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

        return;
      }

      byte[] send = Drone.getBytes(sendDrone);

      data.Server.Send(send);
    }

    Drone.DataIn sendDrone;

    Drone.DataOut recvDrone;

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

      recvDrone = (Drone.DataOut)Drone.fromBytes(data.Buffer, typeof(Drone.DataOut));

      byte[] send = Drone.getBytes(sendDrone);

      try { data.Server.Send(send); }
      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 = recvDrone.AccX.ToString();
      label_Acc_Y.Text = recvDrone.AccY.ToString();
      label_Acc_Z.Text = recvDrone.AccZ.ToString();

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

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

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

      label_Pow.Text = pow.ToString();

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

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

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

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

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

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