diff --git a/DroneSimulator/.gitignore b/DroneSimulator/.gitignore deleted file mode 100644 index 98d63b2..0000000 --- a/DroneSimulator/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -.vs/ -obj/ -bin/ \ No newline at end of file diff --git a/DroneSimulator/Drone.cs b/DroneSimulator/Drone.cs deleted file mode 100644 index df65b3a..0000000 --- a/DroneSimulator/Drone.cs +++ /dev/null @@ -1,262 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Numerics; -using System.Runtime.InteropServices; -using System.Text; -using System.Threading.Tasks; -using static System.Windows.Forms.AxHost; - -namespace DroneSimulator -{ - internal class Drone - { - public int ID; - public float Mass; // Масса - public bool Active; // Живой? - public float Length; // Длинна лучей - public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение - public Quaternion Quat; // Основной кватернион - public float Power = 0; // Тяга всех двигателей - public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw - - public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп - public float LaserRange; // Имитация: Дальномер - - private const float Gravity = 1.0f; - - private const float TO_GRAD = 180 / MathF.PI; - private const float TO_RADI = MathF.PI / 180; - - private Thread DroneThread; - private int Timer; - - private static int CounterID = 0; - - - - public struct DataOut - { - public float AccX, AccY, AccZ; - public float GyrX, GyrY, GyrZ; - public float PosX, PosY; - public float LaserRange; - - public byte[] getBytes() - { - int size = Marshal.SizeOf(this); - byte[] arr = new byte[size]; - - IntPtr ptr = IntPtr.Zero; - try - { - ptr = Marshal.AllocHGlobal(size); - Marshal.StructureToPtr(this, ptr, true); - Marshal.Copy(ptr, arr, 0, size); - } - finally - { - Marshal.FreeHGlobal(ptr); - } - return arr; - } - } - - public struct DataIn - { - public float MotorUL, MotorUR, MotorDL, MotorDR; - - public void fromBytes(byte[] arr) - { - DataIn mem = new DataIn(); - - int size = Marshal.SizeOf(mem); - IntPtr ptr = IntPtr.Zero; - try - { - ptr = Marshal.AllocHGlobal(size); - - Marshal.Copy(arr, 0, ptr, size); - - mem = (DataIn)Marshal.PtrToStructure(ptr, mem.GetType()); - } - finally - { - Marshal.FreeHGlobal(ptr); - } - - this = mem; - } - } - - private void ThreadFunction() - { - while (DroneThread != null) - { - float time = Environment.TickCount - Timer; - Timer = Environment.TickCount; - Action(time / 100); - Thread.Sleep(1); - } - } - - public Drone(int id) - { - ID = id; - Active = false; - PosXYZ = new Vector3(2000, 1000, 0); - SpdXYZ = Vector3.Zero; - AccXYZ = Vector3.Zero; - Quat = Quaternion.Identity; - - DroneThread = new Thread(new ThreadStart(ThreadFunction)); - Timer = Environment.TickCount; - DroneThread.Start(); - } - - public int Create(float mass, float len) - { - Mass = Range(mass); - Length = len; - - Active = true; - - return ID; - } - - public void Close() - { - DroneThread = null; - } - - private float GetAngle(float a1, float a2, float az) - { - if (a2 == 0.0f && az == 0.0f) - { - if (a1 > 0) return 90; - if (a1 < 0) return -90; - return 0; - } - return MathF.Atan(a1 / MathF.Sqrt(a2 * a2 + az * az)) * TO_GRAD; - } - - public void Rotate(float x, float y, float z) - { - x = x * MathF.PI / 180; - y = y * MathF.PI / 180; - z = -z * MathF.PI / 180; - - Quaternion map = Quat; - Quaternion spd = new Quaternion(x, y, z, 0); - Quaternion aq = spd * map; - - map.W -= 0.5f * aq.W; - map.X -= 0.5f * aq.X; - map.Y -= 0.5f * aq.Y; - map.Z -= 0.5f * aq.Z; - - Quat = Quaternion.Normalize(map); - } - - public Vector4 GetOrientation() - { - Quaternion grav = new Quaternion(0, 0, 1, 0); - - grav = (Quat * grav) * Quaternion.Inverse(Quat); - - float yaw = 2 * MathF.Atan2(Quat.Z, Quat.W) * TO_GRAD; - if (yaw < 0.0f) yaw = 360.0f + yaw; - - return new Vector4(GetAngle(grav.Y, grav.X, grav.Z), GetAngle(-grav.X, grav.Y, grav.Z), yaw, grav.Z); - } - - public void Action(float time) - { - if (!Active) return; - - float flow = Power; - - if (PosXYZ.Z < 100) - { - flow += flow * 0.1f; // Воздушная подушка - } - - Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat; - AccXYZ = new Vector3(pow.X, pow.Y, pow.Z) / Mass; - - SpdPRY += AccPRY * time / (Mass * Length); - - SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time; - PosXYZ += SpdXYZ * time; - - if (PosXYZ.Z < 0) - { - SpdPRY = Vector3.Zero; - SpdXYZ.X = 0; - SpdXYZ.Y = 0; - Quat = Quaternion.Identity; - } - else Rotate(SpdPRY.X, SpdPRY.Y, SpdPRY.Z); - - Vector4 ori = GetOrientation(); - - if (PosXYZ.Z < 0) - { - PosXYZ.Z = 0; - - /*if (SpdXYZ.Z < -5) - { - Active = false; // Сильно ударился о землю - }*/ - - /*if (MathF.Abs(ori.X) > 45 || MathF.Abs(ori.Y) > 45) - { - Active = false; // Повредил винты при посадке - }*/ - - SpdXYZ.Z = 0; - - Acc = new Vector3(0, 0, 1); - Gyr = Vector3.Zero; - LaserRange = 0; - } - else - { - /*if (ori.W < 0) - { - Active = false; // Перевернулся вверх ногами - }*/ - - Quaternion grav = new Quaternion(AccXYZ.X, AccXYZ.Y, AccXYZ.Z, 0); - grav = (Quat * grav) * Quaternion.Inverse(Quat); - Acc = new Vector3(grav.X, grav.Y, grav.Z); - - Gyr = SpdPRY; - - float tilt = (MathF.Abs(ori.X) + MathF.Abs(ori.Y)) * TO_RADI; - - if (tilt < 90 && ori.W > 0) LaserRange = PosXYZ.Z / MathF.Cos(tilt); - else LaserRange = float.MaxValue; - } - } - - private float Range(float pow) - { - if (pow > 1) pow = 1; - if (pow < 0) pow = 0; - - return pow; - } - - public void SetQadroPow(float ul, float ur, float dl, float dr) - { - ul = Range(ul); ur = Range(ur); dl = Range(dl); dr = Range(dr); - - Power = (ul + ur + dl + dr) / 4; - - AccPRY.Y = ((ul + dl) - (ur + dr)); - AccPRY.X = ((ul + ur) - (dl + dr)); - AccPRY.Z = ((ul + dr) - (dl + ur)) / 4; - } - } -} diff --git a/DroneSimulator/DroneSimulator.csproj b/DroneSimulator/DroneSimulator.csproj deleted file mode 100644 index da8dc2d..0000000 --- a/DroneSimulator/DroneSimulator.csproj +++ /dev/null @@ -1,16 +0,0 @@ - - - - WinExe - net9.0-windows - enable - true - enable - icon.ico - - - - - - - \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.csproj.user b/DroneSimulator/DroneSimulator.csproj.user deleted file mode 100644 index cf5c74f..0000000 --- a/DroneSimulator/DroneSimulator.csproj.user +++ /dev/null @@ -1,8 +0,0 @@ - - - - - Form - - - \ No newline at end of file diff --git a/DroneSimulator/DroneSimulator.sln b/DroneSimulator/DroneSimulator.sln deleted file mode 100644 index 05ccc73..0000000 --- a/DroneSimulator/DroneSimulator.sln +++ /dev/null @@ -1,25 +0,0 @@ - -Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio Version 17 -VisualStudioVersion = 17.13.35913.81 d17.13 -MinimumVisualStudioVersion = 10.0.40219.1 -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DroneSimulator", "DroneSimulator.csproj", "{B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - Debug|Any CPU = Debug|Any CPU - Release|Any CPU = Release|Any CPU - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Debug|Any CPU.Build.0 = Debug|Any CPU - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.ActiveCfg = Release|Any CPU - {B66DBB0A-CCDD-4711-ADB0-5AA11AC1760D}.Release|Any CPU.Build.0 = Release|Any CPU - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection - GlobalSection(ExtensibilityGlobals) = postSolution - SolutionGuid = {F4724E16-C228-4B38-BB06-B90A7A057219} - EndGlobalSection -EndGlobal diff --git a/DroneSimulator/FormMain.Designer.cs b/DroneSimulator/FormMain.Designer.cs deleted file mode 100644 index 2997b8d..0000000 --- a/DroneSimulator/FormMain.Designer.cs +++ /dev/null @@ -1,420 +0,0 @@ -namespace DroneSimulator -{ - partial class Form_Main - { - /// - /// Required designer variable. - /// - private System.ComponentModel.IContainer components = null; - - /// - /// Clean up any resources being used. - /// - /// true if managed resources should be disposed; otherwise, false. - protected override void Dispose(bool disposing) - { - if (disposing && (components != null)) - { - components.Dispose(); - } - base.Dispose(disposing); - } - - #region Windows Form Designer generated code - - /// - /// Required method for Designer support - do not modify - /// the contents of this method with the code editor. - /// - private void InitializeComponent() - { - components = new System.ComponentModel.Container(); - System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form_Main)); - menuStrip_Menu = new MenuStrip(); - fileToolStripMenuItem = new ToolStripMenuItem(); - exitToolStripMenuItem = new ToolStripMenuItem(); - groupBox_Screen = new GroupBox(); - pictureBox_2D = new PictureBox(); - tabControl_Menu = new TabControl(); - tabPage_Main = new TabPage(); - groupBox_Visual = new GroupBox(); - button_Visual_Start = new Button(); - numericUpDown_Visual_Port = new NumericUpDown(); - label_Visual_Port = new Label(); - groupBox_Clients = new GroupBox(); - numericUpDown_Clients_Limit = new NumericUpDown(); - label_Clients_Limit = new Label(); - label_Clients_Num = new Label(); - label_Clients_Count = new Label(); - button_Client_Start = new Button(); - numericUpDown_Clients_Port = new NumericUpDown(); - label_Clients_Port = new Label(); - tabPage_Model = new TabPage(); - tabPage_Area = new TabPage(); - groupBox_Navi = new GroupBox(); - panel1 = new Panel(); - button_Drone_Color = new Button(); - comboBox_Drone_Rotor = new ComboBox(); - comboBox_Drone = new ComboBox(); - timer_Test = new System.Windows.Forms.Timer(components); - menuStrip_Menu.SuspendLayout(); - groupBox_Screen.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)pictureBox_2D).BeginInit(); - tabControl_Menu.SuspendLayout(); - tabPage_Main.SuspendLayout(); - groupBox_Visual.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).BeginInit(); - groupBox_Clients.SuspendLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).BeginInit(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).BeginInit(); - groupBox_Navi.SuspendLayout(); - panel1.SuspendLayout(); - SuspendLayout(); - // - // menuStrip_Menu - // - menuStrip_Menu.Items.AddRange(new ToolStripItem[] { fileToolStripMenuItem }); - menuStrip_Menu.Location = new Point(0, 0); - menuStrip_Menu.Name = "menuStrip_Menu"; - menuStrip_Menu.Size = new Size(884, 24); - menuStrip_Menu.TabIndex = 0; - menuStrip_Menu.Text = "menuStrip1"; - // - // fileToolStripMenuItem - // - fileToolStripMenuItem.DropDownItems.AddRange(new ToolStripItem[] { exitToolStripMenuItem }); - fileToolStripMenuItem.Name = "fileToolStripMenuItem"; - fileToolStripMenuItem.Size = new Size(37, 20); - fileToolStripMenuItem.Tag = "#file"; - fileToolStripMenuItem.Text = "File"; - // - // exitToolStripMenuItem - // - exitToolStripMenuItem.Name = "exitToolStripMenuItem"; - exitToolStripMenuItem.Size = new Size(93, 22); - exitToolStripMenuItem.Tag = "#exit"; - exitToolStripMenuItem.Text = "Exit"; - exitToolStripMenuItem.Click += exitToolStripMenuItem_Click; - // - // groupBox_Screen - // - groupBox_Screen.Controls.Add(pictureBox_2D); - groupBox_Screen.Dock = DockStyle.Fill; - groupBox_Screen.Location = new Point(218, 24); - groupBox_Screen.Name = "groupBox_Screen"; - groupBox_Screen.Size = new Size(466, 437); - groupBox_Screen.TabIndex = 1; - groupBox_Screen.TabStop = false; - // - // pictureBox_2D - // - pictureBox_2D.BackColor = Color.Gainsboro; - pictureBox_2D.Dock = DockStyle.Fill; - pictureBox_2D.Location = new Point(3, 19); - pictureBox_2D.Name = "pictureBox_2D"; - pictureBox_2D.Size = new Size(460, 415); - pictureBox_2D.SizeMode = PictureBoxSizeMode.Zoom; - pictureBox_2D.TabIndex = 0; - pictureBox_2D.TabStop = false; - // - // tabControl_Menu - // - tabControl_Menu.Controls.Add(tabPage_Main); - tabControl_Menu.Controls.Add(tabPage_Model); - tabControl_Menu.Controls.Add(tabPage_Area); - tabControl_Menu.Dock = DockStyle.Left; - tabControl_Menu.Location = new Point(0, 24); - tabControl_Menu.Name = "tabControl_Menu"; - tabControl_Menu.SelectedIndex = 0; - tabControl_Menu.Size = new Size(218, 437); - tabControl_Menu.TabIndex = 2; - // - // tabPage_Main - // - tabPage_Main.Controls.Add(groupBox_Visual); - tabPage_Main.Controls.Add(groupBox_Clients); - tabPage_Main.Location = new Point(4, 24); - tabPage_Main.Name = "tabPage_Main"; - tabPage_Main.Padding = new Padding(3); - tabPage_Main.Size = new Size(210, 409); - tabPage_Main.TabIndex = 0; - tabPage_Main.Tag = "#main"; - tabPage_Main.Text = "Main"; - tabPage_Main.UseVisualStyleBackColor = true; - // - // groupBox_Visual - // - groupBox_Visual.Controls.Add(button_Visual_Start); - groupBox_Visual.Controls.Add(numericUpDown_Visual_Port); - groupBox_Visual.Controls.Add(label_Visual_Port); - groupBox_Visual.Dock = DockStyle.Top; - groupBox_Visual.Location = new Point(3, 83); - groupBox_Visual.Name = "groupBox_Visual"; - groupBox_Visual.Size = new Size(204, 62); - groupBox_Visual.TabIndex = 2; - groupBox_Visual.TabStop = false; - groupBox_Visual.Tag = "#visual"; - groupBox_Visual.Text = "Visual"; - // - // button_Visual_Start - // - button_Visual_Start.Location = new Point(112, 22); - button_Visual_Start.Name = "button_Visual_Start"; - button_Visual_Start.Size = new Size(86, 23); - button_Visual_Start.TabIndex = 9; - button_Visual_Start.Tag = "#visual_start"; - button_Visual_Start.Text = "Start"; - button_Visual_Start.UseVisualStyleBackColor = true; - // - // numericUpDown_Visual_Port - // - numericUpDown_Visual_Port.Location = new Point(44, 24); - numericUpDown_Visual_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); - numericUpDown_Visual_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); - numericUpDown_Visual_Port.Name = "numericUpDown_Visual_Port"; - numericUpDown_Visual_Port.Size = new Size(62, 23); - numericUpDown_Visual_Port.TabIndex = 8; - numericUpDown_Visual_Port.Value = new decimal(new int[] { 1002, 0, 0, 0 }); - // - // label_Visual_Port - // - label_Visual_Port.AutoSize = true; - label_Visual_Port.Location = new Point(6, 26); - label_Visual_Port.Name = "label_Visual_Port"; - label_Visual_Port.Size = new Size(32, 15); - label_Visual_Port.TabIndex = 7; - label_Visual_Port.Tag = "#visual_port"; - label_Visual_Port.Text = "Port:"; - // - // groupBox_Clients - // - groupBox_Clients.Controls.Add(numericUpDown_Clients_Limit); - groupBox_Clients.Controls.Add(label_Clients_Limit); - groupBox_Clients.Controls.Add(label_Clients_Num); - groupBox_Clients.Controls.Add(label_Clients_Count); - groupBox_Clients.Controls.Add(button_Client_Start); - groupBox_Clients.Controls.Add(numericUpDown_Clients_Port); - groupBox_Clients.Controls.Add(label_Clients_Port); - groupBox_Clients.Dock = DockStyle.Top; - groupBox_Clients.Location = new Point(3, 3); - groupBox_Clients.Name = "groupBox_Clients"; - groupBox_Clients.Size = new Size(204, 80); - groupBox_Clients.TabIndex = 1; - groupBox_Clients.TabStop = false; - groupBox_Clients.Tag = "#clients"; - groupBox_Clients.Text = "Clients"; - // - // numericUpDown_Clients_Limit - // - numericUpDown_Clients_Limit.Location = new Point(44, 48); - numericUpDown_Clients_Limit.Maximum = new decimal(new int[] { 10, 0, 0, 0 }); - numericUpDown_Clients_Limit.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); - numericUpDown_Clients_Limit.Name = "numericUpDown_Clients_Limit"; - numericUpDown_Clients_Limit.Size = new Size(42, 23); - numericUpDown_Clients_Limit.TabIndex = 6; - numericUpDown_Clients_Limit.Value = new decimal(new int[] { 1, 0, 0, 0 }); - // - // label_Clients_Limit - // - label_Clients_Limit.AutoSize = true; - label_Clients_Limit.Location = new Point(6, 50); - label_Clients_Limit.Name = "label_Clients_Limit"; - label_Clients_Limit.Size = new Size(37, 15); - label_Clients_Limit.TabIndex = 5; - label_Clients_Limit.Tag = "#clients_limit"; - label_Clients_Limit.Text = "Limit:"; - // - // label_Clients_Num - // - label_Clients_Num.AutoSize = true; - label_Clients_Num.Location = new Point(161, 50); - label_Clients_Num.Name = "label_Clients_Num"; - label_Clients_Num.Size = new Size(13, 15); - label_Clients_Num.TabIndex = 4; - label_Clients_Num.Text = "0"; - // - // label_Clients_Count - // - label_Clients_Count.AutoSize = true; - label_Clients_Count.Location = new Point(112, 50); - label_Clients_Count.Name = "label_Clients_Count"; - label_Clients_Count.Size = new Size(43, 15); - label_Clients_Count.TabIndex = 3; - label_Clients_Count.Tag = "#clients_count"; - label_Clients_Count.Text = "Count:"; - // - // button_Client_Start - // - button_Client_Start.BackColor = Color.Transparent; - button_Client_Start.Location = new Point(112, 15); - button_Client_Start.Name = "button_Client_Start"; - button_Client_Start.Size = new Size(86, 23); - button_Client_Start.TabIndex = 2; - button_Client_Start.Tag = ""; - button_Client_Start.Text = "Start"; - button_Client_Start.UseVisualStyleBackColor = false; - button_Client_Start.Click += button_Client_Start_Click; - // - // numericUpDown_Clients_Port - // - numericUpDown_Clients_Port.Location = new Point(44, 17); - numericUpDown_Clients_Port.Maximum = new decimal(new int[] { 65000, 0, 0, 0 }); - numericUpDown_Clients_Port.Minimum = new decimal(new int[] { 1, 0, 0, 0 }); - numericUpDown_Clients_Port.Name = "numericUpDown_Clients_Port"; - numericUpDown_Clients_Port.Size = new Size(62, 23); - numericUpDown_Clients_Port.TabIndex = 1; - numericUpDown_Clients_Port.Value = new decimal(new int[] { 1001, 0, 0, 0 }); - // - // label_Clients_Port - // - label_Clients_Port.AutoSize = true; - label_Clients_Port.Location = new Point(6, 19); - label_Clients_Port.Name = "label_Clients_Port"; - label_Clients_Port.Size = new Size(32, 15); - label_Clients_Port.TabIndex = 0; - label_Clients_Port.Tag = "#clients_port"; - label_Clients_Port.Text = "Port:"; - // - // tabPage_Model - // - tabPage_Model.Location = new Point(4, 24); - tabPage_Model.Name = "tabPage_Model"; - tabPage_Model.Padding = new Padding(3); - tabPage_Model.Size = new Size(210, 409); - tabPage_Model.TabIndex = 1; - tabPage_Model.Tag = "#model"; - tabPage_Model.Text = "Model"; - tabPage_Model.UseVisualStyleBackColor = true; - // - // tabPage_Area - // - tabPage_Area.Location = new Point(4, 24); - tabPage_Area.Name = "tabPage_Area"; - tabPage_Area.Size = new Size(210, 409); - tabPage_Area.TabIndex = 2; - tabPage_Area.Tag = "#area"; - tabPage_Area.Text = "Area"; - tabPage_Area.UseVisualStyleBackColor = true; - // - // groupBox_Navi - // - groupBox_Navi.Controls.Add(panel1); - groupBox_Navi.Controls.Add(comboBox_Drone); - groupBox_Navi.Dock = DockStyle.Right; - groupBox_Navi.Location = new Point(684, 24); - groupBox_Navi.Name = "groupBox_Navi"; - groupBox_Navi.Size = new Size(200, 437); - groupBox_Navi.TabIndex = 3; - groupBox_Navi.TabStop = false; - groupBox_Navi.Tag = "#navigation"; - groupBox_Navi.Text = "Navigation"; - // - // panel1 - // - panel1.Controls.Add(button_Drone_Color); - panel1.Controls.Add(comboBox_Drone_Rotor); - panel1.Dock = DockStyle.Fill; - panel1.Location = new Point(3, 42); - panel1.Name = "panel1"; - panel1.Size = new Size(194, 392); - panel1.TabIndex = 3; - // - // button_Drone_Color - // - button_Drone_Color.BackColor = Color.Tomato; - button_Drone_Color.Location = new Point(13, 6); - button_Drone_Color.Name = "button_Drone_Color"; - button_Drone_Color.Size = new Size(45, 23); - button_Drone_Color.TabIndex = 1; - button_Drone_Color.UseVisualStyleBackColor = false; - // - // comboBox_Drone_Rotor - // - comboBox_Drone_Rotor.FormattingEnabled = true; - comboBox_Drone_Rotor.Items.AddRange(new object[] { "4-Rotor", "6-Rotor", "8-Rotor" }); - comboBox_Drone_Rotor.Location = new Point(114, 6); - comboBox_Drone_Rotor.Name = "comboBox_Drone_Rotor"; - comboBox_Drone_Rotor.Size = new Size(71, 23); - comboBox_Drone_Rotor.TabIndex = 2; - comboBox_Drone_Rotor.Text = "4-Rotor"; - // - // comboBox_Drone - // - comboBox_Drone.Dock = DockStyle.Top; - comboBox_Drone.FormattingEnabled = true; - comboBox_Drone.Location = new Point(3, 19); - comboBox_Drone.Name = "comboBox_Drone"; - comboBox_Drone.Size = new Size(194, 23); - comboBox_Drone.TabIndex = 0; - // - // timer_Test - // - timer_Test.Enabled = true; - timer_Test.Interval = 10; - timer_Test.Tick += timer_Test_Tick; - // - // Form_Main - // - AutoScaleDimensions = new SizeF(7F, 15F); - AutoScaleMode = AutoScaleMode.Font; - ClientSize = new Size(884, 461); - Controls.Add(groupBox_Screen); - Controls.Add(groupBox_Navi); - Controls.Add(tabControl_Menu); - Controls.Add(menuStrip_Menu); - Icon = (Icon)resources.GetObject("$this.Icon"); - MainMenuStrip = menuStrip_Menu; - MinimumSize = new Size(900, 500); - Name = "Form_Main"; - Text = "Drone Simulator V1.0"; - FormClosing += Form_Main_FormClosing; - menuStrip_Menu.ResumeLayout(false); - menuStrip_Menu.PerformLayout(); - groupBox_Screen.ResumeLayout(false); - ((System.ComponentModel.ISupportInitialize)pictureBox_2D).EndInit(); - tabControl_Menu.ResumeLayout(false); - tabPage_Main.ResumeLayout(false); - groupBox_Visual.ResumeLayout(false); - groupBox_Visual.PerformLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Visual_Port).EndInit(); - groupBox_Clients.ResumeLayout(false); - groupBox_Clients.PerformLayout(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Limit).EndInit(); - ((System.ComponentModel.ISupportInitialize)numericUpDown_Clients_Port).EndInit(); - groupBox_Navi.ResumeLayout(false); - panel1.ResumeLayout(false); - ResumeLayout(false); - PerformLayout(); - } - - #endregion - - private MenuStrip menuStrip_Menu; - private ToolStripMenuItem fileToolStripMenuItem; - private GroupBox groupBox_Screen; - private TabControl tabControl_Menu; - private TabPage tabPage_Main; - private TabPage tabPage_Model; - private Label label_Clients_Port; - private GroupBox groupBox_Clients; - private NumericUpDown numericUpDown_Clients_Port; - private Label label_Clients_Num; - private Label label_Clients_Count; - private Button button_Client_Start; - private NumericUpDown numericUpDown_Clients_Limit; - private Label label_Clients_Limit; - private GroupBox groupBox_Visual; - private Button button_Visual_Start; - private NumericUpDown numericUpDown_Visual_Port; - private Label label_Visual_Port; - private PictureBox pictureBox_2D; - private GroupBox groupBox_Navi; - private ComboBox comboBox_Drone; - private TabPage tabPage_Area; - private Button button_Drone_Color; - private ComboBox comboBox_Drone_Rotor; - private Panel panel1; - private ToolStripMenuItem exitToolStripMenuItem; - private System.Windows.Forms.Timer timer_Test; - } -} diff --git a/DroneSimulator/FormMain.cs b/DroneSimulator/FormMain.cs deleted file mode 100644 index 9e6489a..0000000 --- a/DroneSimulator/FormMain.cs +++ /dev/null @@ -1,150 +0,0 @@ -using System.Text; -using System.Numerics; -using System.Windows.Forms; -using static System.Net.Mime.MediaTypeNames; -using static System.Runtime.InteropServices.JavaScript.JSType; -using System.Security.Policy; - -namespace DroneSimulator -{ - public partial class Form_Main : Form - { - Screen2D screen2D = null; - - NetServerClients netServerClient = new NetServerClients(); - - List AllDrones = new List(); - - public Form_Main() - { - InitializeComponent(); - } - - private void ConnectionCallback(object o) - { - 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(0.5f, 10.0f); - - 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; - } - } - } - - private void ReceiveCallback(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; - - Drone.DataIn id = new Drone.DataIn(); - - id.fromBytes(data.Buffer); - - drone.SetQadroPow(id.MotorUL, id.MotorUR, id.MotorDL, id.MotorDR); - - Drone.DataOut od = new Drone.DataOut(); - - od.AccX= drone.Acc.X; od.AccY= drone.Acc.Y; od.AccZ= drone.Acc.Z; - od.GyrX = drone.Gyr.X; od.GyrY = drone.Gyr.Y; od.GyrZ = drone.Gyr.Z; - od.PosX= drone.PosXYZ.X; od.PosY = drone.PosXYZ.Y; - od.LaserRange = drone.LaserRange; - - try { data.Client.Send(od.getBytes()); } - 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, ConnectionCallback, ReceiveCallback); - switch (done) - { - case NetServerClients.ServerState.Error: - { - MessageBox.Show("Error to start server"); - 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(); - } - } -} diff --git a/DroneSimulator/FormMain.resx b/DroneSimulator/FormMain.resx deleted file mode 100644 index 8f19afc..0000000 --- a/DroneSimulator/FormMain.resx +++ /dev/null @@ -1,383 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - text/microsoft-resx - - - 2.0 - - - System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 - - - System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 - - - 17, 17 - - - 162, 5 - - - 25 - - - - - AAABAAEAAAAAAAEAIAAcOgAAFgAAAIlQTkcNChoKAAAADUlIRFIAAAEAAAABAAgGAAAAXHKoZgAAAAFv - ck5UAc+id5oAADnWSURBVHja7V0HeJRV1v4I6QkpQIDQQgm999576ASpoQUCgiAg0nsHUVCkKh1FpRcF - FQHpvYp0FRXLuquuu6v+6rrnv++dOzjJzPdNycxkkpz3ec5DSGa+cu855957qqYxGAwGg8FgMBgMBoPB - YDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgM - BoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8Fg - MBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDkd2RQ1CQ - oFyC8ggqIKiYoEqC6glqLaizoB6C+gsaKmiUoPGCJguaImimoFmCpqnfTRQ0RtCTggYK6i2oq6C2ghoJ - qiYoXlBBQXkFRQoKEZSTpyPbIqfigUjFEwUVj1RTPNNW8VBvxVNPKh6bqHhumuLBmYonJyseHaV4tr/i - 4c6Kp8HbFRWvF1C8n0vJQo6sNrjBgqIFFRFUS1AnQSmCpgp6SdDrgg4KOivojqBHgv4m6HtBPwn6j6Bf - BP0m6A9B/xNEDtB/Bf0u6FdBPwv6l6AfBH0n6GtBnwi6JOiwoO2CVguaI+gpQU+oiS+pGCIsK05MNlto - wtRcllRzC4EcqeZ8jaAdgj4QdFnxxteKV35QvPOz4qXfFW85woP/Uzz7m+Lh/yie/l7x+CPF82eVDLyu - ZGKqkpFOSmaKKBkK9vWBjhBUVFADQQMELRC0TdBJQZ8K+ocahD8cHMCMoD/VZGHiv1RKYo+aGGj9DoLK - CcotyJ9ly+fgr+amlFptR6q526Pm8ks1t7+oufZVPvxDyco/lOycVLK0SCmHZmoHEZGRgx2ttjJ9BC0R - 9L562B+U1qMsSP8W9JWgM4JeUQzWWG3lWCF4HwGC8guqq7bmr6gV9ZFabf/MgjwI5fBPJWuQuefV0aSa - kkmPwU9QrKCOgp4TdELQN4L+L4sKu6M7hh8FXRf0qpqI0uo8x/AMgtQYY6zXqbH/3omteVYkHE2+VTK5 - WMlorLuOrjg/NVWa5pramhCT7kR8JmirOmcWYHl1G/KrMd2qxvh35jdd+o+SVchsE2VkdBr4UjdBu5WG - 5YF1jnDOPK9sB4VZfl0Gxm60Onb9wnzlNEF29wtKdFQR+ClL6e6MWu1z5sxJgYGBFBISQuHh4RQREUFR - UVGUO3duypMnD+XNm5diYmKsCH/DZ6KjoykyMpJy5cpFoaGhFBQURP7+/hk1AdiaXlCG0TCWZ6d2nhiz - ixm1vQfPgHfAQ+Al8BR4y8yHtngQvGnmQ/AseBc8DF4GT4O3M9B+tVvtCPz0Bj1c0LPK0OX2hwgICJAD - iUEqWrQoVa1alZo3b06JiYk0aNAgGj16NE2fPp0WLVpEy5cvp1dffZVef/112rlzJ+3bt48OHTpEhw8f - pqNHj9Lx48dT0bFjx+Tf3nvvPTpw4ADt2rWL3njjDdq4cSOtXLmSlixZQrNnz6Zx48ZRSkoK9ezZk9q0 - aUO1atWikiVLUr58+eRkYZI8uCNYr6y3DGMUF7RBud/cPhcQaggz5hxzDx4AL4Anhg4dKnkEvAKeAe+A - h8BL4CnwFngMvAaeS8uH4E38DbwKnt2xY4fkYfAyeBq8DR4Hr4PnwfuQgSpVqkiZgGyEhYV7csGCi3Oc - rcUILoVl7jDqQYigAePj46lp06aUlJREkyZNohdffFEOJAbpypUrdPPmTbp37x49fPiQvvrqK/rb3/5G - 3333nST8nJa+/fZbhyntd83XBX399df0+eef04MHD+jWrVt07do1OnXqlJisnfTiSy/RM89OoB69+lCj - Jk2pVOkyUqMHB4e4awIQe1CWZVwXGJsP3DHWWLkh5JUqVaJ27dpJxT9z5kxavXo17d69W8455h48AF4A - T4A3LHnFnTyYlr/B8+B9yABkATJx5MgR2rr1NVq4aDENf2oUderSjWrXqUdF44oJpRUlFlG3LFCQ8Rcs - 3Yhwp0x31bCCVR3CnpCQQGPHjqUVK1ZIDXj16lX5cl9++eXjl7ccxG+++eYxYeC9SZb3TjthX339Dd2+ - 94BOnDlPBw59QFu2bacFi1+gJ596mtoldKAyZctRpNje+fm5vJ07oIxaDGtD39uuHhux6FSuXJl69OhB - 06ZNkyv3hx9+SB999BF98sknj4U7rTD7Ih9+K+jLR1/R9Y9u0QcfnqY9B96lVzZsoemz5tKA5CHUuGkz - sWOIk7uFdBisp5nd162VS8/hwS5YsKDcNk2ZMoW2b99Oly9floOMF8AgWw6utwfVPRPztZiAR3Trzj06 - e1HsEC5cpdOCjp48R/sPHZaTMW7CZGrXviPFFSsut5VOug8nsLxbYZIzvvvg4GAqVaqU3LovXrxYLjoQ - dqzklkKeUcLtLnr4+Rd0TSiC04oHT52/Qu8fO0W79h2kZS+voqHDR1LDRk0oJl9+Z20MkPlWGPg3HPkC - DCCtWrWS5xhoVrPAWw50Zh1kI7r34BM6Iwb+xNlLkk6euywnwawQdu59h+YsWEztO3amArGxlCNHDkcG - /wq7CVMBfuur9sYNY1ukSBHq06ePPFdfunTpscBnBWHXo0diN/DRrTuS98w8aOLDvxQCdqrPjJ9E9Rs2 - kvYsB5UAIgxliKTuh2DN7N27tzSC3L9/P8sLvC3CTsA8+GkJvzcrg82vb6fkIcOocJGi9hQBAogas9w/ - RhM1JrqCX7x4cXr22Wfl4vPFF19kOz6EErhy/aYuD0IRgN47eoJeWrlWLkgRkZH2FMAXGPzfjCym2OZD - y/7973/PVkJvSZ8LhrPcBdgkpQiglZcuX0mx4phkMPA/K98sw4TuRn7+woUL07Zt2x5v7bMjH+JYevfe - A92FyFIZnBHHVixIw596mgKNj6eQff1AH2jecuXK0fz58+U5Hw+SHSfg88/1FYCl9j14+ENa8NxSqluv - vj2XIrLM2rLcP0Y75avWXYhatGhBmzZtojt37mTLXSgUwB0DBWDmQ/y8c99BGjNuApUsGW9vJwrZl64p - u0ERFSpUoDFjxtDevXvlJGDws8tEfHwbR4BLNu0AsNK+/tYuaRSsVbuudD85cPZ6IKgEy/1jlFRjYjhu - CKpp0qSJXJDgd//ss8+yDQ8+evSILlscAcx2APAg/sXis/rVjTQwOYXiS5V21CCIhCJtkJH2tWUMbNiw - oTyPwa+PnYF5IrKiMQZGQOkJUAJ/7JTJPbhm3SYa/cx4atq8pTT+OWmBfUnjDEJLYCxednT8/Pz8qFCh - QtSxY0eaN28evfPOO9KXbnY5ZyWlgJX/0VcwAt6l04oHwYsfHD8tPQHPv/gyDRoylKrXrCXd005GBw40 - BwFtcsWfCI0MV0ynTp1o4sSJtGHDBqmZMRlQCma3oC2/q+8McGpfrJmBMOjXbnxM7x05Tm/t2iddLhD4 - Dp26ULnyFWRgBhjRhXG7ppnqCjBSo7xmyu5zajwxB4gBqFatGvXt21cqBLimz507J3eqZoOhJR9mpO/f - Hh+mjUuBG/DcxSv09rtHaMu2HTImJWXYCGreopV0QYeGhrkaC7DRMhgIIaoH3RV9hTDfrl270qhRo+i5 - 556T4ZCIckK00+3bt6UL0TJAyFaAhq1ADWfIKDLLfE9EY0FR3b17l65fv04nT56UEYEvLF1KI0aOkpbU - qtVqUIECsTLowkEXnxHdV3EXDNto68hRwJ6rEMFpMBzWr19ferAmTJggQ3ERVo45xlxjzjH34AFbkX+e - 5kPLe0IWIBOISrSMCJw7b77Y0g+hFq3aUNly5SlPnrzuikp9x1ZYOn6xWTOVP3Jrcg92Cohzhiundu3a - 1L59e+rXr5+MiZ41axYtW7aM1q9fLzX3wYMHpavnwoULMpoQk4UAj48//lgqDxA0OyYQhJ/Nv8dn8Nkb - N27IME/4iTHhiN9G+OfmzZvp5ZdflmfI8ePHU3JyMnXp0oUaNWpEZcqUeZwTgLwFD8RhI6OtKcu4XaDi - zVl3jz+MsphbzDHmGnOOuR88eLDkBfAEeAM8Al4Bz4B3wEPgJfCUs3wI3gUPg5eROwDeBo+D18Hz4H3I - AGQBkbSQjWLFiqmcgDBXd5hG9KuS8Ti9wUfKIIoZ3tS8mK0EgUPGFCYI2zlkVhUoUIDi4uKodOnS0gCJ - LV6dOnUkNWjQQE4gCPaIunXryt/XqFFDxn5jgqFsELGICcc1kQCCQQUjuGEld4ZQA+45o0FnWAFjtUSN - nVfmCTwB3gCPgFfAM+Ad8BB4CTwF3gKPgdfAc+A9Mx+CJ838CV4Fz+J4DB4GL4OncU3wOHjdQ4uMEUGm - UzQH04JRV22GoI+17F1tJT30rTpnNWaDn0tAjkpDzVT551vmJ5fT0VF8dLZmqqTkkntmpHIX/IMH1C79 - rIx88wXV0bg8mDsQqMYSVXwvOeOxysYE/z6yKlGeHGXO010eDHXTUdN8ioob+FrLusU/nSGUf/5BMeaL - mqmGfEGNS4l7CsgYbK+ZUtcvqUXpT+ZDWSz0GyWbM9SuM8pTkwDXASoCo+nBckHHNFM+QXaoF/irOpde - Uq7TsZqpglKMZlBpheF2+Kkxr6NWuU1qTr5ztxHbR+k/SuaOqfiJIYKqahlQKtxPaRqcL1CNFNVGVqsj - wx01If/WfLsfgK103Z/VNgoFKE8qyylqJvTSTCWY86qtKcN3jgkxam56q1Vwi6BTag4xl77eD8DWqv5v - JUN3lExBtp5RslZayZ7PLTw5lSaKVVqpg9JQ05S2QjcelDC+rZlquOMFf1RazZPVXv+rmOCfgv6ujjHw - y58TtE8z1ZU3dwhCcgrqzaPZSTQLe6ZVCtFqDuupOcXczlVzjTlH4dYHihfAEz8pHvGk4ft3xes/Kt5/ - pGThhJKNl5WsDFGyU1XJUoSWBdrY4WwcoiYG57li6gWbaqZ2SAs1naywHDk0qlHIn7pVCKTO5QOoQ9kA - ShDUSfzcRVDr0gEU7G/o3kOHGFQ6bimopjKOYGDRny2MLfXZCv5qzvMomw28XmjF1UrxyB49PgKPgdfA - c+A98CB4ETwJ3gSPglc1/dqQCxWvN1W8X0zJQrSSjWxtP2qqVmjrhCQ/jV7qGEo/zY6m72dG0T9mmAg/ - /zgrii6MjKB84YaBE9OZ7xkOYroeH4HHwGvgubR8CN4Ej4JXdb4P3m7Cw6uP5kYKYFWXUPrvwmj6v3mp - 6fcF0XR9TATlN1YAM3l4GQ5iph4fgcfAa+C5tHwI3gSP2lEAzXl406EA/hAD/+u81PTbfKEARrMCYHhJ - AQheA8+l5UPwJisAVgAMVgCsAFgBMFgBsAJwqwJY0zWMaFFuef76RQz4L3NNwv+nOHvdHBvJCoDhFQUA - XgPPgffAg78qOxR4EzzKCsADCiCnGNThdYOkhp3UNJieqhck/z++cTC90D6UXuwYSrlDcrACsA0EiyAv - Aa4v+JMR2g23Ux5F0ep3Eeoz+GwOVgA2KmIJHgO/LUkIpXGNgiUPjqwfRFOaBdPabqGSL3OyAnC/AgAF - +Ws2B1dwKoUE5CC/HFp2VQB+SnjhT0a1oRaaKVQbkZkIfEFwCVprI/jlXUFHNFPgyVlFJ9Tv3lWf2aq+ - g+8i8qyfumZZdY8ILWuHPusqAPj49eJNsPIH+xvyICuA9CiAdFJWUgAQQDTRRFATsjVXKOFF+vY3agzd - maz1m7omrn1T3Qv3RC5EgmYKpInIDgogncQKgBWAS0ARhzKCegharJlSPT/XTKGrGR3fjnh1NJhAJhoK - nyAWv4LmYOEJVgAMS7RUTO2JwZ+VycYC53LEsE9SKy6yvzJDphu6zyK+/ZBmSh9vpN4lM2GOBxVACxZz - 2whX20pPrWhHNVNiiK+PQV2lrJCFmBWKsHyvbAwQqgbqHX0ZOM6c1jyXkIZdUjCLe2ogy2miWj08yYyb - ffCs6qfO86jXhtbh32lZN48dGXf7NVPdSTRG8TVPA9K8d2mez+UfoXHRmFRoozlYANIvpz8FR0RTeL5C - lKtAEQqJyks5A4KcMWaN8ZF3Rs075K8v0kz53n9o2auCDVJgF2imjDh/H1HEMzQHU4H9A4MpJDovRRQo - SuExBSkoVxTlcLyKL+w39VnsTcijOdKeLCiYitRoTA2Hz6YuL+ym3utPUJ8NJynx5Xeo6djnqWitBAoI - iXRk8FEDoFIGvm+QOhev0ex0ZnaVUE4aPRpQhRYVaePj46l69erUrFkzateunWzkkpiYSD179pSEn/E7 - /K1p06bys/gOvotr4FoeKFFt2aF2lWYqAJqRNRRhb/nK3vNiwSnTsju1mPASdV9xSPJg73XHqfOSHVRn - 0FTKG19LLFIOVfzdmckNpW7DAHtb/8jYOGo8cj7133aJUvY/EHSfUvaB7pl+Fr9LXH6BavV7kaLjqjgy - +M9r3vdjg7mRCrrJndt8CGf+/PllKWoIMurML1y4kDZu3EiHDh2SHXJQnx616u/duycbUHz66af08OFD - 2fUZhJ/xO/wNn8FnUQsf38U1cC1c8+mnn5b3wL1wTwf7IDpKGJMNSjl6uwAL7rfO+PlyUKEq9an9vC2U - vPNjSjlg5sN7Jl4UPw/efY8S5h6l8u2fpZDIAo54T7pkd+GHBjTsSBRVJJ46zH/tscAP2XvXmvbdpb6b - b1KHBZeo6ZhdFFOqniO7gFJeFvyN6gycLkFBk5USJUpQhw4daPLkyVI40Y4NQgtBNmrH5mpXG3MnG/yM - e+BeuCfujWfAs+CZ8GxuUgTrvawIqirPhe5zFa/fVq70WGyG7NXhQ0FPrLoulMB5sRgto9Dogvbe9Y3s - bhCsZyQUOFe1mrxSale9ATfTgDdvUYeFF4SGvkiNRm6jXPlK2DuDDvHiiu+y4KNhRZ48eR43ZN22bZvs - VoMVOyMastrqo4hnwTPh2caNGyebZOCZ09mA5W8WisDTR4NnNVOFZ5vPElOqMvVYc9g+H4qFqPeGG5Qw - 74KkKomzxNHVcJeEI2DF7KwAxhgNfLm2veV2a8i+e3YVQPLOO9RpySWpfaEEKnScIA2GBoO/QRni3I1Q - zRTPsDk9go/uNGiFPWPGDNlSypdbslsqBPyMZ0XH3unTp1Pjxo3lu6RTEWCu0DIsxEPztcvI2NfsmefV - yn/XrgLot/UmtZ8vFMDcC9RmxgkqWLmNvfqAg7Kr8PsbnbuCwiNNW39HBl7Q4N13qOuLlylhjkkBNH/2 - AOXKX9Jo8C8oA6S7gGQaVGtFYccfXGF29FFEC6onn3xSNrJEzznLbXzmaWn9l6LCO+Bdhg0bJt/N39/f - VUWAmIhtgtqpsXYXYpUXxnYJsLLVKGnLOf3jZxoaqHaiciGaf4lqJr1AOQMNG3q+kF0VAPzx7+tuu0pX - pqStjg/84D13KPHlK1IBYPDbzT5DRWp0trf9KpnOd0D8QjFBw9S7/MsV5g4KCpKNIRcsWCAbSaJjrXk1 - zfz97U3KAO+Ed4MxsVatWvKdXVQEP6mxRtxEUTcYc6saGWUrdU52iP/MNGjHbeq46KLaiV6g5uPfpvCY - 4kbvs8NDOxufB4IuLuoNTIlG7WnQ9hsObf9NCuAudV9x9bECgPYt02qEvaCU6i5ajAsJ6qyZIhdvuerD - R5NIuOZWrlwpu8maV/vMLvR6ZH4/vCs68cLliDFwURFg+4zEpOVq5xXrotEQR4sfbdtf/Kj+sJk09MAn - jiuAnUIBLDYpANgBWk87Zs8ofcTNO5pMAzRy+EhvYMq07iFXdZPbzxG6T0+shgHmohD+i2IbdpUqdBhP - mr4hCiGqde0cUUKVoopX53pkv21Rz+1yJySz4K9du1ael7PKau/srgCttFevXi1tHelQBGaX2g1ldxmt - meLtS6ojXqhmHGjURm/n5ucfQE3HLKFh73zmMB/CFdj5+SvyGIpFqO2sUxRbqaXRs6N5SVR2Evycyv0H - 6+c9vYEpUqMJtZ25Xqzom8R2fqMxzTH92/jpNVR74ApJdZJXUVzdHkYKAEyD8GP08+sjKFkzhWgi+QYZ - d2gesVsztZx6pLae/0uPiyu7C74XFIG5X+M/1RHvgjLwrdVMEZeT1BwPUnOOuUfnXJu9KGBErtIthdrP - 3WKfBwUlCD5sO3MD1R+6ysSHg1ZQzX7LKE/x6kbPe1kz1VnIpWXhGgt4uRqaKQZ8lTrD3dUMOgFB+waG - hgvK5SCFU0BIOPkH/0V+/kH2GAUT/7MKRMKzeCQRCQEzzZs3Z8H3riIwav32u5pzzP2vRoodEaiO86Di - Qwse9A8KoxzG3qjftL9af61UMoKjaXhWEPw4pXER7IMe755sueRzlCtXLmrZsiW9+uqrLPhOKgIoS4Qm - YwyzE89of3X6fVvJTrHMKPgwko1XZ+X/ZrMJlEEwXbp0oddee02G1rLgu6YI7t+/T1u2bKHOnTvLnITs - xkdKdm6oo2qhzCD4Aco6fia7CT7826VKlZI+/H379j2O1PNVwbeM5PNVz4NZEWAs9+zZQ8OHD5djnI5Y - gsxKOLacVt4On+1hCb/+TGVdzzZCHxsbK7eqzz//PJ0/f54ePXrk04KP54JPHok+mzZtkoTnNv/N12MJ - 8NxLliyhhIQEma2YzZQBgqFmaD5YfzFGWc1/z8oTEBwcTHnz5qWqVatSUlISvfDCC/Thhx/KLDpfXkkt - 6YsvvqClS5fKlRTGSVDp0qXppZdeoi+//DJTxBJgrDHmR48elcqgT58+VKVKFXn0whxlcSUAGVvt5ijW - dAH13l5NjwUdueYIg/U0YbUICAigwMBAGYkGZoG1GUIQERFB0dHRFBMTI1f1kiVLyog1rO4DBw6kqVOn - 0iuvvEIffPAB3bx5UwqLL8blGxGeFwk7EJS0cwDF9tZbb2WaQCTL/AMoNQQXvf/++7RmzRqZoThgwABq - 27Yt1axZU2YqYreAucUcY67DwsLk3IMHwAvgCfAGeMQbvJjO+gqQtTW+ED+ALK0FzkTCITGkUqVK1K1b - Nxo5ciTNnDmTFi1aJDW5pwnbdKx0iEKDuwmW5vXr18tt8Pbt22UCC1Z0hKwiH/7WrVtypcG23jLFNiMF - 3jLO3jIBx9HVHzsXvbmB0Di6C0jPc3haIWCuMGcPHjyQc4i5xJweO3ZMzvGOHTto8+bNtG7dOqkwwAvg - CfAGdkfO8tW8eQto4pRpNH7SVIfpmfGT6Kmnx1Lf/gOpVeu2VKp0GQp3zuMBmZujeb92Qir00Ryo4ou0 - UGwzUVBi9+7ddOPGjVS5694ms/ErLZmZOW0evS+telBIUFijRo2SCnTDhg2S0e09J/4OjwTiEfTmqVWr - VtLy7si18DncG8+AZ8Ez4dl8bbws6xpYKis9coWfZNLT/U/p7KXrdPrCVcfp4jU6ef4KHTl+hvYdfJ+W - r1pLAwYNoZLxpRzdISDgqWdGCT/CY6/Ze0hsvZAjfvbs2cfbUF8TrMyy5YUADx06VG5fLYOMBg0aJLPu - jMbU/H3E3+vNFZQDPmPvOrhXcnJyqopAKAaCZ7P3/axKMFB+fPsenTx3mU6cveQU4TugU+evyv9v332A - klOGUR5xLHNACSCSsIS3hd9Pbf0NHw6GGWytMThZOcnFW8YvbFFtZdHh7IrjjdEYO6IAWrRoYXcHgHtg - 24t72spqxDNm17l+JPj86ke3nFYAaemU2BUcP3ORli1fRWXLlXdECeAo4NUqw4jj/9TooWrUqCENZljx - WYDTv/rjyNS9e3fd8UawzGeffaYrvO5QAPg97oEConrXeOKJJ2Sdwey6w3v4+Rd07tK1dCsBsyLYsGUb - VahYyZ4CeKDyCbyGyUYPVLRoUdq/fz8LvxsVAAQTYcV6Y474eaNjgLsUAO6Be6XXjpCV6dade25RAGYl - sGLNOioQW9BeXst4bwl/bs3Utcbmw2BrOHfuXD7je1kBoPSWtxQA7qV3DTxjdlcAn3/xpdt2AWYaOfoZ - e0FPx7zlFmxgFO0H3zms/M6eA81uJVvWeHeR+fqZjTlZAXjPvZpe/jN//+bte3L1tiSz9d9ZQyE+v/ft - 96h8hYr2CtzU8YYCGKkX9AN3H4pYuiL8CORYsWIFjR07VrqVPEGoqgt3VWZjUFYA3vGwoMw5eMQdvDZ0 - 2JOUNGAQJfU300AakDyEZsyeRwcOfeC8EhAKZNiIkUaVlpF786Q3rP8rjLLg0EjCGQWAz54+fVoyji3L - srsJLrR+/frJ2vaZhUlZAXh2bBHZiXBiNzc60T0iN2jUmN7cuc8pJYAdxJp1m+xVWF7maW9AmKC9eg9Q - uXJluZI7Ovlm6zYE0pvx1AjFnDVrFu8AWAFIQvlyD7Y+s0nduvegoyfPOXUMQLBQfKnS9tqNhXo67v+E - 3gO0adPGoag0y9X/4sWLFBcX5/WkCliyM0vQCisAz40r3gdNV7zNf4WLFKFd+w86vAvA5947coLqNWiY - oYbAvKrOmm2t1q2bXNGdUQDY/ufLl8/rE4AkEcSJswLI3goAR0H0OvQ2/+WNiaG3du2TW3tHFcAHx89Q - i1atja571tNZgnnUTVwKRrE1ASj/VLduXa9PQN++fTNNwAorAM+NK3igV69eXue/6jVq0cHDHzq1Azj8 - 4Wlq1txuheFoTyoA1C//wFUm1JsEZGMhTdNbg4/00AMHDmSq1FdWAJ4LsUYFp2LFinmN/yKjomjOgsVO - GQHxWSiM6jVqGl37XU8XC0H67+t6D1C8eHHZJNJZwUKaKgpngjmLiLMR8vE9QZhkhLGivBTHAbACsKRd - u3ZRx44dJY+4i99wtI0xU0w+ii1YkOrUq0/zFi2hY6fOOxkLcIW27zlABQsVNlIAm72RHjzfyMW2detW - l0KAoTTAoFeuXKHLly97hK5evSrry2W2ZBWzAkCYLYcCe24ngHRm8Ig7eO3M2XO058Ah2rXv4GPaLf7/ - 7pETLmUMIoBowXMvUHCwYbn02d4IBOqlmWqp23wIpKaiGEN6ijp4kjJjiKr5rIpEG71xRxVibyUDwdaj - d40ePXpk2mQgd/Lf3fufSAOfKdX3iqLLLgk/CDuGzl0TjYQfPS66e0MBlBH0UO9BChUqJEszcSKQ+1co - VK2xVfMO5axQycZb6cCohYh72qqZiGfM7qnfSH+/cv2mWxOCXtmwRRwp8hspgE9VjQ6PI1jQG0ZGDqwC - vlYdJqskBKE0tmWzDBTiSElJcaiQhzsLguCeuLdm0QRlxIgR2T4RCPTJpw/ptIPuPYf8/0dPUuu2CfaM - i1uVjU7L8GMAVgJE2qG+HCsB9yoB2DDQcAQ5E2PGjJGNMxxRtu4uCYZ7oq4engHPgmfCs2X3+cbqf/XG - LbcJP7b+I0aNoUDjduo/e2v7bxkQdNxII0VFRcle8ObafyzAnslacya7EQrZKOwa1Y9dKQqaWbMsPUH3 - HuDsf9kt2/4jJ87SmHETxO4qwt7qf0Sl6Xu9IOjPRg+GLSK2hWbXICuCjLcjvPnmm7IEeNq5gssK1XJ5 - jtJRDejh53T+8vV0r/oQ/p373qGefZIcSVBCl+seGVEUNNwoJsCy5j8aaaBmHVx82CJZltf2BcpOTIoV - fvny5VS2bFnptgWVK1dOpmJnhsYgnqga7A764stHdPnazceWfmfIXCsAdQDhLpwweZosA2aQ+pvW9x+W - UZWBURvwI0fTICtUqCArxyLy78iRI3T9+nUZCoyzKc6eniYkKuHsirMq3Fk4nsBlhUAkuC4xkWnLh/tq - ifD0EurkI2YDZ3ckZGU1obYs0GE5p/gb5hpzjrkHD4AXwBPgDfCIs3x1S/DwyTPnpY8f9J4D9O4Hx+md - 94/KQh8bt75BM+csoCd69pYlwZ1od3ZVULmMbg6ChoVfORMKieqx2IbGx8dTnTp1pGUaLihPU+vWrWWn - H0R8wZedmJgofeu9e/eWTTFgYX/mmWdks5Jly5bJAhFvv/227J2HpBEwimXVl8ysEDJDc1BnG4LgX8wR - 5gpzhrnDHMJFijnF3GKOMdeYc8w9eAC8AJ4Ab4BHnOWrRo2bUL36DZyi2nXqUeUqVSkurhhFR+e26Va1 - Q18KaucLrcFQgCBJ0LfeTqjwdOEGnL+Qo4DYhurVq1PXrl1ljwN0lDl58qTU/pk5wCizCz0IKzbmAqHk - mBvMEbL7ChYsKOcOc+iNQjNepq8F9dZ8CDmUG+KTLDbQNgk95cBg0P5TpkyhgwcPSmWQ2VfTzLJrgdBj - zNGvETUoMBfZoCmome4L6ubtPgCOor7KFvwzm0zG48aa8KEvXrxYtq82Gzp5V+De1uDoLoU+khD6vI51 - zclKBJl6X1A9zccRK2iavcYhWZFQagw9ENEvD00oYWRiRZA+wccYvvvuu3JM0dIcY5zd+ErtrKcIKqBl - EmB7UlXQYkF3NSe6B2cVgl8dhSaRZgrDFCsC5wQfY4a0bYxh/vz5s6PQQ2buCVoiqLKvbvkdUQSlBKUI - elO90E/Z6YiQO3duaWl+6623pKuJFYGx4GOMEKyE8nIYu2y2xf9JyQhybYao5B4/LYsASURFBLUS9JSg - hYI2qUqm7wg67AG6ZLT7CI6IprzxFSl3sbIUVbgEhccUpJCovBQYFkX+QWHkl9N91mOERsNC7awi0Gtx - 7evkaNxEWsFHWrOd0tdOkZ9/AAWEhFNQeBQF5coj5jdWzHMxiihQiiILlaPA0Cij7/8u6KKHePMdxfsb - lSxAJloqGQnWsglQvQRljHOpcmPuJERHoVHCb3oTXLHTQOq39TwlbT5LfTedpt7rj1Pi8kPUZPQWqtX/ - RaqSOJPKtH6KitbuRpEFy5LmWGRWuhWBpeELmXfotIRCFZmJ8Mx4dj2DqC3Bx9ikd3xz5PCTSr1c295U - u/+zYi4XU9uZ66n9/O3U7Jmd1Hz8AWox8SC1nPQutZz8PhWr28Poev+ndq9hHuDPXIr3AzSGR4Ct00q9 - yfUPCqFWU1bR0AOfUMq+eybaf58GvHGbOi66RO3nXRRMc0lSwtzzVLrFMLdu+cDs2OZCESACzTLqEI0q - 1q9fL6MmGzVqRGXKlJGlqlA+PTMQnhXPjNJhw4YNk++Cd7KMzsM7492hDN0h+JZUM2ksDdl7V8ztA0kp - +x/Q4D33qOuyK2IuL1DCPBO1X3CZqvdeTDkDDF2IyzPr+Tu7I7+gK3oTG1moOPV69ZgQ/PuSWczU69Ub - UuD/ogvUZsZxyl++qb3z25+uKgJEoW3YsIGuXbtGq1atktGRiDXISnETqPyMEHCEfyOFGe+cDsE3HO/i - 9dvQoO03aIhQ6pZz22PNtVRzCyXfbNxeCstTxOheOEbmY3HKfGgu6J96ExvftDMN2nlTMMZfTDJ49x3q - 9pJYJeakZpImo3eIs2MBe0wyQdCHmqk0k9NMjcxJ5EpYFtnIamR+R8uCJk4StuQofT3JSLnnyl+Yeqw+ - nFq577tLSVtuih3dhVTKve3Mk1SwsmGt/R8FNWVxynyYpntO9MtJDZ6cJbeGlivEwLew/b+YepUQR4Aq - 3WfbMwguVvfMo0I0D2mmNE1icgv9WxnNkixW4xd04zECgqj5uKWUciD1/A7acZs6PWc9vxU6PCttBwb3 - n8zilLmQSwmh7S1pVF5xHtwrz/yWK0SfTR+JFf98KgZpN+csxdVOtFeNpUua+0eq3+0V9C8W4HQJ/tua - KfQ1Ms0YJxrttiq0TxLn/tupFMDgPXcp8eWrVju8BsM3U2CYYV8KPEM4i1XmAdKUdTMUC1auR/23XUp9 - RhTM8cTK1MwBQ1GLiYcoMraMEXMg0CnOQBF1UoqAdwSOE5TmASX4eo0uimmmuHjb4dnxlaR3J8VyjoWS - 773hIzGvqee41dQPKHfx6vYy78qxWGUeDFY+XJsTWq3HCCsDUfLOO9T5+UtptocXqc6gleQfbHguf02z - X4wxF+8IHF7xD6ixstfhxrA4bWBYBHWY/5rVMW/Am7eow8ILaQy956lkk4H24gEGslhlDsCvul5vMgNC - wqjtjHWpGUOsDP1e+5jaL7hgZSUu3fJJI8b4r6DhTjxbuNoR7HdUEURERFD58uWpVq1aVLt27UxBeFZU - GXLC2PcvNSbdNOdaW40y8gbU6jcu9TEPin7XHXH8u5z6GDD/EtVMWko5Aw09L68I8mfx8n0UEnRTbyKj - 40pTnw0nU28NBfV85XrqVUFsDVtPP0YxpesbMQVqIFRz0UbRWTNVdNG9ftGiRWnw4ME0bdo0WdAiMxGe - OTk5Wb6DHeG/LqirGhNnUVPQd7rjV6sZDXzzqtVur+fa62kU/QUZIBSer7i954xl8fJ9tDM6b5dp1V2s - Ah+nNg7tFqvCi9buv0aj3qDgiBh71VgjXXzOYHUk0HWZocvSnDlzZIn1zEh4dryDHdfmXs310Nco5Xq1 - 3aoubwHqvuKglbG339aP07gDz1PbWaepcLUO9nYprVm8fB9z9SbRL6c/NR61wMo9hHOhLfdf5a7TKEdO - w/psc9PxnIat1pH6imIjs2fPdqtQ4noQTFvkiXvhHZAirRn3tE9PSesFmkEeQJPRi2y4A+9QpyWXrOa7 - Uucp0kVs8KyzWLx8G5FqVba9IuTJT4nL37F2/6W1DMP9N/s0FanRyd6KkJ6abDFGRwBUUp4+fbpbhRHX - QyOPvn37Uvv27R/XtMPPSUlJ8m8zZsxwqyLAPfEumnFhy5h0jGMHQf/Ru37ZNj1p8K5bqRQAPD7dV1i7 - AxuN3EZBuQwLjbyvebj9NiN9qKYZ1CYsUqOJWO1TnwkH22CGBHkmfJty5SthxAw3lb3BVSCg5Zqup6Ja - NbcoAAgzzuMohFmjRg3KkyePLEBpWXIaP+N3+Bs+079/f/kddygCvAPexWAcr2npC7UtLOiW3vVzFytD - fTaesnIH9tlo7Q5sPe0Y5Y2va/Ss3wiqwmLmuxihLPO2k0T6jrGK/ZfRYTa2g8gG9A8ybMqwXktfJpfH - FQAEeNSoUVSzZk2ncgvwWXzn6aefTrcS8IICQEbpJl2vT2g4tZu1wTrq08axD0qgVPOh9op0DGMx803A - F/+apusXziUmeYuV+y9p600rgxBixOObJtvzCyen83k9qgAguLDCo6Kx5qJfvnDhwtKIlx4l4AUFAKRo - BnUfqvcaZeX1MRl+rd2BtQe+LGtBaMaNOAJZ3HwPiMa7qzdxeUqUp76bzlgxQo+1Ntx/U4+Iz9c0YgJE - GVbwVQVgFv6YmJh0B+fgGriWq0rASwoAJbO+1rtHoaoNaMC2y9buQBuuX9QKQLEQg+e9rZmKdjB8DF00 - g16F5dv1FVr/tlVQSJell62MQQ1HbKWgcMNyVAc11/zWHlcAENTRo0dTkSJF3Bahh2vhmq4oAS8pABjm - 3tO7R2h0DHV7cb+1O/C1j6lDmuCvdrPPUNFaXY2eFwbHjixuvofnNN3ssEBq9szz1u6/NxAWaiM7rOME - yuFnmB02zQ3P6xEFACs+cu81N4fp1qtXT17bRxUAMFPvHjly5hRKfY6VHSB5520b4d+XZCUoO9mfC1nc - fAvwI5/SmzDU+nti1XtW+eG911sX/2g76xQVqtLWaPL/qZlqDficAsAKjchBR2oK+AcGUq7oPJL8HWhL - hWsOGTLE6V2AFxUAak3+pHefUs26CoFPXf9BJoCtuma1A2z89FsUHGlYifi4oGgWO99BHUF/15uwYnVa - 0sC3rlu5/6xTQy9Qs2f3UVjeOKPJRyGK/L6oABCCW79+fePeBf7+VLlhKxq2aC3N2XmC5uw4QUMXrqVK - DVpQTuOgJ2rQoIG8h48qgFij8YwqXJJ6rztutQj0tUoBv0Btpn9I+co2MnpmhB/XYrHzHYwV9D+9Cas9 - cIJVUsig7bep02Lr7X+NPs/ZqxG3SlBOX1MAWJnHjx9PsbGx+hVyxVa4ZZ+htOrMQ3rt7i/02p2fTSR+ - Xnn6M/k3P4PGG2jBhXs4swvwogJAos5a3R1PcCi1nrbGsSIwYhdQtvVT9kqSPc1i5xsIEbRDb7KCckWK - CX7DygBkXR7KRCUa9rNXkqqvm57b7QogJSVFNsPUu2bZWg3p5RMPpNBvufWvVITf4W9lajbQ/T6ujUKl - PqoAgAGaQRXoKonDUkcE6pWBm3+R6g5eQwEhhtmM6HMRzOKX8SipGbQhy1emKiVtPW/t/lt9zSr6r9WU - wxQdV8Vo0j8XVNoXFQBi+Xv06KHbCRdGzaTJi8Vqby38j5WA+FvfyYt0DaC4Nu7hTIKSlxUAinZ8oXev - 2Iq1qP/rF63cgVaFYAUvtJz0HkUWKm/03A8EFWfxy3j0FPSrZlD7f8ieO9buvxes3X/1h22w1yhij2aq - 5e6TCgB97v10hDc4LJyeXbvLrgIYt2an/KzNI4S4Nu7hwwoA9fsP6N0rODI3dX5+l9VusP82a3dgwpxz - VKxeT6PnRjmy7ix+GQvU/n9J1+AVGEwtJiy3cv/ZmnBs+8onjLXX/GO8G5/d7QoAzTX0mmcGhYTRmJVv - 2lUAY1a8IT4bqtv8FPfwYQUATNIMmobUS5lm7Q6UC4K1O7Baj/nk52/oIVmqcc+ADAWyyC7oTVBEbBz1 - XHvEyvLba50N99/MExRboYXRZH8vqIEvK4DevXvLpB69a3YdOYW23v6PrgLA37o+NVn3+7g27uHjCqCJ - oB/07leiUXsatMO6Z8ATq63dgU3H7qLQaMNQ6nOC8rIYZhwaOzvZerX/m47d7e3JdrsRcPjw4YYxAIXi - y9HCAxds7gLwu4X7z1OhkmUNYwFGjBjhy0ZAlxeFvputewa0mXGCClRo7s1FgeEkJjq73Ru4/TZ1tOH+ - q9bT7nZvmZu3e25XAJMmTZJtuQzegSo3akXz956VQv/63V8k4ed5e85Q5YYtDb9bvHhxeQ8fVwA4Fi7X - dQfiWDjR+lho2y18kcq1G+PNYyHDSYPPfmODz04rg0/fTTetav9nkMHHI5GALVu2tBvVV6BYPCUMeppS - FqyW1G7gKMofV9Lu93BtH44EtEQvI8NwpU6DrAzDg8X/E5dfsWEYXk+BoZHeMgwznEBZI5dPgQq1qJ8N - l0/a0E8nXD4lMoMCGDlypCzsoTkQ358zIIBy+jvWAh3XxLUziQKI15x1DSM0fJ21O9AB1/BDzX2uYYYT - 6K8ZBn0MtQr60Kv9X3fw2owI+vBYOnDr1q113YGuEK7Vpk0bX04HTgsEh+3UdIPDoqyDw+AdesN2z4AS - DZO8FRzGcBAI+1yjGYV9Tl1jVfyj/+s23H8ZF/bpsXTgiRMnUsWKFd2mAHAtXNOH04FtwenwcJvp4Y6F - h6MNfU4WS++hgGaY+FFCbOc+tCr/1fPV69atvzMu8cOjBUGQvx8fH59u4cc1XK0FkMEKoK6gf+jdt1jd - VlYJYrZbiF+gZuOQIFbUGwliDAdhJ/Wzi1Xqp17t/8ajt2dU6qfHS4Khym/lypV1g4MM7QPiO5UqVZLX - yAQlwWwBKeKnNSdTxG22EPdeijjDQRgXfxg+x0bWl+3a/w4Uf1jkoXfwSlFQuO0SEhIoX758qSoB646f - +Ez+/PllqXBnXX4+pgDgsl2iOVkkxtRC/JLtIjE5PF4khuEAUIpLt/xTiCz/tM+69v9GG62/M7b8k9fK - guNfbOOhCMqUKUNRUVEUHBwsI/tAqAKM3+Fv+AxWfcvvZlIFAHTRjMrEJViXidNrId5wxBZHysRxC3Ev - oJLmbAFI1P632fo7QwtAGjYGqVKlitsbg5g79UDAUegTYb0g/IzfTZ069fHn3NkYBO+iea4xiBEMC8Xm - LVmB+m4+41ALcQcKxT7S0l8oluEADHO+q/caaZX6i21dZxu1/2sPXJGRJaANz6iI6HPHFtxIGVi2BPPU - fRyITjylpa81mBFQKv51zZlS8botxO2Wimd3oJewUNNt/R1ObdM2gTC3/k5b/MN+Ewg0GPFkEwj4qrfr - 3T8oKIi6d+/+WDhdJXcpC1cJ74B3MRjn7WosPAU7zWLGWnmLBuu0EK/Vbxn5B4Z6qlckwwGgE88GvQmI - KFDUtvvPVu3/accoJuPbQE03MshFR0fL/Ptx48bJldQVcnVbj8+jCvDkyZNdui+eGc+Od7BjePS08ay6 - oL9pTrSLs91C/CI1G7eXQqILGr3LK5opRoXhISAab5vumS6+IiVtPZfqCKBX+9+BRpCHNc83gkQ24/dG - AuLv7y+bc8TFxblE5cqVk4Y9ZwJ5UPhz4MCBsk9giRIlXLovnhnPbkf44adv6OExjhJ0VDNqGPvyO/Z7 - BqiQcTs2oy0adw3KwB1AbFzqyq86rb9kK+gudltBz/bC+yChaYemubeGv2YjlBeWeEdsCvh7r169KCIi - gjz9XGr7H+aFcZ6nOzb+tlvG4xjQzSJuxLwDCOUdgO/aAPyDQoSWXvF4MrH6y/5vabb/yPOOrdjCXuvv - Nl56n2bquOFRYcNqnJiYaFjMA8I/YcIEt3YVsnPEauqlMU4Q9G+9ZymJuhHbrYuEYPEw7wJMKeMLKGdA - ENsAfMAL8Lv+ma4xJW05JybwvimsM43vH8k/NXovtpf8c0Mz1Zn3BhBDPkEzSF91F9WsWfMnIeif6JFQ - Dg+Sk5O/CgkJ+dPDz4J3fVYz5e57A2jjflPX4BoeSa2nrFbG49Tu416vXBdK4BK1nHhIHDHr2PMC9GHx - 9Dzga/1SbyKwrS/buid1WnxYThy2bpKEBm8356xs+x0eU8weg7qr9r8zR4EFmqnugMcELzg4eLUQ9Fix - 0seKfwumpaVLl+YvWbJk6xw5cvzDg8+Bd5zvpa2/Gf5qe65vcC0ST+1mrZeBQVAEsAmYFMJ9wUvvU5Ga - ne1FAj7UTCnqDC8YAl/TDMNZ/Sh3XBWq0GE81R+6Tjb7rJm0VBb9CAq3myuP7X+HDHgvFJUYrZlKj3tC - 8BDV2LVSpUrazJkzNSHwVtShQwez0eyIh54B7zZKy5gCGl3UGOj3PYiOoYodB1Cb6a9Q12V7qeOiN6l+ - ynTKX7a6PeEHbdJMcQcML6CtoB/tMRx2AwEhERQYFk3+gSGOMunbgiIz6L0Qv442Z69qpmInf7hxy/2i - E6tua0H33HTvP9S7YAWupWVcFV0otncdeeaA4FBZUQpHAzuGYsvagK1YLL27C1jjgRXqO8X8GQ24kioK - StFMtQjh+tztIsFrkqQ53868hmZKhNru4n3xzCibPVgd2wJ8YFxhDPTE8WYlr/7eB8o+nXXjJMKwOE3z - TTdOsNo2u0LpFbwQF+/ri22zMBazjIzILhBCmUuwOGYM6mkmi707hB+VZCN4SLM8ItWK7Y7j1TXNVHiE - kYHABBxPxyT+UzP5byN5KLMNYA+A1+WndPDNMY1bhPsMkPb5vGaQJqyz6iMbL1Hj8M3sCJzZnxB0xskj - AXhssea5NHGGi/BXGnmJ2pr9kGZiUSASPuivNFMDySGaqbYgI3sDAV8wtr6teOMXGwsFeOmqWmTqahzu - 69PwU4LdSFCyZurcMlUz+dix2sMizZVbGGkBnoDnpbvilamKdwZppoSl/Jr3IhcZDAaDwWAwGAwGg8Fg - MBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwG - g8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAw - GAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPBYDAYDAaDwWAwGAwGg8FgMBgMBoPByIb4f3Ur - IFqna2MAAAAAAElFTkSuQmCC - - - \ No newline at end of file diff --git a/DroneSimulator/NetServerClients.cs b/DroneSimulator/NetServerClients.cs deleted file mode 100644 index 0a6384d..0000000 --- a/DroneSimulator/NetServerClients.cs +++ /dev/null @@ -1,145 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; -using System.Threading.Tasks; -using System.Net.Sockets; -using System.Net; - -namespace DroneSimulator -{ - internal class NetServerClients - { - public class ConnectData - { - public int ID; - public bool Connect; - public int Count; - - public Socket? Client; - } - - public class ReceiveData - { - public int ID; - public byte[]? Buffer; - public int Size; - - public Socket? Client; - } - - private class ClientData - { - public int ID; - public Socket? workSocket = null; - public const int BufferSize = 1024; - public byte[] buffer = new byte[BufferSize]; - } - - private int SocketID = 0; - private int SocketLimit; - private Socket? ServerSocket; - private List ClientSockets = new List(); - - public delegate void ServerCallback(object o); - - private ServerCallback? ConnectionCallback; - private ServerCallback? ReceiveCallback; - - private bool Active = false; - - public enum ServerState { Error, Start, Stop }; - - public ServerState StartServer(int Port, int Limit, ServerCallback Connection, ServerCallback Receive) - { - if (Active) - { - ServerSocket?.Close(); - foreach (ClientData c in ClientSockets) - { - try { c.workSocket?.Shutdown(SocketShutdown.Both); } catch { } - c.workSocket?.Close(); - } - ClientSockets.Clear(); - return ServerState.Stop; - } - - ConnectionCallback = Connection; - ReceiveCallback = Receive; - - SocketLimit = Limit; - - IPEndPoint ip = new(IPAddress.Any, Port); - ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); - - try - { - ServerSocket.Bind(ip); - ServerSocket.Listen(10); - ServerSocket.BeginAccept(new AsyncCallback(AcceptCallback), ServerSocket); - Active = true; - } - catch { ServerSocket.Close(); return ServerState.Error; } - - return ServerState.Start; - } - - public void AcceptCallback(IAsyncResult ar) - { - Socket listener = (Socket)ar.AsyncState; - if (listener == null) return; - - Socket handler; - - try { handler = listener.EndAccept(ar); } - catch{ ServerSocket?.Close(); Active = false; return; } - - if (SocketLimit > ClientSockets.Count) - { - ClientData clientData = new ClientData(); - - clientData.ID = ++SocketID; - - clientData.workSocket = handler; - - ClientSockets.Add(clientData); - - ConnectionCallback(new ConnectData { ID = clientData.ID, Connect = true, Count = ClientSockets.Count, Client = handler }); - - handler.BeginReceive(clientData.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), clientData); - } - else handler.Close(); - - listener.BeginAccept(new AsyncCallback(AcceptCallback), listener); - } - - public void ReadCallback(IAsyncResult ar) - { - ClientData cd = (ClientData)ar.AsyncState; - if (cd == null) return; - - int bytes = 0; - try { bytes = cd.workSocket.EndReceive(ar); } - catch { } - - if (bytes == 0) - { - cd.workSocket?.Close(); - - ClientSockets.Remove(cd); - - ConnectionCallback(new ConnectData { ID = cd.ID, Connect = false, Count = ClientSockets.Count, Client = null }); - - return; - } - - ReceiveCallback(new ReceiveData { ID = cd.ID, Buffer = cd.buffer, Size = bytes, Client = cd.workSocket }); - - try - { - cd.workSocket?.BeginReceive(cd.buffer, 0, ClientData.BufferSize, 0, new AsyncCallback(ReadCallback), cd); - } - catch { } - } - } -} diff --git a/DroneSimulator/Program.cs b/DroneSimulator/Program.cs deleted file mode 100644 index efb14d6..0000000 --- a/DroneSimulator/Program.cs +++ /dev/null @@ -1,17 +0,0 @@ -namespace DroneSimulator -{ - internal static class Program - { - /// - /// The main entry point for the application. - /// - [STAThread] - static void Main() - { - // To customize application configuration such as set high DPI settings or default font, - // see https://aka.ms/applicationconfiguration. - ApplicationConfiguration.Initialize(); - Application.Run(new Form_Main()); - } - } -} \ No newline at end of file diff --git a/DroneSimulator/Screen2D.cs b/DroneSimulator/Screen2D.cs deleted file mode 100644 index f8f3854..0000000 --- a/DroneSimulator/Screen2D.cs +++ /dev/null @@ -1,186 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Numerics; -using System.Reflection.Metadata; -using System.Text; -using System.Threading.Tasks; - -namespace DroneSimulator -{ - internal class Screen2D - { - - public delegate void DrawCallback(Bitmap bmp); - - public Screen2D(DrawCallback callback) - { - drawCallback = callback; - } - - private class DroneInfo - { - public int ID; - public Color RGB; - public Bitmap? Drone; - public Point PosXY; - public int Height = 0; - - public PointF TiltXY = new Point(0, 0); - public int Azimuth = 0; - } - - private DrawCallback drawCallback; - private Bitmap MainArea = new Bitmap(4096, 2560); - private List DroneList = new List(); - - public static Bitmap DrawQadro(Color ColorFill) - { - Bitmap drone = new Bitmap(130, 130); - - using (Graphics g = Graphics.FromImage(drone)) - { - g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed; - - SolidBrush solidBrush = new SolidBrush(ColorFill); - - Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) }; - g.FillPolygon(solidBrush, mid); - - g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35)); - g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35)); - g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35)); - g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35)); - - g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10)); - - g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129)); - - solidBrush.Dispose(); - } - - return RotateImage(drone, 90); - } - - private static Bitmap RotateImage(Bitmap bmp, float angle) - { - Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height); - - using (Graphics g = Graphics.FromImage(rotatedImage)) - { - // Set the rotation point to the center in the matrix - g.TranslateTransform(bmp.Width / 2, bmp.Height / 2); - // Rotate - g.RotateTransform(angle); - // Restore rotation point in the matrix - g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2); - // Draw the image on the bitmap - g.DrawImage(bmp, new Point(0, 0)); - } - - return rotatedImage; - } - - public void CreateDrone(Color ColorFill, int ID) - { - DroneInfo info = new DroneInfo(); - info.ID = ID; - info.RGB = ColorFill; - info.Drone = DrawQadro(ColorFill); - - DroneList.Add(info); - } - - public void RemoveDrone(int ID) - { - foreach (DroneInfo i in DroneList) - { - if (i.ID != ID) continue; - DroneList.Remove(i); - break; - } - } - - public void DrawScene() - { - using (Graphics g = Graphics.FromImage(MainArea)) - { - g.Clear(Color.Gainsboro); - SolidBrush shadowBrush = new SolidBrush(Color.Black); - g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 }); - - foreach (var d in DroneList) - { - if (d.Azimuth >= 360) d.Azimuth -= 360; - var bmp = RotateImage(d.Drone, d.Azimuth); - - g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130); - - g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2)); - - //g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130)); - - float x1 = 0, y1 = 0; - float x2 = 130, y2 = 0; - float x3 = 0, y3 = 130; - - const float TO_RADI = MathF.PI / 180; - - Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0); - Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI); - - tilt = tilt * rotate * rotate; - - if (tilt.Y > 0) - { - x1 = (int)(Math.Sin(tilt.Y) * 130); - x3 = (int)(Math.Sin(tilt.Y) * 130); - } - else - { - x2 = (int)(Math.Cos(tilt.Y) * 130); - } - - if (tilt.X > 0) - { - y1 = (int)(Math.Sin(tilt.X) * 130); - y2 = (int)(Math.Sin(tilt.X) * 130); - } - else - { - y3 = (int)(Math.Cos(tilt.X) * 130); - } - - PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2); - PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3); - PointF[] dest = { ul, ur, dl }; - - g.DrawImage(bmp, dest); - } - } - - drawCallback(MainArea); - } - - public void Move(int id, Vector3 pos, Vector4 tilt) - { - const float TO_GRAD = 180 / MathF.PI; - const float TO_RADI = MathF.PI / 180; - - foreach (var d in DroneList) - { - if (d.ID != id) continue; - - d.PosXY.X = (int)pos.X; - d.PosXY.Y = MainArea.Height - (int)pos.Y; - d.Height = (int)pos.Z; - - d.TiltXY.X = tilt.X * TO_RADI; - d.TiltXY.Y = tilt.Y * TO_RADI; - d.Azimuth = (int)tilt.Z; - - break; - } - } - } -} diff --git a/DroneSimulator/icon.ico b/DroneSimulator/icon.ico deleted file mode 100644 index 26b62ee..0000000 Binary files a/DroneSimulator/icon.ico and /dev/null differ