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Sergey Sklyarov
2025-03-31 20:36:04 +03:00
committed by sasklyarov
parent 215236fa15
commit 2c08331bbe
12 changed files with 0 additions and 1615 deletions
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150
DroneSimulator/FormMain.cs
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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<Drone> AllDrones = new List<Drone>();
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();
}
}
}