Переписанная рабочая версия

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

DroneClientCpp/Drone.h

@@ -0,0 +1,216 @@
+#pragma once
+
+#include "DroneData.h"
+#include <Windows.h>
+#include <vcclr.h>
+
+#using <System.dll>
+#using <mscorlib.dll>
+
+using namespace System;
+using namespace System::Collections::Generic;
+using namespace System::Runtime::InteropServices;
+
+namespace DroneClient {
+
+    public ref class Drone
+    {
+    public:
+        float AccX, AccY, AccZ;
+        float GyrX, GyrY, GyrZ;
+        float PosX, PosY;
+        float LaserRange;
+
+        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)
+        {
+            Object^ mem = gcnew Object();
+
+            int size = Marshal::SizeOf(type);
+            IntPtr ptr = IntPtr::Zero;
+            try
+            {
+                ptr = Marshal::AllocHGlobal(size);
+                Marshal::Copy(arr, 0, ptr, size);
+                mem = Marshal::PtrToStructure(ptr, type);
+            }
+            finally
+            {
+                Marshal::FreeHGlobal(ptr);
+            }
+            return mem;
+        }
+
+    private:
+        array<Byte>^ SendDataMotor4()
+        {
+            DroneData::DataMotor4 mot4;
+
+            mot4.Head.Size = Marshal::SizeOf(DroneData::DataMotor4::typeid);
+            mot4.Head.Mode = DroneData::DataMode::Response;
+            mot4.Head.Type = DroneData::DataType::DataMotor4;
+
+            mot4.UL = MotorUL;
+            mot4.UR = MotorUR;
+            mot4.DL = MotorDL;
+            mot4.DR = MotorDR;
+
+            return GetBytes(mot4);
+        }
+
+        array<Byte>^ RecvDataIMU(array<Byte>^ data)
+        {
+            DroneData::DataIMU imu = (DroneData::DataIMU)FromBytes(data, DroneData::DataIMU::typeid);
+
+            AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
+            GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
+
+            return gcnew array<Byte>(0);
+        }
+
+        array<Byte>^ RecvDataPos(array<Byte>^ data)
+        {
+            DroneData::DataPos pos = (DroneData::DataPos)FromBytes(data, DroneData::DataPos::typeid);
+
+            PosX = pos.Local.X; PosY = pos.Local.Y;
+            LaserRange = pos.LiDAR;
+
+            return gcnew array<Byte>(0);
+        }
+
+        array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body)
+        {
+            array<Byte>^ zero = gcnew array<Byte>(0);
+
+            switch (head.Type)
+            {
+            case DroneData::DataType::DataIMU:
+                if (head.Mode == DroneData::DataMode::Request)
+                {
+                    return zero; // Запрос данных (не реализовано)
+                }
+                else
+                {
+                    return RecvDataIMU(body); // Пришли данные
+                }
+
+            case DroneData::DataType::DataPos:
+                if (head.Mode == DroneData::DataMode::Request)
+                {
+                    return zero; // Запрос данных (не реализовано)
+                }
+                else
+                {
+                    return RecvDataPos(body); // Пришли данные
+                }
+
+            case DroneData::DataType::DataMotor4:
+                if (head.Mode == DroneData::DataMode::Request)
+                {
+                    return SendDataMotor4(); // Запрос данных
+                }
+                else
+                {
+                    return zero; // Пришли данные (не реализовано)
+                }
+            }
+
+            return zero;
+        }
+
+        literal int DroneStreamCount = 512;
+        array<Byte>^ DroneStreamData = gcnew array<Byte>(DroneStreamCount);
+        int DroneStreamIndex = 0;
+        DroneData::DataHead DroneStreamHead; // Исправлено: без явной инициализации
+
+    public:
+        // Конструктор для явной инициализации
+        Drone()
+        {
+            DroneStreamHead.Mode = DroneData::DataMode::None;
+            DroneStreamHead.Size = 0;
+            DroneStreamHead.Type = DroneData::DataType::None;
+        }
+
+        System::Collections::Generic::List<array<Byte>^>^ DataStream(array<Byte>^ data, int size)
+        {
+            System::Collections::Generic::List<array<Byte>^>^ ret = gcnew System::Collections::Generic::List<array<Byte>^>();
+
+            if (data == nullptr) return ret; // Последовательность не сформирована
+
+            if (size + DroneStreamIndex > DroneStreamCount) return nullptr; // Ошибка переполнения
+
+            Array::Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
+            DroneStreamIndex += size;
+
+            while (true)
+            {
+                if (DroneStreamHead.Size == 0) // Заголовок еще не получен
+                {
+                    if (DroneStreamIndex < DroneData::DataHead::StrLen) return ret;
+                    DroneStreamHead = (DroneData::DataHead)FromBytes(DroneStreamData, DroneData::DataHead::typeid);
+                }
+
+                if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет еще не полный
+
+                array<Byte>^ body = gcnew array<Byte>(DroneStreamHead.Size);
+                Array::Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
+
+                int shift = DroneStreamHead.Size;
+
+                DroneStreamIndex -= shift;
+                Array::Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвиг массива
+
+                DroneStreamHead.Size = 0; // Сброс заголовка
+
+                ret->Add(ClientRequestResponse(DroneStreamHead, body));
+            }
+
+            return ret;
+        }
+
+        array<Byte>^ SendRequest()
+        {
+            DroneData::DataHead imu;
+            imu.Size = DroneData::DataHead::StrLen;
+            imu.Mode = DroneData::DataMode::Request;
+            imu.Type = DroneData::DataType::DataIMU;
+
+            DroneData::DataHead pos;
+            pos.Size = DroneData::DataHead::StrLen;
+            pos.Mode = DroneData::DataMode::Request;
+            pos.Type = DroneData::DataType::DataPos;
+
+            array<Byte>^ si = GetBytes(imu);
+            array<Byte>^ sp = GetBytes(pos);
+            array<Byte>^ sm = SendDataMotor4();
+
+            array<Byte>^ send = gcnew array<Byte>(si->Length + sp->Length + sm->Length);
+            Array::Copy(si, 0, send, 0, si->Length);
+            Array::Copy(sp, 0, send, si->Length, sp->Length);
+            Array::Copy(sm, 0, send, si->Length + sp->Length, sm->Length);
+
+            return send;
+        }
+    };
+}

DroneClientCpp/DroneClientCpp.sln

@@ -5,8 +5,6 @@ VisualStudioVersion = 17.12.35527.113
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DroneClientCpp", "DroneClientCpp.vcxproj", "{690C304C-A70B-4B0F-BF61-8C51290BF444}"
 EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TestClientConnection", "..\TestClientConnection\TestClientConnection.vcxproj", "{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|x64 = Debug|x64
@@ -23,14 +21,6 @@ Global
 		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.Build.0 = Release|x64
 		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.ActiveCfg = Release|Win32
 		{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.Build.0 = Release|Win32
-		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x64.ActiveCfg = Debug|x64
-		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x64.Build.0 = Debug|x64
-		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x86.ActiveCfg = Debug|Win32
-		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Debug|x86.Build.0 = Debug|Win32
-		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x64.ActiveCfg = Release|x64
-		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x64.Build.0 = Release|x64
-		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x86.ActiveCfg = Release|Win32
-		{B7CC5245-B628-40E9-A9A0-A904E2BF25EA}.Release|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

DroneClientCpp/DroneClientCpp.vcxproj

@@ -121,7 +121,8 @@
     <ClCompile Include="FormMain.cpp" />
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="DroneClient.h" />
+    <ClInclude Include="Drone.h" />
+    <ClInclude Include="DroneData.h" />
     <ClInclude Include="FormMain.h">
       <FileType>CppForm</FileType>
     </ClInclude>

DroneClientCpp/DroneClientCpp.vcxproj.filters

@@ -26,7 +26,10 @@
     <ClInclude Include="NetClient.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
-    <ClInclude Include="DroneClient.h">
+    <ClInclude Include="DroneData.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="Drone.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
   </ItemGroup>

DroneClientCpp/DroneClientCpp.vcxproj.user

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.exe.recipe

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project>
+  <ProjectOutputs>
+    <ProjectOutput>
+      <FullPath>C:\Projects\Simulator\DroneClientCpp\x64\Debug\DroneClientCpp.exe</FullPath>
+    </ProjectOutput>
+  </ProjectOutputs>
+  <ContentFiles />
+  <SatelliteDlls />
+  <NonRecipeFileRefs />
+</Project>

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.log

@@ -0,0 +1,3 @@
+  FormMain.cpp
+  FormMain.obj : обнаружен модуль MSIL; для MSIL последовательная компоновка отключена; выполняется полная компоновка
+  DroneClientCpp.vcxproj -> C:\Projects\Simulator\DroneClientCpp\x64\Debug\DroneClientCpp.exe

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.tlog/Cl.items.tlog

@@ -0,0 +1,2 @@
+C:\Projects\Simulator\DroneClientCpp\FormMain.cpp;C:\Projects\Simulator\DroneClientCpp\DroneClientCpp\x64\Debug\FormMain.obj
+C:\Projects\Simulator\DroneClientCpp\DroneClientCpp\x64\Debug\.NETFramework,Version=v4.7.2.AssemblyAttributes.cpp;C:\Projects\Simulator\DroneClientCpp\DroneClientCpp\x64\Debug\.NETFramework,Version=v4.7.2.AssemblyAttributes.obj

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.tlog/DroneClientCpp.lastbuildstate

@@ -0,0 +1,2 @@
+PlatformToolSet=v143:VCToolArchitecture=Native64Bit:VCToolsVersion=14.42.34433:TargetPlatformVersion=10.0.22621.0:TargetFrameworkVersion=v4.7.2::EnableManagedIncrementalBuild=true:
+Debug|x64|C:\Projects\Simulator\DroneClientCpp\|

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.tlog/ResGen.command.1.tlog

@@ -0,0 +1,4 @@
+^C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\FORMMAIN.RESX
+C:\Projects\Simulator\DroneClientCpp\DroneClientCpp.vcxproj
+^C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\FORMMAIN.RESX
+C:\Projects\Simulator\DroneClientCpp\DroneClientCpp.vcxproj

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.tlog/ResGen.read.1.tlog

@@ -0,0 +1,4 @@
+^C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\FORMMAIN.RESX
+C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\DRONECLIENTCPP.VCXPROJ
+^C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\FORMMAIN.RESX
+C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\DRONECLIENTCPP.VCXPROJ

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.tlog/ResGen.write.1.tlog

@@ -0,0 +1,4 @@
+^C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\FORMMAIN.RESX
+C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\X64\DEBUG\DRONECLIENTCPP.EXE
+^C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\FORMMAIN.RESX
+C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\X64\DEBUG\DRONECLIENTCPP.EXE

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.tlog/link.secondary.1.tlog

@@ -0,0 +1 @@
+^C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\DRONECLIENTCPP\X64\DEBUG\.NETFRAMEWORK,VERSION=V4.7.2.ASSEMBLYATTRIBUTES.OBJ|C:\PROJECTS\SIMULATOR\DRONECLIENTCPP\DRONECLIENTCPP\X64\DEBUG\FORMMAIN.OBJ

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.tlog/metagen.read.1.tlog

@@ -0,0 +1 @@
+

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.tlog/metagen.write.1.tlog

@@ -0,0 +1 @@
+

DroneClientCpp/DroneClientCpp/x64/Debug/DroneClientCpp.vcxproj.FileListAbsolute.txt

@@ -0,0 +1,3 @@
+C:\Projects\Simulator\DroneClientCpp\DroneClientCpp\x64\Debug\DroneClientCpp.vcxproj.AssemblyReference.cache
+C:\Projects\Simulator\DroneClientCpp\DroneClientCpp\x64\Debug\DroneClientCpp.FormMain.resources
+C:\Projects\Simulator\DroneClientCpp\DroneClientCpp\x64\Debug\DroneClientCpp.vcxproj.GenerateResource.cache

DroneClientCpp/DroneData.h

@@ -0,0 +1,77 @@
+#pragma once
+
+#include <Windows.h>
+#include <vcclr.h>
+
+using namespace System;
+using namespace System::Runtime::InteropServices;
+
+namespace DroneData {
+
+    public enum class DataMode : unsigned short
+    {
+        None = 0, Response = 1, Request = 2
+    };
+
+    public enum class DataType : unsigned short
+    {
+        None = 0, Head = 1,
+        DataIMU = 1001, DataPos = 1002,
+        DataMotor4 = 2001, DataMotor6 = 2002
+    };
+
+    public value struct DataHead
+    {
+    public:
+        int Size;
+        DataMode Mode;
+        DataType Type;
+
+        static const int StrLen = sizeof(DataHead);
+    };
+
+    public value struct XYZ
+    {
+    public:
+        float X, Y, Z;
+    };
+
+    public value struct DataIMU
+    {
+    public:
+        DataHead Head;
+        XYZ Acc, Gyr, Mag;
+
+        static const int StrLen = sizeof(DataIMU);
+    };
+
+    public value struct DataPos
+    {
+    public:
+        DataHead Head;
+        XYZ Local;
+        float LiDAR;
+
+        static const int StrLen = sizeof(DataPos);
+    };
+
+    public value struct DataMotor4
+    {
+    public:
+        DataHead Head;
+        unsigned long long Count;
+        float UL, UR, DL, DR;
+
+        static const int StrLen = sizeof(DataMotor4);
+    };
+
+    public value struct DataMotor6
+    {
+    public:
+        DataHead Head;
+        unsigned long long Count;
+        float UL, UR, LL, RR, DL, DR;
+
+        static const int StrLen = sizeof(DataMotor6);
+    };
+}

DroneClientCpp/NetClient.h

@@ -1,5 +1,4 @@
-// NetClient.h
+#pragma once
-#pragma once
 
 #include <Windows.h>
 #include <vcclr.h>
@@ -10,247 +9,140 @@
 using namespace System;
 using namespace System::Net;
 using namespace System::Net::Sockets;
-using namespace System::Runtime::InteropServices;
 
-namespace DroneSimulator
+namespace DroneSimulator {
-{
+
     public ref class NetClient
     {
     public:
-        // Вложенный класс для данных подключения
         ref class ConnectData
         {
         public:
-            property bool Connect;
+            bool Connect;
-            property Socket^ Server;
+            Socket^ Server;
+
+            // Добавлен конструктор
+            ConnectData(bool connect, Socket^ server)
+            {
+                Connect = connect;
+                Server = server;
+            }
         };
 
-        // Вложенный класс для данных приема
         ref class ReceiveData
         {
         public:
-            property array<Byte>^ Buffer;
+            array<Byte>^ Buffer;
-            property int Size;
+            int Size;
-            property Socket^ Server;
+            Socket^ Server;
+
+            // Добавлен конструктор
+            ReceiveData(array<Byte>^ buffer, int size, Socket^ server)
+            {
+                Buffer = buffer;
+                Size = size;
+                Server = server;
+            }
         };
 
-        // Состояния клиента
-        enum class ClientState { Error, Connected, Stop };
-
-        // Делегат для callback-функций
-        delegate void ClientCallback(Object^ o);
-
-        NetClient()
-        {
-            Connected = false;
-            ServerSocket = nullptr;
-            DataServer = gcnew ServerData();
-        }
-
-        ~NetClient()
-        {
-            // Вызываем Close() для корректного закрытия соединения
-            Close();
-
-            // Дополнительная очистка ресурсов
-            if (DataServer != nullptr)
-            {
-                // Очищаем буфер данных
-                DataServer->buffer = nullptr;
-                DataServer = nullptr;
-            }
-
-            // Обнуляем callback-делегаты
-            ConnectionCallback = nullptr;
-            ReceiveCallback = nullptr;
-        }
-
-        ClientState Connect(String^ addr, int port, ClientCallback^ connectionCallback, ClientCallback^ receiveCallback)
-        {
-            if (Connected)
-            {
-                Disconnect();
-                return ClientState::Stop;
-            }
-
-            ConnectionCallback = connectionCallback;
-            ReceiveCallback = receiveCallback;
-
-            try
-            {
-                IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(addr), port);
-                ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
-                ServerSocket->Connect(ep);
-
-                Connected = true;
-
-                // Уведомление о подключении
-                ConnectData^ connectData = gcnew ConnectData();
-                connectData->Connect = true;
-                connectData->Server = ServerSocket;
-                ConnectionCallback(connectData);
-
-                // Начало приема данных
-                ReceiveData^ receiveData = gcnew ReceiveData();
-                receiveData->Buffer = DataServer->buffer;
-                receiveData->Size = ServerData::size;
-                receiveData->Server = ServerSocket;
-
-                ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData);
-
-                return ClientState::Connected;
-            }
-            catch (Exception^)
-            {
-                if (ServerSocket != nullptr)
-                {
-                    ServerSocket->Close();
-                }
-                return ClientState::Error;
-            }
-        }
-
-        void Close()
-        {
-            Disconnect();
-        }
-
     private:
         ref class ServerData
         {
         public:
-            static const int size = 1024;
+            literal int size = 1024;
             array<Byte>^ buffer = gcnew array<Byte>(size);
         };
 
-        bool Connected;
+        bool Connected = false;
-        Socket^ ServerSocket;
+        Socket^ ServerSocket = nullptr;
-        ServerData^ DataServer;
+        ServerData^ DataServer = gcnew ServerData();
+
+    public:
+        delegate void ClientCallback(Object^ o);
+    private:
         ClientCallback^ ConnectionCallback;
         ClientCallback^ ReceiveCallback;
 
-        void Disconnect()
+    public:
+        enum class ClientState { Error, Connected, Stop };
+
+        ClientState Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive)
         {
-            if (ServerSocket != nullptr)
+            if (Connected)
             {
-                try { ServerSocket->Shutdown(SocketShutdown::Both); }
+                Close();
-                catch (...) {}
+                return ClientState::Stop;
-                ServerSocket->Close();
-                ServerSocket = nullptr;
             }
+
+            ConnectionCallback = Connection;
+            ReceiveCallback = Receive;
+
+            IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port);
+            ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
+
+            try { ServerSocket->Connect(ep); }
+            catch (...) { ServerSocket->Close(); return ClientState::Error; }
+
+            Connected = true;
+
+            // Исправленный вызов с конструктором
+            ConnectionCallback(gcnew ConnectData(true, ServerSocket));
+
+            // Исправленный вызов с конструктором
+            ReceiveData^ receiveData = gcnew ReceiveData(DataServer->buffer, ServerData::size, ServerSocket);
+
+            try { ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
+            catch (...) {}
+
+            return ClientState::Connected;
+        }
+
+        void Close()
+        {
+            try { ServerSocket->Shutdown(SocketShutdown::Both); }
+            catch (...) {}
+            ServerSocket->Close();
             Connected = false;
         }
 
+        void Send(array<Byte>^ data)
+        {
+            if (ServerSocket != nullptr && Connected)
+            {
+                try { ServerSocket->Send(data); }
+                catch (...) {}
+            }
+        }
+
+    private:
         void ReadCallback(IAsyncResult^ ar)
         {
-            try
+            ReceiveData^ cd = (ReceiveData^)ar->AsyncState;
+            if (cd == nullptr) return;
+
+            int bytes = 0;
+            try { bytes = ServerSocket->EndReceive(ar); }
+            catch (...) {}
+
+            if (bytes == 0)
             {
-                // Проверка на null входного параметра
+                ServerSocket->Close();
-                if (ar == nullptr) return;
+                Connected = false;
 
-                // Безопасное приведение типа
+                if (ServerSocket != nullptr)
-                ReceiveData^ cd = dynamic_cast<ReceiveData^>(ar->AsyncState);
-                if (cd == nullptr || ServerSocket == nullptr || !ServerSocket->Connected)
                 {
-                    Disconnect();
+                    // Исправленный вызов с конструктором
-                    return;
+                    ConnectionCallback(gcnew ConnectData(false, nullptr));
                 }
 
-                int bytes = 0;
+                return;
-                try
-                {
-                    bytes = ServerSocket->EndReceive(ar);
-                }
-                catch (ObjectDisposedException^)
-                {
-                    // Сокет был закрыт
-                    Disconnect();
-                    return;
-                }
-                catch (SocketException^ ex)
-                {
-                    // Логирование ошибки сокета
-                    System::Diagnostics::Debug::WriteLine(
-                        "Socket receive error: " + ex->Message);
-                    Disconnect();
-                    return;
-                }
-                catch (...)
-                {
-                    Disconnect();
-                    return;
-                }
-
-                // Проверка на разрыв соединения
-                if (bytes == 0)
-                {
-                    Disconnect();
-
-                    if (ConnectionCallback != nullptr)
-                    {
-                        ConnectData^ disconnectData = gcnew ConnectData();
-                        disconnectData->Connect = false;
-                        disconnectData->Server = nullptr;
-                        ConnectionCallback(disconnectData);
-                    }
-                    return;
-                }
-
-                // Вызов callback получения данных
-                if (ReceiveCallback != nullptr && cd->Buffer != nullptr)
-                {
-                    try
-                    {
-                        ReceiveCallback(cd);
-                    }
-                    catch (Exception^ ex)
-                    {
-                        System::Diagnostics::Debug::WriteLine(
-                            "ReceiveCallback error: " + ex->Message);
-                    }
-                }
-
-                // Продолжаем прием данных
-                if (ServerSocket != nullptr && ServerSocket->Connected)
-                {
-                    try
-                    {
-                        IAsyncResult^ result = ServerSocket->BeginReceive(
-                            cd->Buffer,
-                            0,
-                            ServerData::size,
-                            SocketFlags::None,
-                            gcnew AsyncCallback(this, &NetClient::ReadCallback),
-                            cd);
-
-                        // Проверка на ошибку асинхронной операции
-                        if (result == nullptr)
-                        {
-                            Disconnect();
-                        }
-                    }
-                    catch (ObjectDisposedException^)
-                    {
-                        Disconnect();
-                    }
-                    catch (SocketException^ ex)
-                    {
-                        System::Diagnostics::Debug::WriteLine(
-                            "BeginReceive error: " + ex->Message);
-                        Disconnect();
-                    }
-                    catch (...)
-                    {
-                        Disconnect();
-                    }
-                }
-            }
-            catch (Exception^ ex)
-            {
-                System::Diagnostics::Debug::WriteLine(
-                    "ReadCallback general error: " + ex->Message);
-                Disconnect();
             }
+
+            // Исправленный вызов с конструктором
+            ReceiveCallback(gcnew ReceiveData(cd->Buffer, bytes, ServerSocket));
+
+            try { ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
+            catch (...) {}
         }
     };
 }

DroneClientCpp/x64/Debug/DroneClientCpp.exe.metagen

@@ -0,0 +1,140 @@
+  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