+++

DroneSimulator/FormMain.cs

@@ -17,8 +17,6 @@ namespace DroneSimulator
     NetServerClients netServerClient = new NetServerClients();
     NetServerVisual netServerVisual = new NetServerVisual();
 
-    List<Drone> AllDrones = new List<Drone>();
-
     public Form_Main()
     {
       InitializeComponent();
@@ -51,20 +49,24 @@ namespace DroneSimulator
 
         screen2D.CreateDrone(Color.Red, data.ID);
 
-        AllDrones.Add(drone);
+        lock (Drone.AllDrones) Drone.AllDrones.Add(drone);
       }
       else
       {
-        foreach (Drone drone in AllDrones)
+        Drone? d = null;
+
+        lock (Drone.AllDrones)
         {
-          if (drone.ID != data.ID) continue;
-          drone.Close();
-
-          screen2D.RemoveDrone(data.ID);
-
-          AllDrones.Remove(drone);
-          break;
+          foreach (Drone drone in Drone.AllDrones)
+          {
+            if (drone.ID != data.ID) continue;
+            d = drone;
+            Drone.AllDrones.Remove(drone);
+            break;
+          }
         }
+
+        if (d != null) screen2D.RemoveDrone(d.ID);
       }
     }
 
@@ -74,11 +76,14 @@ namespace DroneSimulator
 
       Drone? drone = null;
 
-      foreach (Drone d in AllDrones)
+      lock (Drone.AllDrones)
       {
-        if (d.ID != data.ID) continue;
-        drone = d;
-        break;
+        foreach (Drone d in Drone.AllDrones)
+        {
+          if (d.ID != data.ID) continue;
+          drone = d;
+          break;
+        }
       }
 
       if (drone == null) return;
@@ -123,6 +128,8 @@ namespace DroneSimulator
 
       if (done != NetServerClients.ServerState.Start) return;
 
+      Drone.StartThread();
+
       pictureBox_2D.Image = null;
 
       screen2D = new Screen2D(DrawCallback);
@@ -155,23 +162,24 @@ namespace DroneSimulator
 
       try
       {
-        foreach (Drone d in AllDrones)
+        lock (Drone.AllDrones)
         {
-          screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
+          foreach (Drone d in Drone.AllDrones)
+          {
+            screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
 
-          string line = "ID:" + d.ID.ToString() + " Pitch:" + ((int)d.Orientation.X).ToString() + " Roll:" + ((int)d.Orientation.Y).ToString() + " Yaw:" + ((int)d.Orientation.Z).ToString();
+            string line = "ID:" + d.ID.ToString() + " Pitch:" + ((int)d.Orientation.X).ToString() + " Roll:" + ((int)d.Orientation.Y).ToString() + " Yaw:" + ((int)d.Orientation.Z).ToString();
 
-          listBox_Drones.Items.Add(line);
+            listBox_Drones.Items.Add(line);
+          }
         }
       }
       catch { }
 
+      label_Timing.Text = Drone.Timing.ToString() + " Hz";
+
       screen2D.DrawScene();
     }
-    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
-    {
-      foreach (Drone d in AllDrones) d.Close();
-    }
 
     private void VisualConnectionCallback(object o)
     {
@@ -198,12 +206,15 @@ namespace DroneSimulator
 
       int index = 0;
 
-      foreach (Drone d in AllDrones)
+      lock (Drone.AllDrones)
       {
-        VisualData.VisualDrone v = d.GetVisual(AllDrones.Count, index++);
+        foreach (Drone d in Drone.AllDrones)
+        {
+          VisualData.VisualDrone v = d.GetVisual(Drone.AllDrones.Count, index++);
 
-        try { data.Client.Send(Drone.getBytes(v)); }
-        catch { }
+          try { data.Client.Send(Drone.getBytes(v)); }
+          catch { }
+        }
       }
     }
 
@@ -352,5 +363,16 @@ namespace DroneSimulator
       Drone.Physics.Length = (float)numericUpDown_Physics_Length.Value;
       Drone.Physics.MaxPower = (float)numericUpDown_Physics_Power.Value;
     }
+
+    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
+    {
+      Drone.StopThread();
+    }
+
+    private void numericUpDown_Timing_Freq_ValueChanged(object sender, EventArgs e)
+    {
+      Drone.Freq = (long)numericUpDown_Timing_Freq.Value;
+      Drone.Boost = checkBox_Freq_Boost.Checked;
+    }
   }
 }