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1 Commits
main ... sergey

Author SHA1 Message Date
Sergey Sklyarov
376ce81a8a update 2025-04-12 01:10:12 +03:00
4 changed files with 1979 additions and 1150 deletions
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120
DroneSimulator/Drone.cs
View File

@ -2,6 +2,8 @@
using System.Numerics;
using System.Runtime.InteropServices;
using System.Security.Cryptography;
using static DroneSimulator.Drone;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
namespace DroneSimulator
{
@ -31,7 +33,17 @@ namespace DroneSimulator
private Thread DroneThread;
private int Timer;
private static int CounterID = 0;
private Random MainRandom = new Random();
public struct DataBarometer
{
public int Value, Pressure; // Значение давления в Паскальях
public float Accuracy;
public int Frequency;
public uint Time;
}
public DataBarometer dataBarometer;
public static byte[] getBytes(object data)
{
@ -240,6 +252,14 @@ namespace DroneSimulator
else LaserRange = float.MaxValue;
}
if ((dataBarometer.Time + 1000 / dataBarometer.Frequency) < DataTimer)
{
float bar = dataBarometer.Pressure - PosXYZ.Z * 11;
int rnd = MainRandom.Next(-(int)dataBarometer.Accuracy * 10, (int)dataBarometer.Accuracy * 10) / 10;
dataBarometer.Value = (int)(bar + rnd);
dataBarometer.Time = DataTimer;
}
DataTimer = (uint)tick;
}
@ -344,6 +364,21 @@ namespace DroneSimulator
return getBytes(local);
}
private byte[] SendDataBarometer()
{
DroneData.DataBar bar = new DroneData.DataBar();
bar.Head.Size = Marshal.SizeOf(typeof(DroneData.DataBar));
bar.Head.Mode = DroneData.DataMode.Response;
bar.Head.Type = DroneData.DataType.DataBar;
bar.Head.Time = (uint)Environment.TickCount;
bar.Pressure = dataBarometer.Value;
bar.Time = dataBarometer.Time;
return getBytes(bar);
}
private byte[]? ServerRequestResponse(DroneData.DataHead head, byte[] body)
{
byte[] zero = new byte[0];
@ -366,86 +401,17 @@ namespace DroneSimulator
}
}
case DroneData.DataType.DataGyr:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
return SendDataGyr();
}
else
{
// Пришли данные
// ... //
//
return zero;
}
}
case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
case DroneData.DataType.DataMag:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
return SendDataMag();
}
else
{
// Пришли данные
// ... //
//
return zero;
}
}
case DroneData.DataType.DataMag: if (head.Mode == DroneData.DataMode.Request) return SendDataMag(); else return zero;
case DroneData.DataType.DataRange:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
return SendDataRange();
}
else
{
// Пришли данные
// ... //
//
return zero;
}
}
case DroneData.DataType.DataRange: if (head.Mode == DroneData.DataMode.Request) return SendDataRange(); else return zero;
case DroneData.DataType.DataLocal:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
return SendDataLocal();
}
else
{
// Пришли данные
// ... //
//
return zero;
}
}
case DroneData.DataType.DataLocal: if (head.Mode == DroneData.DataMode.Request) return SendDataLocal(); else return zero;
case DroneData.DataType.DataMotor4:
{
if (head.Mode == DroneData.DataMode.Request)
{
// Запрос данных
// ... //
//
return zero;
}
else
{
// Пришли данные
RecvDataMotor4(body);
return zero;
}
}
case DroneData.DataType.DataBar: if (head.Mode == DroneData.DataMode.Request) return SendDataBarometer(); else return zero;
case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
}
return zero;

18
DroneSimulator/DroneData.cs
View File

@ -12,7 +12,7 @@ namespace DroneData
None = 0, Head = 1,
// Output
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006,
// Input
DataMotor4 = 2001, DataMotor6 = 2002
@ -62,6 +62,16 @@ namespace DroneData
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
}
public struct DataRange
{
public DataHead Head;
public float LiDAR; // Äàò÷èê ïîñàäêè
public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
}
public struct DataLocal
{
public DataHead Head;
@ -72,14 +82,14 @@ namespace DroneData
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
}
public struct DataRange
public struct DataBar
{
public DataHead Head;
public float LiDAR; // Äàò÷èê ïîñàäêè
public int Pressure; // Ëîêàëüíûå êîîðäèíàòû
public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
}
public struct DataMotor4

1417
DroneSimulator/FormMain.Designer.cs generated
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File diff suppressed because it is too large Load Diff

22
DroneSimulator/FormMain.cs
View File

@ -8,11 +8,6 @@ using System.Runtime.InteropServices;
using System.CodeDom;
using System.Linq;
using System.Net.WebSockets;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DroneSimulator
{
public partial class Form_Main : Form
@ -23,9 +18,7 @@ namespace DroneSimulator
NetServerVisual netServerVisual = new NetServerVisual();
List<Drone> AllDrones = new List<Drone>();
private ClientWebSocket _webSocket;
private CancellationTokenSource _cts;
private bool _isRunning;
public Form_Main()
{
InitializeComponent();
@ -45,6 +38,15 @@ namespace DroneSimulator
Drone drone = new Drone(data.ID);
drone.Create(1.0f, 0.5f, 1.0f);
//
drone.dataBarometer.Pressure = 102258;
drone.dataBarometer.Accuracy = (float)numericUpDown_Bar_Accur.Value;
drone.dataBarometer.Frequency = (int)numericUpDown_Bar_Freq.Value;
try { drone.dataBarometer.Pressure = int.Parse(textBox_Bar_Pressure.Text); }
catch { MessageBox.Show("Pressure invalid format", "Barometer error", MessageBoxButtons.OK, MessageBoxIcon.Error); }
//
screen2D.CreateDrone(Color.Red, data.ID);
AllDrones.Add(drone);
@ -106,6 +108,7 @@ namespace DroneSimulator
{
button_Client_Start.Text = "Stop";
button_Client_Start.BackColor = Color.LimeGreen;
panel_Menu_Model.Enabled = false;
break;
}
case NetServerClients.ServerState.Stop:
@ -113,6 +116,7 @@ namespace DroneSimulator
label_Clients_Num.Text = "0";
button_Client_Start.Text = "Start";
button_Client_Start.BackColor = Color.Transparent;
panel_Menu_Model.Enabled = true;
break;
}
}
@ -211,7 +215,5 @@ namespace DroneSimulator
}
}
}
}
}