Перенос в общую репу

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();
+    NetServerVisual netServerVisual = new NetServerVisual();
+
+    List<Drone> AllDrones = new List<Drone>();
+
+    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;
+          }
+      }
+    }
+  }
+}