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update

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This commit is contained in:
Sergey Sklyarov
2025-04-06 20:56:02 +03:00
parent da7f5a8404
commit 21b60b7f4c
9 changed files with 498 additions and 147 deletions
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22
DroneSimulator/FormMain.cs
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@ -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<byte[]?>? 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)