataPos; + + pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z; + pos.LiDAR = LaserRange; + + return getBytes(pos); + } + + private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body) + { + byte[] zero = new byte[0]; + + switch (head.Type) { - case DroneData.StructType.DataIMU: + case DroneData.DataType.DataIMU: { - DroneData.DataIMU imu=new DroneData.DataIMU(); - - imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z; - imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z; - imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0; - - return getBytes(imu); + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + return SendDataIMU(); + } + else + { + // Пришли данные + // ... // + // + return zero; + } } - case DroneData.StructType.DataPos: + + case DroneData.DataType.DataPos: { - DroneData.DataPos pos = new DroneData.DataPos(); + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + return SendDataPos(); + } + else + { + // Пришли данные + // ... // + // + return zero; + } + } - pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z; - pos.LiDAR = LaserRange; - - return getBytes(pos); + case DroneData.DataType.DataMotor4: + { + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + // ... // + // + return zero; + } + else + { + // Пришли данные + RecvDataMotor4(body); + return zero; + } } } - return null; + return zero; + } + + private const int DroneStreamCount = 512; + private byte[] DroneStreamData = new byte[DroneStreamCount]; + private int DroneStreamIndex = 0; + private DroneData.DataHead DroneStreamHead = new DroneData.DataHead() { Mode = DroneData.DataMode.None, Size = 0, Type = DroneData.DataType.None }; + + public List? DataStream(byte[]? data, int size) + { + List ret = new List(); + + if (data == null) return ret; // Последовательность не сформирована, ждать данных + + if (size + DroneStreamIndex > DroneStreamCount) return null; // Ошибка переполнения, поток сломан (конец) + + Array.Copy(data, 0, DroneStreamData, DroneStreamIndex, size); + DroneStreamIndex += size; + + while (true) + { + if (DroneStreamHead.Size == 0) // Заголовок ещё не получен + { + if (DroneStreamIndex < DroneData.DataHead.StrLen) return ret; // Нечего слать + DroneStreamHead = (DroneData.DataHead)fromBytes(DroneStreamData, typeof(DroneData.DataHead)); + } + + if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет ещё не полный + + byte[] body = new byte[DroneStreamHead.Size]; + + Array.Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size); + + int shift = DroneStreamHead.Size; + + DroneStreamIndex -= shift; + Array.Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвигаем массив влево, убрав использованные данные + + DroneStreamHead.Size = 0; // Отменяем прошлый заголовок + + ret.Add(ServerRequestResponse(DroneStreamHead, body)); + } + + return ret; } } } diff --git a/DroneSimulator/DroneData.cs b/DroneSimulator/DroneData.cs index 448299b..8c14e2c 100644 --- a/DroneSimulator/DroneData.cs +++ b/DroneSimulator/DroneData.cs @@ -1,6 +1,13 @@ +using System.Runtime.InteropServices; + namespace DroneData { - public enum StructType : ulong + public enum DataMode : ushort + { + None = 0, Response = 1, Request = 2 + }; + + public enum DataType : ushort { None = 0, Head = 1, @@ -13,32 +20,48 @@ namespace DroneData public struct DataHead { - public StructType Type; - public ulong Size; + public int Size; + + public DataMode Mode; + public DataType Type; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead)); } public struct XYZ { public float X, Y, Z; } public struct DataIMU { + public DataHead Head; public XYZ Acc, Gyr, Mag; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU)); } public struct DataPos { + public DataHead Head; public XYZ Local; // public float LiDAR; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos)); } public struct DataMotor4 { + public DataHead Head; public ulong Count; public float UL, UR, DL, DR; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4)); } public struct DataMotor6 { + public DataHead Head; public ulong Count; public float UL, UR, LL, RR, DL, DR; + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6)); } } \ No newline at end of file diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs index 84c70ab..469e08b 100644 --- a/DroneSimulator/FormMain.cs +++ b/DroneSimulator/FormMain.cs @@ -6,6 +6,7 @@ using static System.Runtime.InteropServices.JavaScript.JSType; using System.Security.Policy; using System.Runtime.InteropServices; using System.CodeDom; +using System.Linq; namespace DroneSimulator { @@ -23,7 +24,7 @@ namespace DroneSimulator InitializeComponent(); } - private int ClientConnectionCallback(object o) + private void ClientConnectionCallback(object o) { NetServerClients.ConnectData data = (NetServerClients.ConnectData)o; @@ -54,11 +55,9 @@ namespace DroneSimulator break; } } - - return Marshal.SizeOf(typeof(DroneData.DataHead)); } - private int ClientReceiveCallback(object o) + private void ClientReceiveCallback(object o) { NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o; @@ -71,18 +70,19 @@ namespace DroneSimulator break; } - if (drone == null) return 0; + if (drone == null) return; - int size=drone.RecvDataStream(data.Buffer); + List? send = drone.DataStream(data.Buffer, data.Size); + if (send == null) return; try - { - data.Client.Send(drone.SendDataStream(DroneData.StructType.DataIMU)); - data.Client.Send(drone.SendDataStream(DroneData.StructType.DataPos)); + { + foreach (byte[]? b in send) + { + if (b != null) data.Client?.Send(b); + } } catch { } - - return size; } private void button_Client_Start_Click(object sender, EventArgs e) diff --git a/DroneSimulator/NetServerClients.cs b/DroneSimulator/NetServerClients.cs index 1e1d30d..8bde955 100644 --- a/DroneSimulator/NetServerClients.cs +++ b/DroneSimulator/NetServerClients.cs @@ -17,8 +17,9 @@ namespace DroneSimulator public class ReceiveData { + public int ID; - public byte[]? Buffer; + public byte[] Buffer; public int Size; public Socket? Client; @@ -28,7 +29,8 @@ namespace DroneSimulator { public int ID; public Socket? workSocket = null; - public byte[] buffer; + public const int count = 1024; + public byte[] buffer = new byte[count]; } private int SocketID = 0; @@ -36,7 +38,7 @@ namespace DroneSimulator private Socket? ServerSocket; private List ClientSockets = new List(); - public delegate int ServerCallback(object o); + public delegate void ServerCallback(object o); private ServerCallback? ConnectionCallback; private ServerCallback? ReceiveCallback; @@ -99,11 +101,9 @@ namespace DroneSimulator ClientSockets.Add(clientData); - int size = ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); + ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); - clientData.buffer=new byte[size]; - - handler.BeginReceive(clientData.buffer, 0, size, 0, new AsyncCallback(ReadCallback), clientData); + handler.BeginReceive(clientData.buffer, 0, ClientData.count, 0, new AsyncCallback(ReadCallback), clientData); } else handler.Close(); @@ -130,13 +130,11 @@ namespace DroneSimulator return; } - int size = ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); - - cd.buffer = new byte[size]; + ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); try { - cd.workSocket?.BeginReceive(cd.buffer, 0, size, 0, new AsyncCallback(ReadCallback), cd); + cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.count, 0, new AsyncCallback(ReadCallback), cd); } catch { } } From 6aeb99968e1c0e80b45fbbf5d0e1b36c9c8dd122 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Sun, 6 Apr 2025 20:58:15 +0300 Subject: [PATCH 32/34] update --- Common/DroneData.cs | 67 --------------------------------------------- Common/DroneData.h | 42 ---------------------------- 2 files changed, 109 deletions(-) delete mode 100644 Common/DroneData.cs delete mode 100644 Common/DroneData.h diff --git a/Common/DroneData.cs b/Common/DroneData.cs deleted file mode 100644 index 8c14e2c..0000000 --- a/Common/DroneData.cs +++ /dev/null @@ -1,67 +0,0 @@ -using System.Runtime.InteropServices; - -namespace DroneData -{ - public enum DataMode : ushort - { - None = 0, Response = 1, Request = 2 - }; - - public enum DataType : ushort - { - None = 0, Head = 1, - - // Output - DataIMU = 1001, DataPos = 1002, - - // Input - DataMotor4 = 2001, DataMotor6 = 2002 - }; - - public struct DataHead - { - public int Size; - - public DataMode Mode; - public DataType Type; - - static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead)); - } - - public struct XYZ { public float X, Y, Z; } - - public struct DataIMU - { - public DataHead Head; - public XYZ Acc, Gyr, Mag; - - static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU)); - } - - public struct DataPos - { - public DataHead Head; - public XYZ Local; // - public float LiDAR; // - - static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos)); - } - - public struct DataMotor4 - { - public DataHead Head; - public ulong Count; - public float UL, UR, DL, DR; - - static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4)); - } - - public struct DataMotor6 - { - public DataHead Head; - public ulong Count; - public float UL, UR, LL, RR, DL, DR; - - static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6)); - } -} \ No newline at end of file diff --git a/Common/DroneData.h b/Common/DroneData.h deleted file mode 100644 index 14d3512..0000000 --- a/Common/DroneData.h +++ /dev/null @@ -1,42 +0,0 @@ -namespace DroneData -{ - enum class StructType : unsigned long - { - // Output - DataIMU = 1, DataPos = 2, - - // Input - DataMotor4 = 1001, DataMotor6 = 1002 - }; - - public struct DataInfo - { - StructType Type; - unsigned long Size; - }; - - public struct DataXYZ { float X, Y, Z; }; - - public struct DataIMU - { - DataXYZ Acc, Gyr, Mag; - }; - - public struct DataPos - { - DataXYZ Local; // - float LiDAR; // - }; - - public struct DataMotor4 - { - ulong Count; - float M1, M2, M3, M4; - }; - - public struct DataMotor6 - { - ulong Count; - float M1, M2, M3, M4, M5, M6; - }; -} \ No newline at end of file From 64c0637e6ac7dac9e5b219ede4c251d0ce7c6145 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Fri, 11 Apr 2025 14:56:04 +0300 Subject: [PATCH 33/34] cpp --- .gitignore | 3 +- DroneClientCpp/Client.cpp | 106 ++++++++++ DroneClientCpp/Client.h | 44 ++++ DroneClientCpp/Drone.cpp | 197 ++++++++++++++++++ DroneClientCpp/Drone.h | 46 ++++ DroneClientCpp/DroneClient.h | 65 ++++++ DroneClientCpp/DroneClientCpp.sln | 28 +++ DroneClientCpp/DroneClientCpp.vcxproj | 141 +++++++++++++ DroneClientCpp/DroneClientCpp.vcxproj.filters | 42 ++++ DroneClientCpp/DroneClientCpp.vcxproj.user | 4 + DroneClientCpp/DroneData.h | 77 +++++++ DroneClientCpp/FormMain.cpp | 12 ++ DroneClientCpp/FormMain.h | Bin 0 -> 75238 bytes DroneClientCpp/FormMain.resx | 126 +++++++++++ DroneClientCpp/MyForm.cpp | 12 ++ DroneClientCpp/MyForm.h | Bin 0 -> 4284 bytes DroneClientCpp/MyForm.resx | 120 +++++++++++ DroneClientCpp/NetClient.cpp | 105 ++++++++++ DroneClientCpp/NetClient.h | 68 ++++++ DroneClientCpp/Source.cpp | 11 + 20 files changed, 1206 insertions(+), 1 deletion(-) create mode 100644 DroneClientCpp/Client.cpp create mode 100644 DroneClientCpp/Client.h create mode 100644 DroneClientCpp/Drone.cpp create mode 100644 DroneClientCpp/Drone.h create mode 100644 DroneClientCpp/DroneClient.h create mode 100644 DroneClientCpp/DroneClientCpp.sln create mode 100644 DroneClientCpp/DroneClientCpp.vcxproj create mode 100644 DroneClientCpp/DroneClientCpp.vcxproj.filters create mode 100644 DroneClientCpp/DroneClientCpp.vcxproj.user create mode 100644 DroneClientCpp/DroneData.h create mode 100644 DroneClientCpp/FormMain.cpp create mode 100644 DroneClientCpp/FormMain.h create mode 100644 DroneClientCpp/FormMain.resx create mode 100644 DroneClientCpp/MyForm.cpp create mode 100644 DroneClientCpp/MyForm.h create mode 100644 DroneClientCpp/MyForm.resx create mode 100644 DroneClientCpp/NetClient.cpp create mode 100644 DroneClientCpp/NetClient.h create mode 100644 DroneClientCpp/Source.cpp diff --git a/.gitignore b/.gitignore index 98d63b2..a4574de 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ .vs/ obj/ -bin/ \ No newline at end of file +bin/ +x64/ \ No newline at end of file diff --git a/DroneClientCpp/Client.cpp b/DroneClientCpp/Client.cpp new file mode 100644 index 0000000..7fab2d4 --- /dev/null +++ b/DroneClientCpp/Client.cpp @@ -0,0 +1,106 @@ +#pragma once + +#include "Client.h" + +Client::Client(const char* ip, int port) : running(true), Connection(INVALID_SOCKET) +{ + if (!ConnectToServer(ip, port)) + { + std::cerr << "Failed to connect to server!" << std::endl; + } +} + +Client::~Client() +{ + Stop(); + CloseConnection(); +} + +bool Client::ConnectToServer(const char* ip, int port) +{ + WSAData wsaData; + WORD DLLVersion = MAKEWORD(2, 2); + + if (WSAStartup(DLLVersion, &wsaData) != 0) + { + std::cerr << "Error: WSAStartup failed" << std::endl; + return false; + } + + SOCKADDR_IN addr; + inet_pton(AF_INET, ip, &addr.sin_addr); + addr.sin_port = htons(port); + addr.sin_family = AF_INET; + + Connection = socket(AF_INET, SOCK_STREAM, 0); + if (Connection == INVALID_SOCKET) + { + std::cerr << "Error: Failed to create socket" << std::endl; + WSACleanup(); + return false; + } + + if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0) + { + std::cerr << "Error: Failed to connect to server" << std::endl; + closesocket(Connection); + WSACleanup(); + return false; + } + + return true; +} + +void Client::CloseConnection() +{ + if (Connection != INVALID_SOCKET) + { + closesocket(Connection); + WSACleanup(); + Connection = INVALID_SOCKET; + } +} + +void Client::ReceiveHandler() +{ + while (running) + { + DataIn tempData; + int result = recv(Connection, (char*)&tempData, sizeof(tempData), 0); + + if (result <= 0) + { + std::cerr << "Error: Connection lost (recv failed)" << std::endl; + running = false; + break; + } + + std::lock_guard lock(dataMutex); + dataIn = tempData; + } +} + +void Client::SendHandler() +{ + while (running) + { + { + std::lock_guard lock(dataMutex); + send(Connection, (char*)&dataOut, sizeof(dataOut), 0); + } + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } +} + +void Client::Start() +{ + recvThread = std::thread(&Client::ReceiveHandler, this); + sendThread = std::thread(&Client::SendHandler, this); +} + +void Client::Stop() +{ + running = false; + if (recvThread.joinable()) recvThread.join(); + if (sendThread.joinable()) sendThread.join(); +} diff --git a/DroneClientCpp/Client.h b/DroneClientCpp/Client.h new file mode 100644 index 0000000..6801903 --- /dev/null +++ b/DroneClientCpp/Client.h @@ -0,0 +1,44 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#pragma comment(lib, "Ws2_32.lib") + +class Client +{ +public: + Client(const char* ip, int port); + ~Client(); + + void Start(); // Запуск потоков + void Stop(); // Остановка потоков + struct DataIn + { + float AccX, AccY, AccZ; + float GyrX, GyrY, GyrZ; + float PosX, PosY, LaserRange; + } dataIn; + + struct DataOut + { + float MotorUL, MotorUR, MotorDL, MotorDR; + } dataOut; + bool ConnectToServer(const char* ip, int port); + void CloseConnection(); + +private: + std::atomic running; + std::mutex dataMutex; + + SOCKET Connection; + std::thread recvThread; + std::thread sendThread; + + void ReceiveHandler(); + void SendHandler(); +}; \ No newline at end of file diff --git a/DroneClientCpp/Drone.cpp b/DroneClientCpp/Drone.cpp new file mode 100644 index 0000000..b59532a --- /dev/null +++ b/DroneClientCpp/Drone.cpp @@ -0,0 +1,197 @@ +#include "Drone.h" + +namespace DroneClient { + + // Реализация статического метода GetBytes + array^ Drone::GetBytes(Object^ data) + { + int size = Marshal::SizeOf(data); + array^ arr = gcnew array(size); + + IntPtr ptr = IntPtr::Zero; + try + { + ptr = Marshal::AllocHGlobal(size); + Marshal::StructureToPtr(data, ptr, true); + Marshal::Copy(ptr, arr, 0, size); + } + finally + { + Marshal::FreeHGlobal(ptr); + } + return arr; + } + + // Реализация статического метода FromBytes + Object^ Drone::FromBytes(array^ arr, Type^ type) + { + Object^ mem = gcnew Object(); + + int size = Marshal::SizeOf(type); + IntPtr ptr = IntPtr::Zero; + try + { + ptr = Marshal::AllocHGlobal(size); + Marshal::Copy(arr, 0, ptr, size); + mem = Marshal::PtrToStructure(ptr, type); + } + finally + { + Marshal::FreeHGlobal(ptr); + } + return mem; + } + + // Реализация приватного метода SendDataMotor4 + array^ Drone::SendDataMotor4() + { + DroneData::DataMotor4 mot4; + + mot4.Head.Size = Marshal::SizeOf(DroneData::DataMotor4::typeid); + mot4.Head.Mode = DroneData::DataMode::Response; + mot4.Head.Type = DroneData::DataType::DataMotor4; + + mot4.UL = MotorUL; + mot4.UR = MotorUR; + mot4.DL = MotorDL; + mot4.DR = MotorDR; + + return GetBytes(mot4); + } + + // Реализация приватного метода RecvDataIMU + array^ Drone::RecvDataIMU(array^ data) + { + DroneData::DataIMU imu = (DroneData::DataIMU)FromBytes(data, DroneData::DataIMU::typeid); + + AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z; + GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z; + + return gcnew array(0); + } + + // Реализация приватного метода RecvDataPos + array^ Drone::RecvDataPos(array^ data) + { + DroneData::DataPos pos = (DroneData::DataPos)FromBytes(data, DroneData::DataPos::typeid); + + PosX = pos.Local.X; PosY = pos.Local.Y; + LaserRange = pos.LiDAR; + + return gcnew array(0); + } + + // Реализация приватного метода ClientRequestResponse + array^ Drone::ClientRequestResponse(DroneData::DataHead head, array^ body) + { + array^ zero = gcnew array(0); + + switch (head.Type) + { + case DroneData::DataType::DataIMU: + if (head.Mode == DroneData::DataMode::Request) + { + return zero; // Запрос данных (не реализовано) + } + else + { + return RecvDataIMU(body); // Пришли данные + } + + case DroneData::DataType::DataPos: + if (head.Mode == DroneData::DataMode::Request) + { + return zero; // Запрос данных (не реализовано) + } + else + { + return RecvDataPos(body); // Пришли данные + } + + case DroneData::DataType::DataMotor4: + if (head.Mode == DroneData::DataMode::Request) + { + return SendDataMotor4(); // Запрос данных + } + else + { + return zero; // Пришли данные (не реализовано) + } + } + + return zero; + } + + // Реализация конструктора + Drone::Drone() + { + DroneStreamData = gcnew array(DroneStreamCount); // Инициализация массива + DroneStreamIndex = 0; + DroneStreamHead.Mode = DroneData::DataMode::None; + DroneStreamHead.Size = 0; + DroneStreamHead.Type = DroneData::DataType::None; + } + + // Реализация метода DataStream + System::Collections::Generic::List^>^ Drone::DataStream(array^ data, int size) + { + System::Collections::Generic::List^>^ ret = gcnew System::Collections::Generic::List^>(); + + if (data == nullptr) return ret; // Последовательность не сформирована + + if (size + DroneStreamIndex > DroneStreamCount) return nullptr; // Ошибка переполнения + + Array::Copy(data, 0, DroneStreamData, DroneStreamIndex, size); + DroneStreamIndex += size; + + while (true) + { + if (DroneStreamHead.Size == 0) // Заголовок еще не получен + { + if (DroneStreamIndex < DroneData::DataHead::StrLen) return ret; + DroneStreamHead = (DroneData::DataHead)FromBytes(DroneStreamData, DroneData::DataHead::typeid); + } + + if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет еще не полный + + array^ body = gcnew array(DroneStreamHead.Size); + Array::Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size); + + int shift = DroneStreamHead.Size; + + DroneStreamIndex -= shift; + Array::Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвиг массива + + DroneStreamHead.Size = 0; // Сброс заголовка + + ret->Add(ClientRequestResponse(DroneStreamHead, body)); + } + + return ret; + } + + // Реализация метода SendRequest + array^ Drone::SendRequest() + { + DroneData::DataHead imu; + imu.Size = DroneData::DataHead::StrLen; + imu.Mode = DroneData::DataMode::Request; + imu.Type = DroneData::DataType::DataIMU; + + DroneData::DataHead pos; + pos.Size = DroneData::DataHead::StrLen; + pos.Mode = DroneData::DataMode::Request; + pos.Type = DroneData::DataType::DataPos; + + array^ si = GetBytes(imu); + array^ sp = GetBytes(pos); + array^ sm = SendDataMotor4(); + + array^ send = gcnew array(si->Length + sp->Length + sm->Length); + Array::Copy(si, 0, send, 0, si->Length); + Array::Copy(sp, 0, send, si->Length, sp->Length); + Array::Copy(sm, 0, send, si->Length + sp->Length, sm->Length); + + return send; + } +} \ No newline at end of file diff --git a/DroneClientCpp/Drone.h b/DroneClientCpp/Drone.h new file mode 100644 index 0000000..2b603e7 --- /dev/null +++ b/DroneClientCpp/Drone.h @@ -0,0 +1,46 @@ +#pragma once + +#include "DroneData.h" +#include +#include + +#using +#using + +using namespace System; +using namespace System::Collections::Generic; +using namespace System::Runtime::InteropServices; + +namespace DroneClient { + + public ref class Drone + { + public: + float AccX, AccY, AccZ; + float GyrX, GyrY, GyrZ; + float PosX, PosY; + float LaserRange; + + float MotorUL, MotorUR, MotorDL, MotorDR; + + static array^ GetBytes(Object^ data); + static Object^ FromBytes(array^ arr, Type^ type); + + private: + array^ SendDataMotor4(); + array^ RecvDataIMU(array^ data); + array^ RecvDataPos(array^ data); + array^ ClientRequestResponse(DroneData::DataHead head, array^ body); + + literal int DroneStreamCount = 512; + array^ DroneStreamData; + int DroneStreamIndex; + DroneData::DataHead DroneStreamHead; + + public: + Drone(); // Конструктор для инициализации + + System::Collections::Generic::List^>^ DataStream(array^ data, int size); + array^ SendRequest(); + }; +} \ No newline at end of file diff --git a/DroneClientCpp/DroneClient.h b/DroneClientCpp/DroneClient.h new file mode 100644 index 0000000..56ff135 --- /dev/null +++ b/DroneClientCpp/DroneClient.h @@ -0,0 +1,65 @@ +#pragma once + +#include +#include + +#using +#using + +using namespace System; +using namespace System::Runtime::InteropServices; + +namespace DroneClient { + + public ref class Drone + { + public: + value struct DataOut + { + float AccX, AccY, AccZ; + float GyrX, GyrY, GyrZ; + float PosX, PosY; + float LaserRange; + }; + + value struct DataIn + { + float MotorUL, MotorUR, MotorDL, MotorDR; + }; + + static array^ GetBytes(Object^ data) + { + int size = Marshal::SizeOf(data); + array^ arr = gcnew array(size); + + IntPtr ptr = IntPtr::Zero; + try + { + ptr = Marshal::AllocHGlobal(size); + Marshal::StructureToPtr(data, ptr, true); + Marshal::Copy(ptr, arr, 0, size); + } + finally + { + Marshal::FreeHGlobal(ptr); + } + return arr; + } + + static Object^ FromBytes(array^ arr, Type^ type) + { + int size = Marshal::SizeOf(type); + IntPtr ptr = IntPtr::Zero; + try + { + ptr = Marshal::AllocHGlobal(size); + Marshal::Copy(arr, 0, ptr, size); + return Marshal::PtrToStructure(ptr, type); + } + finally + { + Marshal::FreeHGlobal(ptr); + } + } + }; +} \ No newline at end of file diff --git a/DroneClientCpp/DroneClientCpp.sln b/DroneClientCpp/DroneClientCpp.sln new file mode 100644 index 0000000..0272a0e --- /dev/null +++ b/DroneClientCpp/DroneClientCpp.sln @@ -0,0 +1,28 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.12.35527.113 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DroneClientCpp", "DroneClientCpp.vcxproj", "{690C304C-A70B-4B0F-BF61-8C51290BF444}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x64 = Debug|x64 + Debug|x86 = Debug|x86 + Release|x64 = Release|x64 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.ActiveCfg = Debug|x64 + {690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.Build.0 = Debug|x64 + {690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.ActiveCfg = Debug|Win32 + {690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.Build.0 = Debug|Win32 + {690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.ActiveCfg = Release|x64 + {690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.Build.0 = Release|x64 + {690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.ActiveCfg = Release|Win32 + {690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal diff --git a/DroneClientCpp/DroneClientCpp.vcxproj b/DroneClientCpp/DroneClientCpp.vcxproj new file mode 100644 index 0000000..4588522 --- /dev/null +++ b/DroneClientCpp/DroneClientCpp.vcxproj @@ -0,0 +1,141 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + 17.0 + {690C304C-A70B-4B0F-BF61-8C51290BF444} + v4.7.2 + ManagedCProj + DroneClientCpp + 10.0 + + + + Application + true + v143 + true + Unicode + + + Application + false + v143 + true + Unicode + + + Application + true + v143 + true + Unicode + + + Application + false + v143 + true + Unicode + + + + + + + + + + + + + + + + + + + + + + + Level3 + _DEBUG;%(PreprocessorDefinitions) + + + + + + + + Level3 + WIN32;_DEBUG;%(PreprocessorDefinitions) + + + + + + + + Level3 + WIN32;NDEBUG;%(PreprocessorDefinitions) + + + + + + + + Level3 + NDEBUG;%(PreprocessorDefinitions) + + + + + + + + + + + + + + + + + + + + + + CppForm + + + + + + FormMain.h + + + + + + \ No newline at end of file diff --git a/DroneClientCpp/DroneClientCpp.vcxproj.filters b/DroneClientCpp/DroneClientCpp.vcxproj.filters new file mode 100644 index 0000000..6c37b72 --- /dev/null +++ b/DroneClientCpp/DroneClientCpp.vcxproj.filters @@ -0,0 +1,42 @@ + + + + + {4FC737F1-C7A5-4376-A066-2A32D752A2FF} + cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx + + + {93995380-89BD-4b04-88EB-625FBE52EBFB} + h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd + + + {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} + rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms + + + + + Исходные файлы + + + Исходные файлы + + + Исходные файлы + + + + + Файлы заголовков + + + Файлы заголовков + + + Файлы заголовков + + + Файлы заголовков + + + \ No newline at end of file diff --git a/DroneClientCpp/DroneClientCpp.vcxproj.user b/DroneClientCpp/DroneClientCpp.vcxproj.user new file mode 100644 index 0000000..88a5509 --- /dev/null +++ b/DroneClientCpp/DroneClientCpp.vcxproj.user @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/DroneClientCpp/DroneData.h b/DroneClientCpp/DroneData.h new file mode 100644 index 0000000..63a3a3d --- /dev/null +++ b/DroneClientCpp/DroneData.h @@ -0,0 +1,77 @@ +#pragma once + +#include +#include + +using namespace System; +using namespace System::Runtime::InteropServices; + +namespace DroneData { + + public enum class DataMode : unsigned short + { + None = 0, Response = 1, Request = 2 + }; + + public enum class DataType : unsigned short + { + None = 0, Head = 1, + DataIMU = 1001, DataPos = 1002, + DataMotor4 = 2001, DataMotor6 = 2002 + }; + + public value struct DataHead + { + public: + int Size; + DataMode Mode; + DataType Type; + + static const int StrLen = sizeof(DataHead); + }; + + public value struct XYZ + { + public: + float X, Y, Z; + }; + + public value struct DataIMU + { + public: + DataHead Head; + XYZ Acc, Gyr, Mag; + + static const int StrLen = sizeof(DataIMU); + }; + + public value struct DataPos + { + public: + DataHead Head; + XYZ Local; + float LiDAR; + + static const int StrLen = sizeof(DataPos); + }; + + public value struct DataMotor4 + { + public: + DataHead Head; + unsigned long long Count; + float UL, UR, DL, DR; + + static const int StrLen = sizeof(DataMotor4); + }; + + public value struct DataMotor6 + { + public: + DataHead Head; + unsigned long long Count; + float UL, UR, LL, RR, DL, DR; + + static const int StrLen = sizeof(DataMotor6); + }; +} \ No newline at end of file diff --git a/DroneClientCpp/FormMain.cpp b/DroneClientCpp/FormMain.cpp new file mode 100644 index 0000000..dfbdfbc --- /dev/null +++ b/DroneClientCpp/FormMain.cpp @@ -0,0 +1,12 @@ +#include "FormMain.h" + +#include + +using namespace DroneClientCpp; + +int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) { + Application::EnableVisualStyles(); + Application::SetCompatibleTextRenderingDefault(false); + Application::Run(gcnew FormMain); + return 0; +} \ No newline at end of file diff --git a/DroneClientCpp/FormMain.h b/DroneClientCpp/FormMain.h new file mode 100644 index 0000000000000000000000000000000000000000..3af627c98c4ce3956cfdbfd7256a7590fb8cd03f GIT binary patch literal 75238 zcmeHQS#umma_)zDu_OHE2fyrkmWtRIhF1~*0U`(<5-^_6GmQ*;#g) z?PUkqzhwVx9-m~#=EzC*Q?`%e$I;)7ZjV+*|24Wk z8V6UAemU*CkmnMQJdZNk?o~xR9zycV>`r!qu^nI>ms1`(=2LKegHJA?n_Z&~S9Ml#`*I{eW@;f!qwE=5k8I4dy;*?8JFPlCc9y-Zgb^Ewt;b+fyUdZML3!VcuiZK zB%pi(DhJTPB}PM=Uv#AT7o(MZ(0T`2l>b}2KF0{UQdY}%(JTmU*>;Bjap+baS+ZBYbr&8ZCAG!%AT_qSv;ULTND?87E4y z%FnGdPoUE`K#>#Z_tMy0wChrPi_c$~xZDGWb9mk%p7+c(7x0krM{jumDzwoU9yEsc zyVtp~MGq_UIoAVSNq+W5>C)fuK2bfW7pq*8?C%)kG2-xQ^n9PbQqkx87}>Fjxm}}; 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+ +int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) { + Application::EnableVisualStyles(); + Application::SetCompatibleTextRenderingDefault(false); + Application::Run(gcnew MyForm); + return 0; +} \ No newline at end of file diff --git a/DroneClientCpp/MyForm.h b/DroneClientCpp/MyForm.h new file mode 100644 index 0000000000000000000000000000000000000000..bdc5a398f06f438110605991bd029818f65593c3 GIT binary patch literal 4284 zcmb_fO>fgc5S_zbg2at8GDSi`e6$HE4QbOhX{kV@4Wb2ZpfqtqApKC{P(DCTwvf;TOAMhp1&myEPZj@p~jU{$;AZ=t>TYFkTluL+lS+!JCEhEM? z9d~oDs|IE_)fRAQVtx}Vle+BaLhoTl%=uH;Y548KpV(iEZyx?JLvCYla-gK`sbc>Y ztSe)dR#tJ}z?)UfuE4%!wWeO_H=FoxU}h8luhiqn_ju<#rWE8?3XkbH3^ap^;840Y zj2+|(VXb1+d6}Bw>$s4ASy>k~6Hm(7Cq{JuhA=aIjorMwY=YGRF4mh5VELglE=8Ql zLodeGwZh^bM|XN&ySSE+%PU|K`9}QecxHBQU`+JZ@T*6&$`Es^B6DPm%FeyvvKeC$~IL>R8KMTnRC2t7jTjFJomx z>o%IJSiP<#ceM>qFmf$o#c$w8d${r?II@Q^xlsXE;#y>@)zX}KZtJXf<(g_GrdNbO zJ^{b6Ji<+0&C2*!vximgFJiO1PJ2 z_?+E;4|}t#G_h~VLJE_GsMfK*&h}*=7V(@lx-R#@t}ljm(}OBJ$j2;e{{iej)XZeQ ze+&0sn#1Y?Ef@Tk2)qTOe0it&J%MFIAQ^yH>|dK0cjb%jLWV$(wToB>c$(n7d!o&b zv+4Dz%aaFM$E=Kbj&sm_7rcN4I-ms>mVvxJBn`l39A&&GG=)vV0o8BcrIjSj==+yGa44o|WbJ3pG) zy5ce-zp7-j@oI8!z!TF=`Keldq}jy0wANZanr<=OiJ0@i?MKY|%X`Xqx+b&#$j_Z( zrna}S`ZKKK_boe3TFNYCj*_+MIvVG511tJiPbqq5v+!rsQMmk0+C(g~v3`$O@hdOR Rb$*e=XxaYyBIK + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + \ No newline at end of file diff --git a/DroneClientCpp/NetClient.cpp b/DroneClientCpp/NetClient.cpp new file mode 100644 index 0000000..e3e7c78 --- /dev/null +++ b/DroneClientCpp/NetClient.cpp @@ -0,0 +1,105 @@ +#include "NetClient.h" + +namespace DroneSimulator { + + // Конструктор ConnectData + NetClient::ConnectData::ConnectData(bool connect, Socket^ server) + { + Connect = connect; + Server = server; + } + + // Конструктор ReceiveData + NetClient::ReceiveData::ReceiveData(array^ buffer, int size, Socket^ server) + { + Buffer = buffer; + Size = size; + Server = server; + } + + // Конструктор NetClient + NetClient::NetClient() + { + Connected = false; + ServerSocket = nullptr; + DataServer = gcnew ServerData(); // Инициализация DataServer + } + + // Реализация метода Connect + NetClient::ClientState NetClient::Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive) + { + if (Connected) + { + Close(); + return ClientState::Stop; + } + + ConnectionCallback = Connection; + ReceiveCallback = Receive; + + IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port); + ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp); + + try { ServerSocket->Connect(ep); } + catch (...) { ServerSocket->Close(); return ClientState::Error; } + + Connected = true; + + ConnectionCallback(gcnew ConnectData(true, ServerSocket)); + + ReceiveData^ receiveData = gcnew ReceiveData(DataServer->buffer, ServerData::size, ServerSocket); + + try { ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); } + catch (...) {} + + return ClientState::Connected; + } + + // Реализация метода Close + void NetClient::Close() + { + try { ServerSocket->Shutdown(SocketShutdown::Both); } + catch (...) {} + ServerSocket->Close(); + Connected = false; + } + + // Реализация метода Send + void NetClient::Send(array^ data) + { + if (ServerSocket != nullptr && Connected) + { + try { ServerSocket->Send(data); } + catch (...) {} + } + } + + // Реализация метода ReadCallback + void NetClient::ReadCallback(IAsyncResult^ ar) + { + ReceiveData^ cd = (ReceiveData^)ar->AsyncState; + if (cd == nullptr) return; + + int bytes = 0; + try { bytes = ServerSocket->EndReceive(ar); } + catch (...) {} + + if (bytes == 0) + { + ServerSocket->Close(); + Connected = false; + + if (ServerSocket != nullptr) + { + ConnectionCallback(gcnew ConnectData(false, nullptr)); + } + + return; + } + + ReceiveCallback(gcnew ReceiveData(cd->Buffer, bytes, ServerSocket)); + + try { ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); } + catch (...) {} + } +} \ No newline at end of file diff --git a/DroneClientCpp/NetClient.h b/DroneClientCpp/NetClient.h new file mode 100644 index 0000000..adfe19e --- /dev/null +++ b/DroneClientCpp/NetClient.h @@ -0,0 +1,68 @@ +#pragma once + +#include +#include + +#using +#using + +using namespace System; +using namespace System::Net; +using namespace System::Net::Sockets; + +namespace DroneSimulator { + + public ref class NetClient + { + public: + ref class ConnectData + { + public: + bool Connect; + Socket^ Server; + + ConnectData(bool connect, Socket^ server); + }; + + ref class ReceiveData + { + public: + array^ Buffer; + int Size; + Socket^ Server; + + ReceiveData(array^ buffer, int size, Socket^ server); + }; + + private: + ref class ServerData + { + public: + literal int size = 1024; + array^ buffer = gcnew array(size); + }; + + bool Connected; + Socket^ ServerSocket; + ServerData^ DataServer; + + public: + delegate void ClientCallback(Object^ o); + + private: + ClientCallback^ ConnectionCallback; + ClientCallback^ ReceiveCallback; + + public: + NetClient(); // Добавлен конструктор + + enum class ClientState { Error, Connected, Stop }; + + ClientState Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive); + void Close(); + void Send(array^ data); + + private: + void ReadCallback(IAsyncResult^ ar); + }; +} \ No newline at end of file diff --git a/DroneClientCpp/Source.cpp b/DroneClientCpp/Source.cpp new file mode 100644 index 0000000..6c8d9fb --- /dev/null +++ b/DroneClientCpp/Source.cpp @@ -0,0 +1,11 @@ +#include "MyForm.h" + +using namespace MyWinFormsApp; // ???????????? ???? ?????? ??????? + +[STAThread] +int main(array^ args) { + Application::EnableVisualStyles(); // ???????? ??????????? ????? ????????? ?????????? + Application::SetCompatibleTextRenderingDefault(false); // ????????? ?????????? ?????? + Application::Run(gcnew MyForm()); // ?????? ????? + return 0; +} \ No newline at end of file From bac52d315b5c615df7c2cc8f9d10474eb822ccd7 Mon Sep 17 00:00:00 2001 From: Sergey Sklyarov Date: Fri, 11 Apr 2025 21:59:06 +0300 Subject: [PATCH 34/34] Update --- DroneClient/Drone.cs | 132 +++++++-- DroneClient/DroneData.cs | 51 +++- DroneClient/FormMain.Designer.cs | 43 ++- DroneClient/FormMain.cs | 6 + DroneClientCpp/Drone.cpp | 118 ++++++-- DroneClientCpp/Drone.h | 9 +- DroneClientCpp/DroneData.h | 64 ++++- DroneClientCpp/FormMain.h | Bin 75238 -> 80010 bytes DroneClientCpp/NetClient.cpp | 14 +- DroneSimulator/Drone.cs | 167 +++++++---- DroneSimulator/DroneData.cs | 49 +++- DroneSimulator/FormMain.Designer.cs | 425 ++++++++++++++++++++++++++++ 12 files changed, 933 insertions(+), 145 deletions(-) diff --git a/DroneClient/Drone.cs b/DroneClient/Drone.cs index 74faa8b..b553e8b 100644 --- a/DroneClient/Drone.cs +++ b/DroneClient/Drone.cs @@ -1,4 +1,5 @@ -using System.Drawing; +using System.Diagnostics.Metrics; +using System.Drawing; using System.Runtime.InteropServices; namespace DroneClient @@ -8,8 +9,11 @@ namespace DroneClient public float AccX, AccY, AccZ; public float GyrX, GyrY, GyrZ; + public uint TimeAcc, TimeGyr; + public float PosX, PosY; public float LaserRange; + public uint TimeRange; public float MotorUL, MotorUR, MotorDL, MotorDR; @@ -70,22 +74,44 @@ namespace DroneClient return getBytes(mot4); } - private byte[]? RecvDataIMU(byte[] data) + private byte[]? RecvDataAcc(byte[] data) { - DroneData.DataIMU imu = (DroneData.DataIMU)fromBytes(data, typeof(DroneData.DataIMU)); + DroneData.DataAcc imu = (DroneData.DataAcc)fromBytes(data, typeof(DroneData.DataAcc)); AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z; - GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z; + + TimeAcc= imu.Time; return new byte[0]; } - private byte[]? RecvDataPos(byte[] data) + private byte[]? RecvDataGyr(byte[] data) { - DroneData.DataPos pos = (DroneData.DataPos)fromBytes(data, typeof(DroneData.DataPos)); + DroneData.DataGyr imu = (DroneData.DataGyr)fromBytes(data, typeof(DroneData.DataGyr)); + + GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z; + + TimeGyr = imu.Time; + + return new byte[0]; + } + + private byte[]? RecvDataRange(byte[] data) + { + DroneData.DataRange pos = (DroneData.DataRange)fromBytes(data, typeof(DroneData.DataRange)); + + LaserRange = pos.LiDAR; + + TimeRange = pos.Time; + + return new byte[0]; + } + + private byte[]? RecvDataLocal(byte[] data) + { + DroneData.DataLocal pos = (DroneData.DataLocal)fromBytes(data, typeof(DroneData.DataLocal)); PosX = pos.Local.X; PosY = pos.Local.Y; - LaserRange = pos.LiDAR; return new byte[0]; } @@ -96,7 +122,7 @@ namespace DroneClient switch (head.Type) { - case DroneData.DataType.DataIMU: + case DroneData.DataType.DataAcc: { if (head.Mode == DroneData.DataMode.Request) { @@ -108,11 +134,11 @@ namespace DroneClient else { // Пришли данные - return RecvDataIMU(body); + return RecvDataAcc(body); } } - case DroneData.DataType.DataPos: + case DroneData.DataType.DataGyr: { if (head.Mode == DroneData.DataMode.Request) { @@ -124,7 +150,39 @@ namespace DroneClient else { // Пришли данные - return RecvDataPos(body); + return RecvDataGyr(body); + } + } + + case DroneData.DataType.DataRange: + { + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + // ... // + // + return zero; + } + else + { + // Пришли данные + return RecvDataRange(body); + } + } + + case DroneData.DataType.DataLocal: + { + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + // ... // + // + return zero; + } + else + { + // Пришли данные + return RecvDataLocal(body); } } @@ -193,24 +251,46 @@ namespace DroneClient public byte[] SendReqest() { - DroneData.DataHead imu = new DroneData.DataHead(); - imu.Size = DroneData.DataHead.StrLen; - imu.Mode = DroneData.DataMode.Request; - imu.Type = DroneData.DataType.DataIMU; + DroneData.DataHead acc = new DroneData.DataHead(); + acc.Size = DroneData.DataHead.StrLen; + acc.Mode = DroneData.DataMode.Request; + acc.Type = DroneData.DataType.DataAcc; - DroneData.DataHead pos = new DroneData.DataHead(); - pos.Size = DroneData.DataHead.StrLen; - pos.Mode = DroneData.DataMode.Request; - pos.Type = DroneData.DataType.DataPos; + DroneData.DataHead gyr = new DroneData.DataHead(); + gyr.Size = DroneData.DataHead.StrLen; + gyr.Mode = DroneData.DataMode.Request; + gyr.Type = DroneData.DataType.DataGyr; - byte[] si = getBytes(imu); - byte[] sp = getBytes(pos); - byte[] sm = SendDataMotor4(); + DroneData.DataHead range = new DroneData.DataHead(); + range.Size = DroneData.DataHead.StrLen; + range.Mode = DroneData.DataMode.Request; + range.Type = DroneData.DataType.DataRange; - byte[] send = new byte[si.Length + sp.Length + sm.Length]; - si.CopyTo(send, 0); - sp.CopyTo(send, si.Length); - sm.CopyTo(send, si.Length + sp.Length); + DroneData.DataHead local = new DroneData.DataHead(); + local.Size = DroneData.DataHead.StrLen; + local.Mode = DroneData.DataMode.Request; + local.Type = DroneData.DataType.DataLocal; + + List list = new List(); + + list.Add(getBytes(acc)); + list.Add(getBytes(gyr)); + list.Add(getBytes(range)); + list.Add(getBytes(local)); + list.Add(SendDataMotor4()); + + int count = 0; + + foreach (byte[] d in list) count += d.Length; + + byte[] send = new byte[count]; + + count = 0; + foreach (byte[] d in list) + { + d.CopyTo(send, count); + count += d.Length; + } return send; } diff --git a/DroneClient/DroneData.cs b/DroneClient/DroneData.cs index 8c14e2c..b713c0e 100644 --- a/DroneClient/DroneData.cs +++ b/DroneClient/DroneData.cs @@ -8,11 +8,11 @@ namespace DroneData }; public enum DataType : ushort - { + { None = 0, Head = 1, // Output - DataIMU = 1001, DataPos = 1002, + DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, // Input DataMotor4 = 2001, DataMotor6 = 2002 @@ -25,32 +25,66 @@ namespace DroneData public DataMode Mode; public DataType Type; + public uint Time; // + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead)); } public struct XYZ { public float X, Y, Z; } - public struct DataIMU + public struct DataAcc { public DataHead Head; - public XYZ Acc, Gyr, Mag; + public XYZ Acc; - static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU)); + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc)); } - public struct DataPos + public struct DataGyr + { + public DataHead Head; + public XYZ Gyr; + + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr)); + } + + public struct DataMag + { + public DataHead Head; + public XYZ Mag; + + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag)); + } + + public struct DataLocal { public DataHead Head; public XYZ Local; // + + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal)); + } + + public struct DataRange + { + public DataHead Head; public float LiDAR; // - static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos)); + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange)); } public struct DataMotor4 { public DataHead Head; - public ulong Count; public float UL, UR, DL, DR; static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4)); @@ -59,7 +93,6 @@ namespace DroneData public struct DataMotor6 { public DataHead Head; - public ulong Count; public float UL, UR, LL, RR, DL, DR; static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6)); diff --git a/DroneClient/FormMain.Designer.cs b/DroneClient/FormMain.Designer.cs index f7eb90a..561daf9 100644 --- a/DroneClient/FormMain.Designer.cs +++ b/DroneClient/FormMain.Designer.cs @@ -65,6 +65,9 @@ label_Pow = new Label(); button_ML = new Button(); button_MR = new Button(); + label_time_acc = new Label(); + label_time_range = new Label(); + label_time_gyr = new Label(); groupBox1.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit(); groupBox2.SuspendLayout(); @@ -156,6 +159,7 @@ // // groupBox2 // + groupBox2.Controls.Add(label_time_acc); groupBox2.Controls.Add(label_Acc_Z); groupBox2.Controls.Add(label7); groupBox2.Controls.Add(label_Acc_Y); @@ -164,7 +168,7 @@ groupBox2.Controls.Add(label1); groupBox2.Location = new Point(6, 86); groupBox2.Name = "groupBox2"; - groupBox2.Size = new Size(78, 100); + groupBox2.Size = new Size(78, 118); groupBox2.TabIndex = 5; groupBox2.TabStop = false; groupBox2.Text = "Acc"; @@ -216,6 +220,7 @@ // // groupBox3 // + groupBox3.Controls.Add(label_time_gyr); groupBox3.Controls.Add(label_Gyr_Z); groupBox3.Controls.Add(label9); groupBox3.Controls.Add(label_Gyr_Y); @@ -224,7 +229,7 @@ groupBox3.Controls.Add(label13); groupBox3.Location = new Point(95, 86); groupBox3.Name = "groupBox3"; - groupBox3.Size = new Size(78, 100); + groupBox3.Size = new Size(78, 118); groupBox3.TabIndex = 6; groupBox3.TabStop = false; groupBox3.Text = "Gyr"; @@ -285,6 +290,7 @@ // // groupBox4 // + groupBox4.Controls.Add(label_time_range); groupBox4.Controls.Add(label_Pos_L); groupBox4.Controls.Add(label6); groupBox4.Controls.Add(label_Pos_Y); @@ -293,7 +299,7 @@ groupBox4.Controls.Add(label14); groupBox4.Location = new Point(188, 86); groupBox4.Name = "groupBox4"; - groupBox4.Size = new Size(78, 100); + groupBox4.Size = new Size(78, 118); groupBox4.TabIndex = 7; groupBox4.TabStop = false; groupBox4.Text = "Pos"; @@ -437,6 +443,33 @@ button_MR.MouseDown += button_UU_MouseDown; button_MR.MouseUp += button_UU_MouseUp; // + // label_time_acc + // + label_time_acc.AutoSize = true; + label_time_acc.Location = new Point(6, 100); + label_time_acc.Name = "label_time_acc"; + label_time_acc.Size = new Size(13, 15); + label_time_acc.TabIndex = 25; + label_time_acc.Text = "0"; + // + // label_time_range + // + label_time_range.AutoSize = true; + label_time_range.Location = new Point(6, 100); + label_time_range.Name = "label_time_range"; + label_time_range.Size = new Size(13, 15); + label_time_range.TabIndex = 27; + label_time_range.Text = "0"; + // + // label_time_gyr + // + label_time_gyr.AutoSize = true; + label_time_gyr.Location = new Point(3, 100); + label_time_gyr.Name = "label_time_gyr"; + label_time_gyr.Size = new Size(13, 15); + label_time_gyr.TabIndex = 26; + label_time_gyr.Text = "0"; + // // Form_Main // AutoScaleDimensions = new SizeF(7F, 15F); @@ -509,5 +542,9 @@ private Label label_Pow; private Button button_ML; private Button button_MR; + private Label label4; + private Label label_time_acc; + private Label label_time_range; + private Label label_time_gyr; } } diff --git a/DroneClient/FormMain.cs b/DroneClient/FormMain.cs index bc249ac..70361f4 100644 --- a/DroneClient/FormMain.cs +++ b/DroneClient/FormMain.cs @@ -95,14 +95,20 @@ namespace DroneSimulator label_Acc_Y.Text = dataDrone.AccY.ToString(); label_Acc_Z.Text = dataDrone.AccZ.ToString(); + label_time_acc.Text = dataDrone.TimeAcc.ToString(); + label_Gyr_X.Text = dataDrone.GyrX.ToString(); label_Gyr_Y.Text = dataDrone.GyrY.ToString(); label_Gyr_Z.Text = dataDrone.GyrZ.ToString(); + label_time_gyr.Text = dataDrone.TimeGyr.ToString(); + label_Pos_X.Text = dataDrone.PosX.ToString(); label_Pos_Y.Text = dataDrone.PosY.ToString(); label_Pos_L.Text = dataDrone.LaserRange.ToString(); + label_time_range.Text = dataDrone.TimeRange.ToString(); + netClient.SendData(dataDrone.SendReqest()); } diff --git a/DroneClientCpp/Drone.cpp b/DroneClientCpp/Drone.cpp index b59532a..7c24378 100644 --- a/DroneClientCpp/Drone.cpp +++ b/DroneClientCpp/Drone.cpp @@ -59,55 +59,91 @@ namespace DroneClient { return GetBytes(mot4); } - // Реализация приватного метода RecvDataIMU - array^ Drone::RecvDataIMU(array^ data) + array^ Drone::RecvDataAcc(array^ data) { - DroneData::DataIMU imu = (DroneData::DataIMU)FromBytes(data, DroneData::DataIMU::typeid); + DroneData::DataAcc imu = (DroneData::DataAcc)FromBytes(data, DroneData::DataAcc::typeid); AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z; - GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z; + TimeAcc = imu.Time; return gcnew array(0); } - // Реализация приватного метода RecvDataPos - array^ Drone::RecvDataPos(array^ data) + array^ Drone::RecvDataGyr(array^ data) { - DroneData::DataPos pos = (DroneData::DataPos)FromBytes(data, DroneData::DataPos::typeid); + DroneData::DataGyr imu = (DroneData::DataGyr)FromBytes(data, DroneData::DataGyr::typeid); + + GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z; + TimeGyr = imu.Time; + + return gcnew array(0); + } + + array^ Drone::RecvDataRange(array^ data) + { + DroneData::DataRange pos = (DroneData::DataRange)FromBytes(data, DroneData::DataRange::typeid); + + LaserRange = pos.LiDAR; + TimeRange = pos.Time; + + return gcnew array(0); + } + + array^ Drone::RecvDataLocal(array^ data) + { + DroneData::DataLocal pos = (DroneData::DataLocal)FromBytes(data, DroneData::DataLocal::typeid); PosX = pos.Local.X; PosY = pos.Local.Y; - LaserRange = pos.LiDAR; return gcnew array(0); } - // Реализация приватного метода ClientRequestResponse array^ Drone::ClientRequestResponse(DroneData::DataHead head, array^ body) { array^ zero = gcnew array(0); switch (head.Type) { - case DroneData::DataType::DataIMU: + case DroneData::DataType::DataAcc: if (head.Mode == DroneData::DataMode::Request) { return zero; // Запрос данных (не реализовано) } else { - return RecvDataIMU(body); // Пришли данные + return RecvDataAcc(body); // Пришли данные } - case DroneData::DataType::DataPos: + case DroneData::DataType::DataGyr: + if (head.Mode == DroneData::DataMode::Request) + { + return zero; // Запрос данных (не реализовано) + } + else + { + return RecvDataGyr(body); // Пришли данные + } + + case DroneData::DataType::DataRange: if (head.Mode == DroneData::DataMode::Request) { return zero; // Запрос данных (не реализовано) } else { - return RecvDataPos(body); // Пришли данные + return RecvDataRange(body); // Пришли данные } + case DroneData::DataType::DataLocal: + if (head.Mode == DroneData::DataMode::Request) + { + return zero; // Запрос данных (не реализовано) + } + else + { + return RecvDataLocal(body); // Пришли данные + } + case DroneData::DataType::DataMotor4: if (head.Mode == DroneData::DataMode::Request) { @@ -133,7 +169,7 @@ namespace DroneClient { } // Реализация метода DataStream - System::Collections::Generic::List^>^ Drone::DataStream(array^ data, int size) + List^>^ Drone::DataStream(array^ data, int size) { System::Collections::Generic::List^>^ ret = gcnew System::Collections::Generic::List^>(); @@ -173,25 +209,47 @@ namespace DroneClient { // Реализация метода SendRequest array^ Drone::SendRequest() { - DroneData::DataHead imu; - imu.Size = DroneData::DataHead::StrLen; - imu.Mode = DroneData::DataMode::Request; - imu.Type = DroneData::DataType::DataIMU; + DroneData::DataHead^ acc = gcnew DroneData::DataHead(); + acc->Size = DroneData::DataHead::StrLen; + acc->Mode = DroneData::DataMode::Request; + acc->Type = DroneData::DataType::DataAcc; - DroneData::DataHead pos; - pos.Size = DroneData::DataHead::StrLen; - pos.Mode = DroneData::DataMode::Request; - pos.Type = DroneData::DataType::DataPos; + DroneData::DataHead^ gyr = gcnew DroneData::DataHead(); + gyr->Size = DroneData::DataHead::StrLen; + gyr->Mode = DroneData::DataMode::Request; + gyr->Type = DroneData::DataType::DataGyr; - array^ si = GetBytes(imu); - array^ sp = GetBytes(pos); - array^ sm = SendDataMotor4(); + DroneData::DataHead^ range = gcnew DroneData::DataHead(); + range->Size = DroneData::DataHead::StrLen; + range->Mode = DroneData::DataMode::Request; + range->Type = DroneData::DataType::DataRange; - array^ send = gcnew array(si->Length + sp->Length + sm->Length); - Array::Copy(si, 0, send, 0, si->Length); - Array::Copy(sp, 0, send, si->Length, sp->Length); - Array::Copy(sm, 0, send, si->Length + sp->Length, sm->Length); + DroneData::DataHead^ local = gcnew DroneData::DataHead(); + local->Size = DroneData::DataHead::StrLen; + local->Mode = DroneData::DataMode::Request; + local->Type = DroneData::DataType::DataLocal; - return send; + List^>^ list = gcnew List^>(); + + list->Add(GetBytes(acc)); + list->Add(GetBytes(gyr)); + list->Add(GetBytes(range)); + list->Add(GetBytes(local)); + list->Add(SendDataMotor4()); + + int count = 0; + + for each(array^ d in list) count += d->Length; + + array^ send = gcnew array(count); + + count = 0; + for each (array ^ d in list) + { + d->CopyTo(send, count); + count += d->Length; + } + + return send; } } \ No newline at end of file diff --git a/DroneClientCpp/Drone.h b/DroneClientCpp/Drone.h index 2b603e7..4f1e8df 100644 --- a/DroneClientCpp/Drone.h +++ b/DroneClientCpp/Drone.h @@ -18,8 +18,11 @@ namespace DroneClient { public: float AccX, AccY, AccZ; float GyrX, GyrY, GyrZ; + unsigned int TimeAcc, TimeGyr; + float PosX, PosY; float LaserRange; + unsigned int TimeRange; float MotorUL, MotorUR, MotorDL, MotorDR; @@ -28,8 +31,10 @@ namespace DroneClient { private: array^ SendDataMotor4(); - array^ RecvDataIMU(array^ data); - array^ RecvDataPos(array^ data); + array^ RecvDataAcc(array^ data); + array^ RecvDataGyr(array^ data); + array^ RecvDataRange(array^ data); + array^ RecvDataLocal(array^ data); array^ ClientRequestResponse(DroneData::DataHead head, array^ body); literal int DroneStreamCount = 512; diff --git a/DroneClientCpp/DroneData.h b/DroneClientCpp/DroneData.h index 63a3a3d..5998a61 100644 --- a/DroneClientCpp/DroneData.h +++ b/DroneClientCpp/DroneData.h @@ -15,18 +15,24 @@ namespace DroneData { public enum class DataType : unsigned short { - None = 0, Head = 1, - DataIMU = 1001, DataPos = 1002, - DataMotor4 = 2001, DataMotor6 = 2002 + None = 0, Head = 1, + + // Output + DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, + + // Input + DataMotor4 = 2001, DataMotor6 = 2002 }; public value struct DataHead { public: - int Size; + long Size; DataMode Mode; DataType Type; + unsigned long Time; + static const int StrLen = sizeof(DataHead); }; @@ -36,30 +42,65 @@ namespace DroneData { float X, Y, Z; }; - public value struct DataIMU + public value struct DataAcc { public: DataHead Head; - XYZ Acc, Gyr, Mag; + XYZ Acc; - static const int StrLen = sizeof(DataIMU); + unsigned long Time; + + static const int StrLen = sizeof(DataAcc); }; - public value struct DataPos + public value struct DataGyr + { + public: + DataHead Head; + XYZ Gyr; + + unsigned long Time; + + static const int StrLen = sizeof(DataGyr); + }; + + public value struct DataMag + { + public: + DataHead Head; + XYZ Mag; + + unsigned long Time; + + static const int StrLen = sizeof(DataMag); + }; + + public value struct DataRange { public: DataHead Head; - XYZ Local; float LiDAR; - static const int StrLen = sizeof(DataPos); + unsigned long Time; + + static const int StrLen = sizeof(DataRange); + }; + + public value struct DataLocal + { + public: + DataHead Head; + XYZ Local; + + unsigned long Time; + + static const int StrLen = sizeof(DataLocal); }; public value struct DataMotor4 { public: DataHead Head; - unsigned long long Count; float UL, UR, DL, DR; static const int StrLen = sizeof(DataMotor4); @@ -69,7 +110,6 @@ namespace DroneData { { public: DataHead Head; - unsigned long long Count; float UL, UR, LL, RR, DL, DR; static const int StrLen = sizeof(DataMotor6); diff --git a/DroneClientCpp/FormMain.h b/DroneClientCpp/FormMain.h index 3af627c98c4ce3956cfdbfd7256a7590fb8cd03f..12ac3c2ab9fc658db9c834a56fb7916fb46a31f2 100644 GIT binary patch delta 1496 zcmZ{kUr1AN6vyvR$J8~~EHiPW`a$cx~>Y_TuL!ES9JJkaH!$m}{ zs@FrJM82IT3dyoS_9mm%0G0MLCwFdAPKff-r*DAYrX@bpPpv>oQ(}TOuZ&b&@MNaf zP?cn`Z7Cg9K{8YaX1{`rwRdJP90uF0r0M$VM$FZl5B_i%=qGXY%u9LoSZo$(8aPVw zZfaRshzIQOu`Nv0fiG#S{1I^7m%vzim?VNLQuc~?z&i9mLCZb?GggADrx3yexvz18 z&LGLq+YC{AQ;!`Gd~}FJBgN}iMXIf^{9HneA^!5Oj4y4lKOv-z+b zEhZx~znF^XV_=?BvZ2I;3}SN%CJeDrIlP!LvoRO$gN<1INFMa{9{BhFL$8kn=Z#tL zJ!Ay+8#R%=lcd3CyBQ`IbHV9Q!krZZ8;C9j%RqTo*jD5@Bj``_@L2(igdADblz~!H zwNwqnjkVi0+ujU+yyxLtcY`2H^H3*XQ_fleOFB(p@Yw`B{>jda*p|C~UsAzW-|3XI z>}bPQC+m!Ml9Jm3Ik%31xm%jfc@Sv08%G6<_P`soSI#;f={RQvqwg?}njCvz@~MIM zIdRpt?q*zwP8aP&l+$iRxn}yrh9l89?Mjr>&O|xgAyLkCNi=40sMulq-$FpF-v;9R zv9KRi;iL}jgP1%Mj$f6+xL<)?8dQ_Y`z}lIyaw4gmeLh=$6<{gm1dvf7N3P#d$>}D zcA-*m7pSmWi#%K=R_jnEeyK$bDd40~mTk*cSv#{bd9rdG)*&vvYh9%rDxOL4h#t8( cRk0VuDray7<0U;RVoTM)Lg5ZvvKK}F0(?TtUjP6A delta 503 zcmYjLJxBs!80NF%o?IW9HOD2j^5xKDisHb zhB|zsLPHLMh9Yr}h?|;1bZe04y!^!Nd7tNfehypQ*DI%Uqfj3daNjqlKw#02ck@4f z$R}L5uqF#+7J{*9P&XyKP8}ZT|FX$x>ta}xfcUxeipuxS0I_rLi554fwKvy z<=l9bJLFHwE-V$5Ue~pR@=b57T9U9?Vq+oxsDN25!e_-}g^YpuBv{yu*-C@0Y8ncf z)!LA?rnRty?HA4gg)0@+x8JGzgp(MPbbXZgXgx?o$ZYYD*%_waA&WT*5vfnpH+ayK zwifNsZdjE>YJ^Gb|H(ok=%*t6h*;)ygqdyL)NH=bsLwE?g+$P91$Y>DcbZ3NV}|fF W5oHPXgP{x5h>~SiEz$BUss900Jiw9w diff --git a/DroneClientCpp/NetClient.cpp b/DroneClientCpp/NetClient.cpp index e3e7c78..e57594f 100644 --- a/DroneClientCpp/NetClient.cpp +++ b/DroneClientCpp/NetClient.cpp @@ -40,7 +40,7 @@ namespace DroneSimulator { IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port); ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp); - try { ServerSocket->Connect(ep); } + try { if (ServerSocket) ServerSocket->Connect(ep); } catch (...) { ServerSocket->Close(); return ClientState::Error; } Connected = true; @@ -49,7 +49,7 @@ namespace DroneSimulator { ReceiveData^ receiveData = gcnew ReceiveData(DataServer->buffer, ServerData::size, ServerSocket); - try { ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); } + try { if (ServerSocket) ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); } catch (...) {} return ClientState::Connected; @@ -58,9 +58,9 @@ namespace DroneSimulator { // Реализация метода Close void NetClient::Close() { - try { ServerSocket->Shutdown(SocketShutdown::Both); } + try { if(ServerSocket) ServerSocket->Shutdown(SocketShutdown::Both); } catch (...) {} - ServerSocket->Close(); + if(ServerSocket) ServerSocket->Close(); Connected = false; } @@ -69,7 +69,7 @@ namespace DroneSimulator { { if (ServerSocket != nullptr && Connected) { - try { ServerSocket->Send(data); } + try { if (ServerSocket) ServerSocket->Send(data); } catch (...) {} } } @@ -86,7 +86,7 @@ namespace DroneSimulator { if (bytes == 0) { - ServerSocket->Close(); + if (ServerSocket) ServerSocket->Close(); Connected = false; if (ServerSocket != nullptr) @@ -99,7 +99,7 @@ namespace DroneSimulator { ReceiveCallback(gcnew ReceiveData(cd->Buffer, bytes, ServerSocket)); - try { ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); } + try { if (ServerSocket) ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); } catch (...) {} } } \ No newline at end of file diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs index 9a50742..5d1d024 100644 --- a/DroneSimulator/Drone.cs +++ b/DroneSimulator/Drone.cs @@ -21,6 +21,8 @@ namespace DroneSimulator public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп public float LaserRange; // Имитация: Дальномер + private uint DataTimer; + private const float Gravity = 9.8f; private const float TO_GRAD = 180 / MathF.PI; @@ -72,33 +74,6 @@ namespace DroneSimulator return mem; } - /*public struct DataOut - { - public float AccX, AccY, AccZ; - public float GyrX, GyrY, GyrZ; - public float PosX, PosY; - public float LaserRange; - } - - public DataOut GetDataOut() - { - DataOut data = new DataOut(); - - data.AccX = Acc.X; data.AccY = Acc.Y; data.AccZ = Acc.Z; - data.GyrX = Gyr.X; data.GyrY = Gyr.Y; data.GyrZ = Gyr.Z; - - data.PosX = PosXYZ.X; data.PosY = PosXYZ.Y; - - data.LaserRange = LaserRange; - - return data; - } - - public struct DataIn - { - public float MotorUL, MotorUR, MotorDL, MotorDR; - }*/ - public struct DataVisual { public int ID; // Идентификатор @@ -264,6 +239,8 @@ namespace DroneSimulator if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt); else LaserRange = float.MaxValue; } + + DataTimer = (uint)tick; } private float Range(float pow) @@ -292,33 +269,79 @@ namespace DroneSimulator SetQadroPow(mot.UL, mot.UR, mot.DL, mot.DR); } - private byte[] SendDataIMU() + private byte[] SendDataAcc() { - DroneData.DataIMU imu = new DroneData.DataIMU(); + DroneData.DataAcc acc = new DroneData.DataAcc(); - imu.Head.Size = Marshal.SizeOf(typeof(DroneData.DataIMU)); - imu.Head.Mode = DroneData.DataMode.Response; - imu.Head.Type = DroneData.DataType.DataIMU; + acc.Head.Size = Marshal.SizeOf(typeof(DroneData.DataAcc)); + acc.Head.Mode = DroneData.DataMode.Response; + acc.Head.Type = DroneData.DataType.DataAcc; + acc.Head.Time = (uint)Environment.TickCount; - imu.Acc.X = Acc.X; imu.Acc.Y = Acc.Y; imu.Acc.Z = Acc.Z; - imu.Gyr.X = Gyr.X; imu.Gyr.Y = Gyr.Y; imu.Gyr.Z = Gyr.Z; - imu.Mag.X = 0; imu.Mag.Y = 0; imu.Mag.Z = 0; + acc.Acc.X = Acc.X; acc.Acc.Y = Acc.Y; acc.Acc.Z = Acc.Z; + acc.Time = DataTimer; - return getBytes(imu); + return getBytes(acc); } - private byte[] SendDataPos() + private byte[] SendDataGyr() { - DroneData.DataPos pos = new DroneData.DataPos(); + DroneData.DataGyr gyr = new DroneData.DataGyr(); - pos.Head.Size = Marshal.SizeOf(typeof(DroneData.DataPos)); - pos.Head.Mode = DroneData.DataMode.Response; - pos.Head.Type = DroneData.DataType.DataPos; + gyr.Head.Size = Marshal.SizeOf(typeof(DroneData.DataGyr)); + gyr.Head.Mode = DroneData.DataMode.Response; + gyr.Head.Type = DroneData.DataType.DataGyr; + gyr.Head.Time = (uint)Environment.TickCount; - pos.Local.X = PosXYZ.X; pos.Local.Y = PosXYZ.Y; pos.Local.Z = PosXYZ.Z; - pos.LiDAR = LaserRange; + gyr.Gyr.X = Gyr.X; gyr.Gyr.Y = Gyr.Y; gyr.Gyr.Z = Gyr.Z; + gyr.Time = DataTimer; - return getBytes(pos); + return getBytes(gyr); + } + + private byte[] SendDataMag() + { + DroneData.DataMag mag = new DroneData.DataMag(); + + mag.Head.Size = Marshal.SizeOf(typeof(DroneData.DataMag)); + mag.Head.Mode = DroneData.DataMode.Response; + mag.Head.Type = DroneData.DataType.DataMag; + mag.Head.Time = (uint)Environment.TickCount; + + mag.Mag.X = 0; mag.Mag.Y = 0; mag.Mag.Z = 0; + mag.Time = DataTimer; + + return getBytes(mag); + } + + private byte[] SendDataRange() + { + DroneData.DataRange range = new DroneData.DataRange(); + + range.Head.Size = Marshal.SizeOf(typeof(DroneData.DataRange)); + range.Head.Mode = DroneData.DataMode.Response; + range.Head.Type = DroneData.DataType.DataRange; + range.Head.Time = (uint)Environment.TickCount; + + range.LiDAR = LaserRange; + range.Time = DataTimer; + + return getBytes(range); + } + + private byte[] SendDataLocal() + { + DroneData.DataLocal local = new DroneData.DataLocal(); + + local.Head.Size = Marshal.SizeOf(typeof(DroneData.DataLocal)); + local.Head.Mode = DroneData.DataMode.Response; + local.Head.Type = DroneData.DataType.DataLocal; + local.Head.Time = (uint)Environment.TickCount; + + local.Local.X = PosXYZ.X; local.Local.Y = PosXYZ.Y; local.Local.Z = PosXYZ.Z; + local.Time = DataTimer; + + return getBytes(local); } private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body) @@ -327,12 +350,12 @@ namespace DroneSimulator switch (head.Type) { - case DroneData.DataType.DataIMU: + case DroneData.DataType.DataAcc: { if (head.Mode == DroneData.DataMode.Request) { // Запрос данных - return SendDataIMU(); + return SendDataAcc(); } else { @@ -343,12 +366,60 @@ namespace DroneSimulator } } - case DroneData.DataType.DataPos: + case DroneData.DataType.DataGyr: { if (head.Mode == DroneData.DataMode.Request) { // Запрос данных - return SendDataPos(); + return SendDataGyr(); + } + else + { + // Пришли данные + // ... // + // + return zero; + } + } + + case DroneData.DataType.DataMag: + { + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + return SendDataMag(); + } + else + { + // Пришли данные + // ... // + // + return zero; + } + } + + case DroneData.DataType.DataRange: + { + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + return SendDataRange(); + } + else + { + // Пришли данные + // ... // + // + return zero; + } + } + + case DroneData.DataType.DataLocal: + { + if (head.Mode == DroneData.DataMode.Request) + { + // Запрос данных + return SendDataLocal(); } else { diff --git a/DroneSimulator/DroneData.cs b/DroneSimulator/DroneData.cs index 8c14e2c..3fc0675 100644 --- a/DroneSimulator/DroneData.cs +++ b/DroneSimulator/DroneData.cs @@ -12,7 +12,7 @@ namespace DroneData None = 0, Head = 1, // Output - DataIMU = 1001, DataPos = 1002, + DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, // Input DataMotor4 = 2001, DataMotor6 = 2002 @@ -25,32 +25,66 @@ namespace DroneData public DataMode Mode; public DataType Type; + public uint Time; // + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead)); } public struct XYZ { public float X, Y, Z; } - public struct DataIMU + public struct DataAcc { public DataHead Head; - public XYZ Acc, Gyr, Mag; + public XYZ Acc; - static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU)); + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc)); } - public struct DataPos + public struct DataGyr + { + public DataHead Head; + public XYZ Gyr; + + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr)); + } + + public struct DataMag + { + public DataHead Head; + public XYZ Mag; + + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag)); + } + + public struct DataLocal { public DataHead Head; public XYZ Local; // + + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal)); + } + + public struct DataRange + { + public DataHead Head; public float LiDAR; // - static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos)); + public uint Time; // + + static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange)); } public struct DataMotor4 { public DataHead Head; - public ulong Count; public float UL, UR, DL, DR; static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4)); @@ -59,7 +93,6 @@ namespace DroneData public struct DataMotor6 { public DataHead Head; - public ulong Count; public float UL, UR, LL, RR, DL, DR; static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6)); diff --git a/DroneSimulator/FormMain.Designer.cs b/DroneSimulator/FormMain.Designer.cs index bab9e3b..481fdfd 100644 --- a/DroneSimulator/FormMain.Designer.cs +++ b/DroneSimulator/FormMain.Designer.cs @@ -61,6 +61,37 @@ comboBox_Drone_Rotor = new ComboBox(); comboBox_Drone = new ComboBox(); timer_Test = new System.Windows.Forms.Timer(components); + textBox_GPS_Lat = new TextBox(); + label2 = new Label(); + groupBox_GPS = new GroupBox(); + textBox_GPS_Lon = new TextBox(); + label4 = new Label(); + numericUpDown_GPS_Freq = new NumericUpDown(); + label_GPS_Frequency = new Label(); + label6 = new Label(); + groupBox_Barometer = new GroupBox(); + numericUpDown_Bar_Freq = new NumericUpDown(); + label5 = new Label(); + label7 = new Label(); + label8 = new Label(); + numericUpDown_Bar_Accur = new NumericUpDown(); + label9 = new Label(); + label10 = new Label(); + textBox_GPS_Accur = new NumericUpDown(); + label11 = new Label(); + groupBox1 = new GroupBox(); + label12 = new Label(); + numericUpDown_OF_Accur = new NumericUpDown(); + label13 = new Label(); + numericUpDown_OF_Freq = new NumericUpDown(); + label14 = new Label(); + label15 = new Label(); + checkBox_GPS_Enable = new CheckBox(); + label16 = new Label(); + numericUpDown1 = new NumericUpDown(); + label17 = new Label(); + checkBox_OF_Enable = new CheckBox(); + checkBox_Bar_Enable = new CheckBox(); menuStrip_Menu.SuspendLayout(); groupBox_Screen.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit(); @@ -72,8 +103,19 @@ groupBox_Clients.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit(); + tabPage_Model.SuspendLayout(); groupBox_Navi.SuspendLayout(); panel1.SuspendLayout(); + groupBox_GPS.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Freq).BeginInit(); + groupBox_Barometer.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).BeginInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).BeginInit(); + ((System.ComponentModel.ISupportInitialize)textBox_GPS_Accur).BeginInit(); + groupBox1.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).BeginInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).BeginInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown1).BeginInit(); SuspendLayout(); // // menuStrip_Menu @@ -326,6 +368,9 @@ // // tabPage_Model // + tabPage_Model.Controls.Add(groupBox1); + tabPage_Model.Controls.Add(groupBox_Barometer); + tabPage_Model.Controls.Add(groupBox_GPS); tabPage_Model.Location = new Point(4, 24); tabPage_Model.Name = "tabPage_Model"; tabPage_Model.Padding = new Padding(3); @@ -402,6 +447,341 @@ timer_Test.Interval = 10; timer_Test.Tick += timer_Test_Tick; // + // textBox_GPS_Lat + // + textBox_GPS_Lat.Location = new Point(37, 22); + textBox_GPS_Lat.Name = "textBox_GPS_Lat"; + textBox_GPS_Lat.Size = new Size(92, 23); + textBox_GPS_Lat.TabIndex = 0; + textBox_GPS_Lat.Text = "47.2125649"; + // + // label2 + // + label2.AutoSize = true; + label2.Location = new Point(5, 25); + label2.Name = "label2"; + label2.Size = new Size(26, 15); + label2.TabIndex = 1; + label2.Text = "Lat:"; + // + // groupBox_GPS + // + groupBox_GPS.Controls.Add(checkBox_GPS_Enable); + groupBox_GPS.Controls.Add(label10); + groupBox_GPS.Controls.Add(textBox_GPS_Accur); + groupBox_GPS.Controls.Add(label11); + groupBox_GPS.Controls.Add(numericUpDown_GPS_Freq); + groupBox_GPS.Controls.Add(label6); + groupBox_GPS.Controls.Add(label_GPS_Frequency); + groupBox_GPS.Controls.Add(label4); + groupBox_GPS.Controls.Add(textBox_GPS_Lon); + groupBox_GPS.Controls.Add(label2); + groupBox_GPS.Controls.Add(textBox_GPS_Lat); + groupBox_GPS.Dock = DockStyle.Top; + groupBox_GPS.Enabled = false; + groupBox_GPS.Location = new Point(3, 3); + groupBox_GPS.Name = "groupBox_GPS"; + groupBox_GPS.Size = new Size(204, 112); + groupBox_GPS.TabIndex = 2; + groupBox_GPS.TabStop = false; + groupBox_GPS.Text = "GPS"; + // + // textBox_GPS_Lon + // + textBox_GPS_Lon.Location = new Point(37, 51); + textBox_GPS_Lon.Name = "textBox_GPS_Lon"; + textBox_GPS_Lon.Size = new Size(92, 23); + textBox_GPS_Lon.TabIndex = 2; + textBox_GPS_Lon.Text = "38.9160740"; + // + // label4 + // + label4.AutoSize = true; + label4.Location = new Point(5, 54); + label4.Name = "label4"; + label4.Size = new Size(30, 15); + label4.TabIndex = 3; + label4.Text = "Lon:"; + // + // numericUpDown_GPS_Freq + // + numericUpDown_GPS_Freq.Location = new Point(135, 51); + numericUpDown_GPS_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_GPS_Freq.Name = "numericUpDown_GPS_Freq"; + numericUpDown_GPS_Freq.Size = new Size(40, 23); + numericUpDown_GPS_Freq.TabIndex = 4; + numericUpDown_GPS_Freq.Value = new decimal(new int[] { 10, 0, 0, 0 }); + // + // label_GPS_Frequency + // + label_GPS_Frequency.AutoSize = true; + label_GPS_Frequency.Location = new Point(135, 25); + label_GPS_Frequency.Name = "label_GPS_Frequency"; + label_GPS_Frequency.Size = new Size(62, 15); + label_GPS_Frequency.TabIndex = 5; + label_GPS_Frequency.Tag = "#frequency"; + label_GPS_Frequency.Text = "Frequency"; + // + // label6 + // + label6.AutoSize = true; + label6.Location = new Point(176, 54); + label6.Name = "label6"; + label6.Size = new Size(21, 15); + label6.TabIndex = 6; + label6.Text = "Hz"; + // + // groupBox_Barometer + // + groupBox_Barometer.Controls.Add(checkBox_Bar_Enable); + groupBox_Barometer.Controls.Add(label9); + groupBox_Barometer.Controls.Add(numericUpDown_Bar_Accur); + groupBox_Barometer.Controls.Add(label8); + groupBox_Barometer.Controls.Add(numericUpDown_Bar_Freq); + groupBox_Barometer.Controls.Add(label5); + groupBox_Barometer.Controls.Add(label7); + groupBox_Barometer.Dock = DockStyle.Top; + groupBox_Barometer.Location = new Point(3, 115); + groupBox_Barometer.Name = "groupBox_Barometer"; + groupBox_Barometer.Size = new Size(204, 88); + groupBox_Barometer.TabIndex = 3; + groupBox_Barometer.TabStop = false; + groupBox_Barometer.Tag = "#barometer"; + groupBox_Barometer.Text = "Barometer"; + // + // numericUpDown_Bar_Freq + // + numericUpDown_Bar_Freq.Location = new Point(69, 22); + numericUpDown_Bar_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 }); + numericUpDown_Bar_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_Bar_Freq.Name = "numericUpDown_Bar_Freq"; + numericUpDown_Bar_Freq.Size = new Size(40, 23); + numericUpDown_Bar_Freq.TabIndex = 7; + numericUpDown_Bar_Freq.Value = new decimal(new int[] { 50, 0, 0, 0 }); + // + // label5 + // + label5.AutoSize = true; + label5.Location = new Point(111, 24); + label5.Name = "label5"; + label5.Size = new Size(21, 15); + label5.TabIndex = 9; + label5.Text = "Hz"; + // + // label7 + // + label7.AutoSize = true; + label7.Location = new Point(6, 24); + label7.Name = "label7"; + label7.Size = new Size(62, 15); + label7.TabIndex = 8; + label7.Tag = "#frequency"; + label7.Text = "Frequency"; + // + // label8 + // + label8.AutoSize = true; + label8.Location = new Point(7, 53); + label8.Name = "label8"; + label8.Size = new Size(56, 15); + label8.TabIndex = 10; + label8.Tag = "#accuracy"; + label8.Text = "Accuracy"; + // + // numericUpDown_Bar_Accur + // + numericUpDown_Bar_Accur.DecimalPlaces = 1; + numericUpDown_Bar_Accur.Location = new Point(69, 51); + numericUpDown_Bar_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); + numericUpDown_Bar_Accur.Name = "numericUpDown_Bar_Accur"; + numericUpDown_Bar_Accur.Size = new Size(40, 23); + numericUpDown_Bar_Accur.TabIndex = 11; + numericUpDown_Bar_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 }); + // + // label9 + // + label9.AutoSize = true; + label9.Location = new Point(112, 53); + label9.Name = "label9"; + label9.Size = new Size(20, 15); + label9.TabIndex = 12; + label9.Text = "Pa"; + // + // label10 + // + label10.AutoSize = true; + label10.Location = new Point(111, 82); + label10.Name = "label10"; + label10.Size = new Size(18, 15); + label10.TabIndex = 15; + label10.Text = "m"; + // + // textBox_GPS_Accur + // + textBox_GPS_Accur.DecimalPlaces = 1; + textBox_GPS_Accur.Location = new Point(68, 80); + textBox_GPS_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); + textBox_GPS_Accur.Name = "textBox_GPS_Accur"; + textBox_GPS_Accur.Size = new Size(40, 23); + textBox_GPS_Accur.TabIndex = 14; + textBox_GPS_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 }); + // + // label11 + // + label11.AutoSize = true; + label11.Location = new Point(6, 82); + label11.Name = "label11"; + label11.Size = new Size(56, 15); + label11.TabIndex = 13; + label11.Tag = "#accuracy"; + label11.Text = "Accuracy"; + // + // groupBox1 + // + groupBox1.Controls.Add(checkBox_OF_Enable); + groupBox1.Controls.Add(label17); + groupBox1.Controls.Add(numericUpDown1); + groupBox1.Controls.Add(label16); + groupBox1.Controls.Add(label12); + groupBox1.Controls.Add(numericUpDown_OF_Accur); + groupBox1.Controls.Add(label13); + groupBox1.Controls.Add(numericUpDown_OF_Freq); + groupBox1.Controls.Add(label14); + groupBox1.Controls.Add(label15); + groupBox1.Dock = DockStyle.Top; + groupBox1.Enabled = false; + groupBox1.Location = new Point(3, 203); + groupBox1.Name = "groupBox1"; + groupBox1.Size = new Size(204, 114); + groupBox1.TabIndex = 4; + groupBox1.TabStop = false; + groupBox1.Text = "Optical flow"; + // + // label12 + // + label12.AutoSize = true; + label12.Location = new Point(111, 53); + label12.Name = "label12"; + label12.Size = new Size(28, 15); + label12.TabIndex = 18; + label12.Text = "Deg"; + // + // numericUpDown_OF_Accur + // + numericUpDown_OF_Accur.DecimalPlaces = 1; + numericUpDown_OF_Accur.Location = new Point(69, 51); + numericUpDown_OF_Accur.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); + numericUpDown_OF_Accur.Name = "numericUpDown_OF_Accur"; + numericUpDown_OF_Accur.Size = new Size(40, 23); + numericUpDown_OF_Accur.TabIndex = 17; + numericUpDown_OF_Accur.Value = new decimal(new int[] { 1, 0, 0, 0 }); + // + // label13 + // + label13.AutoSize = true; + label13.Location = new Point(7, 53); + label13.Name = "label13"; + label13.Size = new Size(56, 15); + label13.TabIndex = 16; + label13.Tag = "#accuracy"; + label13.Text = "Accuracy"; + // + // numericUpDown_OF_Freq + // + numericUpDown_OF_Freq.Location = new Point(69, 22); + numericUpDown_OF_Freq.Maximum = new decimal(new int[] { 200, 0, 0, 0 }); + numericUpDown_OF_Freq.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown_OF_Freq.Name = "numericUpDown_OF_Freq"; + numericUpDown_OF_Freq.Size = new Size(40, 23); + numericUpDown_OF_Freq.TabIndex = 13; + numericUpDown_OF_Freq.Value = new decimal(new int[] { 100, 0, 0, 0 }); + // + // label14 + // + label14.AutoSize = true; + label14.Location = new Point(112, 24); + label14.Name = "label14"; + label14.Size = new Size(21, 15); + label14.TabIndex = 15; + label14.Text = "Hz"; + // + // label15 + // + label15.AutoSize = true; + label15.Location = new Point(6, 24); + label15.Name = "label15"; + label15.Size = new Size(62, 15); + label15.TabIndex = 14; + label15.Tag = "#frequency"; + label15.Text = "Frequency"; + // + // checkBox_GPS_Enable + // + checkBox_GPS_Enable.AutoSize = true; + checkBox_GPS_Enable.Checked = true; + checkBox_GPS_Enable.CheckState = CheckState.Checked; + checkBox_GPS_Enable.Location = new Point(158, 87); + checkBox_GPS_Enable.Name = "checkBox_GPS_Enable"; + checkBox_GPS_Enable.Size = new Size(39, 19); + checkBox_GPS_Enable.TabIndex = 16; + checkBox_GPS_Enable.Tag = "#en"; + checkBox_GPS_Enable.Text = "En"; + checkBox_GPS_Enable.UseVisualStyleBackColor = true; + // + // label16 + // + label16.AutoSize = true; + label16.Location = new Point(1, 82); + label16.Name = "label16"; + label16.Size = new Size(67, 15); + label16.TabIndex = 19; + label16.Tag = "#max_height"; + label16.Text = "Max height"; + // + // numericUpDown1 + // + numericUpDown1.Location = new Point(68, 80); + numericUpDown1.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); + numericUpDown1.Name = "numericUpDown1"; + numericUpDown1.Size = new Size(40, 23); + numericUpDown1.TabIndex = 20; + numericUpDown1.Value = new decimal(new int[] { 8, 0, 0, 0 }); + // + // label17 + // + label17.AutoSize = true; + label17.Location = new Point(111, 82); + label17.Name = "label17"; + label17.Size = new Size(18, 15); + label17.TabIndex = 21; + label17.Text = "m"; + // + // checkBox_OF_Enable + // + checkBox_OF_Enable.AutoSize = true; + checkBox_OF_Enable.Checked = true; + checkBox_OF_Enable.CheckState = CheckState.Checked; + checkBox_OF_Enable.Location = new Point(158, 89); + checkBox_OF_Enable.Name = "checkBox_OF_Enable"; + checkBox_OF_Enable.Size = new Size(39, 19); + checkBox_OF_Enable.TabIndex = 22; + checkBox_OF_Enable.Tag = "#en"; + checkBox_OF_Enable.Text = "En"; + checkBox_OF_Enable.UseVisualStyleBackColor = true; + // + // checkBox_Bar_Enable + // + checkBox_Bar_Enable.AutoSize = true; + checkBox_Bar_Enable.Checked = true; + checkBox_Bar_Enable.CheckState = CheckState.Checked; + checkBox_Bar_Enable.Location = new Point(158, 63); + checkBox_Bar_Enable.Name = "checkBox_Bar_Enable"; + checkBox_Bar_Enable.Size = new Size(39, 19); + checkBox_Bar_Enable.TabIndex = 17; + checkBox_Bar_Enable.Tag = "#en"; + checkBox_Bar_Enable.Text = "En"; + checkBox_Bar_Enable.UseVisualStyleBackColor = true; + // // Form_Main // AutoScaleDimensions = new SizeF(7F, 15F); @@ -431,8 +811,22 @@ groupBox_Clients.PerformLayout(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit(); + tabPage_Model.ResumeLayout(false); groupBox_Navi.ResumeLayout(false); panel1.ResumeLayout(false); + groupBox_GPS.ResumeLayout(false); + groupBox_GPS.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_GPS_Freq).EndInit(); + groupBox_Barometer.ResumeLayout(false); + groupBox_Barometer.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Freq).EndInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_Bar_Accur).EndInit(); + ((System.ComponentModel.ISupportInitialize)textBox_GPS_Accur).EndInit(); + groupBox1.ResumeLayout(false); + groupBox1.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Accur).EndInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown_OF_Freq).EndInit(); + ((System.ComponentModel.ISupportInitialize)numericUpDown1).EndInit(); ResumeLayout(false); PerformLayout(); } @@ -470,5 +864,36 @@ private Label label1; private Label label_Visual_Num; private Label label3; + private GroupBox groupBox_GPS; + private TextBox textBox_GPS_Lon; + private Label label2; + private TextBox textBox_GPS_Lat; + private NumericUpDown numericUpDown_GPS_Freq; + private Label label6; + private Label label_GPS_Frequency; + private Label label4; + private GroupBox groupBox_Barometer; + private NumericUpDown numericUpDown_Bar_Freq; + private Label label5; + private Label label7; + private Label label9; + private NumericUpDown numericUpDown_Bar_Accur; + private Label label8; + private Label label10; + private NumericUpDown textBox_GPS_Accur; + private Label label11; + private GroupBox groupBox1; + private Label label12; + private NumericUpDown numericUpDown_OF_Accur; + private Label label13; + private NumericUpDown numericUpDown_OF_Freq; + private Label label14; + private Label label15; + private CheckBox checkBox_GPS_Enable; + private Label label17; + private NumericUpDown numericUpDown1; + private Label label16; + private CheckBox checkBox_OF_Enable; + private CheckBox checkBox_Bar_Enable; } }