cpp

DroneClientCpp/DroneClient.h

@@ -0,0 +1,65 @@
+#pragma once
+
+#include <Windows.h>
+#include <vcclr.h>
+
+#using <System.dll>
+#using <mscorlib.dll>
+
+using namespace System;
+using namespace System::Runtime::InteropServices;
+
+namespace DroneClient {
+
+    public ref class Drone
+    {
+    public:
+        value struct DataOut
+        {
+            float AccX, AccY, AccZ;
+            float GyrX, GyrY, GyrZ;
+            float PosX, PosY;
+            float LaserRange;
+        };
+
+        value struct DataIn
+        {
+            float MotorUL, MotorUR, MotorDL, MotorDR;
+        };
+
+        static array<Byte>^ GetBytes(Object^ data)
+        {
+            int size = Marshal::SizeOf(data);
+            array<Byte>^ arr = gcnew array<Byte>(size);
+
+            IntPtr ptr = IntPtr::Zero;
+            try
+            {
+                ptr = Marshal::AllocHGlobal(size);
+                Marshal::StructureToPtr(data, ptr, true);
+                Marshal::Copy(ptr, arr, 0, size);
+            }
+            finally
+            {
+                Marshal::FreeHGlobal(ptr);
+            }
+            return arr;
+        }
+
+        static Object^ FromBytes(array<Byte>^ arr, Type^ type)
+        {
+            int size = Marshal::SizeOf(type);
+            IntPtr ptr = IntPtr::Zero;
+            try
+            {
+                ptr = Marshal::AllocHGlobal(size);
+                Marshal::Copy(arr, 0, ptr, size);
+                return Marshal::PtrToStructure(ptr, type);
+            }
+            finally
+            {
+                Marshal::FreeHGlobal(ptr);
+            }
+        }
+    };
+}