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update

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This commit is contained in:
Sergey Sklyarov
2025-04-06 17:17:15 +03:00
parent fd2318cbf6
commit da7f5a8404
7 changed files with 233 additions and 28 deletions
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24
DroneSimulator/FormMain.cs
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@ -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)