Переписанная рабочая версия

Переделал код c++/cli на новый лад как в c# client

DroneClientCpp/x64/Debug/DroneClientCpp.exe.metagen

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+  DroneClientCpp.FormMain.resources - Embedded, ContainedInManifestFile, 
+ImageRuntimeVersion: v4.0.30319
+Assembly DroneClientCpp, Version=0.0.*, Culture=Инвариантный язык (Инвариантная страна): 
+	hash=SHA1, flags=PublicKey
+Assembly mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Data, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a: 
+	hash=None, flags=None
+Assembly System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Xml, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089: 
+	hash=None, flags=None
+Assembly System.Net, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a: 
+	hash=None, flags=None
+Struct DroneData.DataHead: AutoLayout, AnsiClass, Class, Public, SequentialLayout, Sealed, BeforeFieldInit
+  :System.ValueType
+  Fields:
+    Int32 Size : Public
+    DroneData.DataMode Mode : Public
+    DroneData.DataType Type : Public
+    Int32 StrLen IsConst : Public, Static
+Struct DroneData.XYZ: AutoLayout, AnsiClass, Class, Public, SequentialLayout, Sealed, BeforeFieldInit
+  :System.ValueType
+  Fields:
+    Single X : Public
+    Single Y : Public
+    Single Z : Public
+Struct DroneData.DataIMU: AutoLayout, AnsiClass, Class, Public, SequentialLayout, Sealed, BeforeFieldInit
+  :System.ValueType
+  Fields:
+    DroneData.DataHead Head : Public
+    DroneData.XYZ Acc : Public
+    DroneData.XYZ Gyr : Public
+    DroneData.XYZ Mag : Public
+    Int32 StrLen IsConst : Public, Static
+Struct DroneData.DataPos: AutoLayout, AnsiClass, Class, Public, SequentialLayout, Sealed, BeforeFieldInit
+  :System.ValueType
+  Fields:
+    DroneData.DataHead Head : Public
+    DroneData.XYZ Local : Public
+    Single LiDAR : Public
+    Int32 StrLen IsConst : Public, Static
+Struct DroneData.DataMotor4: AutoLayout, AnsiClass, Class, Public, SequentialLayout, Sealed, BeforeFieldInit
+  :System.ValueType
+  Fields:
+    DroneData.DataHead Head : Public
+    UInt64 Count : Public
+    Single UL : Public
+    Single UR : Public
+    Single DL : Public
+    Single DR : Public
+    Int32 StrLen IsConst : Public, Static
+Struct DroneData.DataMotor6: AutoLayout, AnsiClass, Class, Public, SequentialLayout, Sealed, BeforeFieldInit
+  :System.ValueType
+  Fields:
+    DroneData.DataHead Head : Public
+    UInt64 Count : Public
+    Single UL : Public
+    Single UR : Public
+    Single LL : Public
+    Single RR : Public
+    Single DL : Public
+    Single DR : Public
+    Int32 StrLen IsConst : Public, Static
+Class DroneClient.Drone: AutoLayout, AnsiClass, Class, Public, BeforeFieldInit
+    Void .ctor(): PrivateScope, Public, HideBySig, SpecialName, RTSpecialName
+  Fields:
+    Single AccX : Public
+    Single AccY : Public
+    Single AccZ : Public
+    Single GyrX : Public
+    Single GyrY : Public
+    Single GyrZ : Public
+    Single PosX : Public
+    Single PosY : Public
+    Single LaserRange : Public
+    Single MotorUL : Public
+    Single MotorUR : Public
+    Single MotorDL : Public
+    Single MotorDR : Public
+  Methods:
+    GetBytes(Object): PrivateScope, Public, Static, HideBySig
+    FromBytes(Byte[], Type): PrivateScope, Public, Static, HideBySig
+    DataStream(Byte[], Int32): PrivateScope, Public, HideBySig
+    SendRequest(): PrivateScope, Public, HideBySig
+Class DroneSimulator.NetClient: AutoLayout, AnsiClass, Class, Public, BeforeFieldInit
+    Void .ctor(): PrivateScope, Public, HideBySig, SpecialName, RTSpecialName
+  Methods:
+    Connect(String, Int32, ClientCallback, ClientCallback): PrivateScope, Public, HideBySig
+    Close(): PrivateScope, Public, HideBySig
+    Send(Byte[]): PrivateScope, Public, HideBySig
+Class DroneSimulator.NetClient+ConnectData: AutoLayout, AnsiClass, Class, NestedPublic, BeforeFieldInit
+    Void .ctor(Boolean, System.Net.Sockets.Socket): PrivateScope, Public, HideBySig, SpecialName, RTSpecialName
+  Fields:
+    Boolean Connect : Public
+    System.Net.Sockets.Socket Server : Public
+Class DroneSimulator.NetClient+ReceiveData: AutoLayout, AnsiClass, Class, NestedPublic, BeforeFieldInit
+    Void .ctor(Byte[], Int32, System.Net.Sockets.Socket): PrivateScope, Public, HideBySig, SpecialName, RTSpecialName
+  Fields:
+    Byte[] Buffer : Public
+    Int32 Size : Public
+    System.Net.Sockets.Socket Server : Public
+Class DroneSimulator.NetClient+ClientCallback: AutoLayout, AnsiClass, Class, NestedPublic, Sealed, BeforeFieldInit
+  :System.MulticastDelegate
+    Void .ctor(System.Object, IntPtr): PrivateScope, Public, SpecialName, RTSpecialName
+  Methods:
+    Invoke(Object): PrivateScope, Public, Final, Virtual, VtableLayoutMask
+    BeginInvoke(Object, AsyncCallback, Object): PrivateScope, Public, Final, Virtual, VtableLayoutMask
+    EndInvoke(IAsyncResult): PrivateScope, Public, Final, Virtual, VtableLayoutMask
+Struct DroneSimulator.NetClient+ClientState: AutoLayout, AnsiClass, Class, NestedPublic, Sealed, BeforeFieldInit
+  :System.Enum
+  Fields:
+    Int32 value__ : Public, SpecialName, RTSpecialName
+    ClientState Error = 0 : Public, Static, Literal, HasDefault
+    ClientState Connected = 1 : Public, Static, Literal, HasDefault
+    ClientState Stop = 2 : Public, Static, Literal, HasDefault
+Class DroneClientCpp.FormMain: AutoLayout, AnsiClass, Class, Public, BeforeFieldInit
+  :System.Windows.Forms.Form
+    Void .ctor(): PrivateScope, Public, HideBySig, SpecialName, RTSpecialName
+Struct DroneData.DataMode: AutoLayout, AnsiClass, Class, Public, Sealed, BeforeFieldInit
+  :System.Enum
+  Fields:
+    UInt16 value__ : Public, SpecialName, RTSpecialName
+    DroneData.DataMode None = 0 : Public, Static, Literal, HasDefault
+    DroneData.DataMode Response = 1 : Public, Static, Literal, HasDefault
+    DroneData.DataMode Request = 2 : Public, Static, Literal, HasDefault
+Struct DroneData.DataType: AutoLayout, AnsiClass, Class, Public, Sealed, BeforeFieldInit
+  :System.Enum
+  Fields:
+    UInt16 value__ : Public, SpecialName, RTSpecialName
+    DroneData.DataType None = 0 : Public, Static, Literal, HasDefault
+    DroneData.DataType Head = 1 : Public, Static, Literal, HasDefault
+    DroneData.DataType DataIMU = 1001 : Public, Static, Literal, HasDefault
+    DroneData.DataType DataPos = 1002 : Public, Static, Literal, HasDefault
+    DroneData.DataType DataMotor4 = 2001 : Public, Static, Literal, HasDefault
+    DroneData.DataType DataMotor6 = 2002 : Public, Static, Literal, HasDefault