pulled from main

DroneSimulator/Drone.cs

@@ -2,8 +2,6 @@
 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
 {
@@ -33,17 +31,7 @@ namespace DroneSimulator
     private Thread DroneThread;
     private int Timer;
 
-    private Random MainRandom = new Random();
+    private static int CounterID = 0;
-
-    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)
     {
@@ -252,14 +240,6 @@ 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;
     }
 
@@ -364,21 +344,6 @@ 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];
@@ -401,17 +366,86 @@ namespace DroneSimulator
             }
           }
 
-        case DroneData.DataType.DataGyr: if (head.Mode == DroneData.DataMode.Request) return SendDataGyr(); else return zero;
+        case DroneData.DataType.DataGyr:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              return SendDataGyr();
+            }
+            else
+            {
+              // Пришли данные
+              // ... //
+              //
+              return zero;
+            }
+          }
 
-        case DroneData.DataType.DataMag: if (head.Mode == DroneData.DataMode.Request) return SendDataMag(); 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.DataRange: if (head.Mode == DroneData.DataMode.Request) return SendDataRange(); 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.DataLocal: if (head.Mode == DroneData.DataMode.Request) return SendDataLocal(); 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.DataBar: if (head.Mode == DroneData.DataMode.Request) return SendDataBarometer(); else return zero;
+        case DroneData.DataType.DataMotor4:
-
+          {
-        case DroneData.DataType.DataMotor4: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              RecvDataMotor4(body);
+              return zero;
+            }
+          }
       }
 
       return zero;

DroneSimulator/DroneData.cs

@@ -12,7 +12,7 @@ namespace DroneData
     None = 0, Head = 1,
 
     // Output
-    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006,
+    DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, 
 
     // Input
     DataMotor4 = 2001, DataMotor6 = 2002
@@ -62,16 +62,6 @@ namespace DroneData
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
   }
 
-  public struct DataRange
-  {
-    public DataHead Head;
-    public float LiDAR; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><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.DataRange));
-  }
-
   public struct DataLocal
   {
     public DataHead Head;
@@ -82,14 +72,14 @@ namespace DroneData
     static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
   }
 
-  public struct DataBar
+  public struct DataRange
   {
     public DataHead Head;
-    public int Pressure; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public float LiDAR; // <20><><EFBFBD><EFBFBD><EFBFBD><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.DataBar));
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
   }
 
   public struct DataMotor4

DroneSimulator/FormMain.cs

@@ -38,15 +38,6 @@ 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);
@@ -108,7 +99,6 @@ namespace DroneSimulator
           {
             button_Client_Start.Text = "Stop";
             button_Client_Start.BackColor = Color.LimeGreen;
-            panel_Menu_Model.Enabled = false;
             break;
           }
         case NetServerClients.ServerState.Stop:
@@ -116,7 +106,6 @@ namespace DroneSimulator
             label_Clients_Num.Text = "0";
             button_Client_Start.Text = "Start";
             button_Client_Start.BackColor = Color.Transparent;
-            panel_Menu_Model.Enabled = true;
             break;
           }
       }