Simulator/DroneClient/FormMain.cs

using System.Text;
using System.Numerics;
using System.Windows.Forms;
using static DroneSimulator.NetClient;
using DroneClient;

namespace DroneSimulator
{
  public partial class Form_Main : Form
  {
    private NetClient netClient = new NetClient();

    public Form_Main()
    {
      InitializeComponent();
    }

    private void ConnectionCallback(object o)
    {
      ConnectData data = (ConnectData)o;

      if (!data.Connect)
      {
        try
        {
          Invoke((MethodInvoker)delegate
          {
            button_Connect.Text = "Connect";
            button_Connect.BackColor = Color.Transparent;
            MessageBox.Show("Connection closed");
          });
        }
        catch { }

        return;
      }
    }

    Drone dataDrone = new Drone();

    private void ReceiveCallback(object o)
    {
      ReceiveData data = (ReceiveData)o;

      List<byte[]?>? send = dataDrone.DataStream(data.Buffer, data.Size);

      if (send == null) return;
      try
      {
        foreach (byte[]? b in send)
        {
          if (b != null) data.Server?.Send(b);
        }
      }
      catch { }
    }

    private void button_Connect_Click(object sender, EventArgs e)
    {
      var done = netClient.Connect(textBox_Server_Addr.Text, (int)numericUpDown_Server_Port.Value, ConnectionCallback, ReceiveCallback);

      switch (done)
      {
        case NetClient.ClientState.Error:
          {
            MessageBox.Show("Error connecting to server");
            break;
          }
        case NetClient.ClientState.Connected:
          {
            button_Connect.Text = "Disconnect";
            button_Connect.BackColor = Color.LimeGreen;
            break;
          }
        case NetClient.ClientState.Stop:
          {
            button_Connect.Text = "Connect";
            button_Connect.BackColor = Color.Transparent;
            break;
          }
      }

      if (done != NetClient.ClientState.Connected) return;
    }

    private void Form_Main_FormClosing(object sender, FormClosingEventArgs e)
    {
      netClient?.Close();
      netClient = null;
    }

    private void timer_Test_Tick(object sender, EventArgs e)
    {
      label_Acc_X.Text = dataDrone.AccX.ToString();
      label_Acc_Y.Text = dataDrone.AccY.ToString();
      label_Acc_Z.Text = dataDrone.AccZ.ToString();

      label_time_acc.Text = dataDrone.TimeAcc.ToString();

      label_Gyr_X.Text = dataDrone.GyrX.ToString();
      label_Gyr_Y.Text = dataDrone.GyrY.ToString();
      label_Gyr_Z.Text = dataDrone.GyrZ.ToString();

      label_time_gyr.Text = dataDrone.TimeGyr.ToString();

      label_Pos_X.Text = dataDrone.PosX.ToString();
      label_Pos_Y.Text = dataDrone.PosY.ToString();
      label_Pos_L.Text = dataDrone.LaserRange.ToString();

      label_time_range.Text = dataDrone.TimeRange.ToString();

      netClient.SendData(dataDrone.SendReqest());
    }

    private void trackBar_Power_Scroll(object sender, EventArgs e)
    {
      float pow = (float)trackBar_Power.Value / 100;

      label_Pow.Text = pow.ToString();

      dataDrone.MotorUL = dataDrone.MotorUR = dataDrone.MotorDL = dataDrone.MotorDR = pow;
    }

    private void button_UU_MouseDown(object sender, MouseEventArgs e)
    {
      const float pow = 0.1f;

      if (sender == button_UU)
      {
        dataDrone.MotorUL -= pow; dataDrone.MotorUR -= pow;
        dataDrone.MotorDL += pow; dataDrone.MotorDR += pow;
      }
      if (sender == button_DD)
      {
        dataDrone.MotorUL += pow; dataDrone.MotorUR += pow;
        dataDrone.MotorDL -= pow; dataDrone.MotorDR -= pow;
      }
      if (sender == button_LL)
      {
        dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
        dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
      }
      if (sender == button_RR)
      {
        dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
        dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
      }

      if (sender == button_ML)
      {
        dataDrone.MotorUL -= pow; dataDrone.MotorUR += pow;
        dataDrone.MotorDL += pow; dataDrone.MotorDR -= pow;
      }

      if (sender == button_MR)
      {
        dataDrone.MotorUL += pow; dataDrone.MotorUR -= pow;
        dataDrone.MotorDL -= pow; dataDrone.MotorDR += pow;
      }
    }

    private void button_UU_MouseUp(object sender, MouseEventArgs e)
    {
      trackBar_Power_Scroll(null, null);
    }
  }
}