add webSocket

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();
-
-    public struct DataBarometer
-    {
-      public int Value, Pressure; // Значение давления в Паскальях
-      public float Accuracy;
-      public int Frequency;
-      public uint Time;
-    }
-
-    public DataBarometer dataBarometer;
+    private static int CounterID = 0;
 
     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: if (head.Mode == DroneData.DataMode.Response) RecvDataMotor4(body); return zero;
+        case DroneData.DataType.DataMotor4:
+          {
+            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; // 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;
@@ -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; // Ëîêàëüíûå êîîðäèíàòû
+    public float LiDAR; // Äàò÷èê ïîñàäêè
 
     public uint Time; // Ïîñëåäíåå âðåìÿ èçìåíåíèÿ äàííûõ
 
-    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
+    static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
   }
 
   public struct DataMotor4

DroneSimulator/FormMain.cs

@@ -8,212 +8,210 @@ 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
-  {
-    Screen2D screen2D = null;
-
-    NetServerClients netServerClient = new NetServerClients();
-    NetServerVisual netServerVisual = new NetServerVisual();
-
-    List<Drone> AllDrones = new List<Drone>();
-
-    public Form_Main()
+    public partial class Form_Main : Form
     {
-      InitializeComponent();
-    }
+        Screen2D screen2D = null;
 
-    private void ClientConnectionCallback(object o)
-    {
-      NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
+        NetServerClients netServerClient = new NetServerClients();
+        NetServerVisual netServerVisual = new NetServerVisual();
 
-      Invoke((MethodInvoker)delegate
-      {
-        label_Clients_Num.Text = data.Count.ToString();
-      });
-
-      if (data.Connect)
-      {
-        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);
-      }
-      else
-      {
-        foreach (Drone drone in AllDrones)
+        List<Drone> AllDrones = new List<Drone>();
+        private ClientWebSocket _webSocket;
+        private CancellationTokenSource _cts;
+        private bool _isRunning;
+        public Form_Main()
         {
-          if (drone.ID != data.ID) continue;
-          drone.Close();
-
-          screen2D.RemoveDrone(data.ID);
-
-          AllDrones.Remove(drone);
-          break;
+            InitializeComponent();
         }
-      }
-    }
 
-    private void ClientReceiveCallback(object o)
-    {
-      NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
-
-      Drone? drone = null;
-
-      foreach (Drone d in AllDrones)
-      {
-        if (d.ID != data.ID) continue;
-        drone = d;
-        break;
-      }
-
-      if (drone == null) return;
-
-      List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
-
-      if (send == null) return;
-      try 
-      {
-        foreach (byte[]? b in send)
+        private void ClientConnectionCallback(object o)
         {
-          if (b != null) data.Client?.Send(b);
+            NetServerClients.ConnectData data = (NetServerClients.ConnectData)o;
+
+            Invoke((MethodInvoker)delegate
+            {
+                label_Clients_Num.Text = data.Count.ToString();
+            });
+
+            if (data.Connect)
+            {
+                Drone drone = new Drone(data.ID);
+                drone.Create(1.0f, 0.5f, 1.0f);
+
+                screen2D.CreateDrone(Color.Red, data.ID);
+
+                AllDrones.Add(drone);
+            }
+            else
+            {
+                foreach (Drone drone in AllDrones)
+                {
+                    if (drone.ID != data.ID) continue;
+                    drone.Close();
+
+                    screen2D.RemoveDrone(data.ID);
+
+                    AllDrones.Remove(drone);
+                    break;
+                }
+            }
         }
-      }
-      catch { }
+
+        private void ClientReceiveCallback(object o)
+        {
+            NetServerClients.ReceiveData data = (NetServerClients.ReceiveData)o;
+
+            Drone? drone = null;
+
+            foreach (Drone d in AllDrones)
+            {
+                if (d.ID != data.ID) continue;
+                drone = d;
+                break;
+            }
+
+            if (drone == null) return;
+
+            List<byte[]?>? send = drone.DataStream(data.Buffer, data.Size);
+
+            if (send == null) return;
+            try
+            {
+                foreach (byte[]? b in send)
+                {
+                    if (b != null) data.Client?.Send(b);
+                }
+            }
+            catch { }
+        }
+
+        private void button_Client_Start_Click(object sender, EventArgs e)
+        {
+            var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
+            switch (done)
+            {
+                case NetServerClients.ServerState.Error:
+                    {
+                        MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                        break;
+                    }
+                case NetServerClients.ServerState.Start:
+                    {
+                        button_Client_Start.Text = "Stop";
+                        button_Client_Start.BackColor = Color.LimeGreen;
+                        break;
+                    }
+                case NetServerClients.ServerState.Stop:
+                    {
+                        label_Clients_Num.Text = "0";
+                        button_Client_Start.Text = "Start";
+                        button_Client_Start.BackColor = Color.Transparent;
+                        break;
+                    }
+            }
+
+            if (done != NetServerClients.ServerState.Start) return;
+
+            pictureBox_2D.Image = null;
+
+            screen2D = new Screen2D(DrawCallback);
+        }
+
+        private void exitToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            Close();
+        }
+
+        private void DrawCallback(Bitmap bmp)
+        {
+            Invoke((MethodInvoker)delegate
+            {
+                if (pictureBox_2D.Image == null) pictureBox_2D.Image = bmp;
+                pictureBox_2D.Refresh();
+            });
+        }
+
+        private void timer_Test_Tick(object sender, EventArgs e)
+        {
+            if (screen2D == null) return;
+
+            foreach (Drone d in AllDrones)
+            {
+                screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
+            }
+
+            screen2D.DrawScene();
+        }
+        private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            foreach (Drone d in AllDrones) d.Close();
+        }
+
+        private void VisualConnectionCallback(object o)
+        {
+            NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;
+
+            Invoke((MethodInvoker)delegate
+            {
+                label_Clients_Num.Text = data.Count.ToString();
+            });
+
+            if (data.Connect)
+            {
+                //---
+            }
+            else
+            {
+                //---
+            }
+        }
+
+        private void VisualReceiveCallback(object o)
+        {
+            NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
+
+            foreach (Drone d in AllDrones)
+            {
+                Drone.DataVisual v = d.GetVisual();
+
+                try { data.Client.Send(Drone.getBytes(v)); }
+                catch { }
+            }
+        }
+
+        private void button_Visual_Start_Click(object sender, EventArgs e)
+        {
+            var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
+            switch (done)
+            {
+                case NetServerVisual.ServerState.Error:
+                    {
+                        MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                        break;
+                    }
+                case NetServerVisual.ServerState.Start:
+                    {
+                        button_Visual_Start.Text = "Stop";
+                        button_Visual_Start.BackColor = Color.LimeGreen;
+                        break;
+                    }
+                case NetServerVisual.ServerState.Stop:
+                    {
+                        label_Visual_Num.Text = "0";
+                        button_Visual_Start.Text = "Start";
+                        button_Visual_Start.BackColor = Color.Transparent;
+                        break;
+                    }
+            }
+        }
+
+     
     }
-
-    private void button_Client_Start_Click(object sender, EventArgs e)
-    {
-      var done = netServerClient.StartServer((int)numericUpDown_Clients_Port.Value, (int)numericUpDown_Clients_Limit.Value, ClientConnectionCallback, ClientReceiveCallback);
-      switch (done)
-      {
-        case NetServerClients.ServerState.Error:
-          {
-            MessageBox.Show("Error to start clients server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
-            break;
-          }
-        case NetServerClients.ServerState.Start:
-          {
-            button_Client_Start.Text = "Stop";
-            button_Client_Start.BackColor = Color.LimeGreen;
-            panel_Menu_Model.Enabled = false;
-            break;
-          }
-        case NetServerClients.ServerState.Stop:
-          {
-            label_Clients_Num.Text = "0";
-            button_Client_Start.Text = "Start";
-            button_Client_Start.BackColor = Color.Transparent;
-            panel_Menu_Model.Enabled = true;
-            break;
-          }
-      }
-
-      if (done != NetServerClients.ServerState.Start) return;
-
-      pictureBox_2D.Image = null;
-
-      screen2D = new Screen2D(DrawCallback);
-    }
-
-    private void exitToolStripMenuItem_Click(object sender, EventArgs e)
-    {
-      Close();
-    }
-
-    private void DrawCallback(Bitmap bmp)
-    {
-      Invoke((MethodInvoker)delegate
-      {
-        if (pictureBox_2D.Image == null) pictureBox_2D.Image = bmp;
-        pictureBox_2D.Refresh();
-      });
-    }
-
-    private void timer_Test_Tick(object sender, EventArgs e)
-    {
-      if (screen2D == null) return;
-
-      foreach (Drone d in AllDrones)
-      {
-        screen2D.Move(d.ID, d.PosXYZ, d.GetOrientation());
-      }
-
-      screen2D.DrawScene();
-    }
-    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
-    {
-      foreach (Drone d in AllDrones) d.Close();
-    }
-
-    private void VisualConnectionCallback(object o)
-    {
-      NetServerVisual.ConnectData data = (NetServerVisual.ConnectData)o;
-
-      Invoke((MethodInvoker)delegate
-      {
-        label_Clients_Num.Text = data.Count.ToString();
-      });
-
-      if (data.Connect)
-      {
-        //---
-      }
-      else
-      {
-        //---
-      }
-    }
-
-    private void VisualReceiveCallback(object o)
-    {
-      NetServerVisual.ReceiveData data = (NetServerVisual.ReceiveData)o;
-
-      foreach (Drone d in AllDrones)
-      {
-        Drone.DataVisual v = d.GetVisual();
-
-        try { data.Client.Send(Drone.getBytes(v)); }
-        catch { }
-      }
-    }
-
-    private void button_Visual_Start_Click(object sender, EventArgs e)
-    {
-      var done = netServerVisual.StartServer((int)numericUpDown_Visual_Port.Value, (int)numericUpDown_Visual_Limit.Value, VisualConnectionCallback, VisualReceiveCallback);
-      switch (done)
-      {
-        case NetServerVisual.ServerState.Error:
-          {
-            MessageBox.Show("Error to start visual server", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
-            break;
-          }
-        case NetServerVisual.ServerState.Start:
-          {
-            button_Visual_Start.Text = "Stop";
-            button_Visual_Start.BackColor = Color.LimeGreen;
-            break;
-          }
-        case NetServerVisual.ServerState.Stop:
-          {
-            label_Visual_Num.Text = "0";
-            button_Visual_Start.Text = "Start";
-            button_Visual_Start.BackColor = Color.Transparent;
-            break;
-          }
-      }
-    }
-  }
 }