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This commit is contained in:
Sergey Sklyarov
2025-04-11 21:59:06 +03:00
parent 64c0637e6a
commit bac52d315b
12 changed files with 933 additions and 145 deletions
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132
DroneClient/Drone.cs
View File

@ -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<byte[]> list = new List<byte[]>();
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;
}

51
DroneClient/DroneData.cs
View File

@ -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; // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
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; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
}
public struct DataPos
public struct DataGyr
{
public DataHead Head;
public XYZ Gyr;
public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
}
public struct DataMag
{
public DataHead Head;
public XYZ Mag;
public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
}
public struct DataLocal
{
public DataHead Head;
public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
}
public struct DataRange
{
public DataHead Head;
public float LiDAR; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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));

43
DroneClient/FormMain.Designer.cs generated
View File

@ -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;
}
}

6
DroneClient/FormMain.cs
View File

@ -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());
}