cpp

.gitignore

@@ -1,3 +1,4 @@
 .vs/
 obj/
-bin/
+bin/
+x64/

DroneClientCpp/Client.cpp

@@ -0,0 +1,106 @@
+#pragma once
+
+#include "Client.h"
+
+Client::Client(const char* ip, int port) : running(true), Connection(INVALID_SOCKET)
+{
+    if (!ConnectToServer(ip, port))
+    {
+        std::cerr << "Failed to connect to server!" << std::endl;
+    }
+}
+
+Client::~Client()
+{
+    Stop();
+    CloseConnection();
+}
+
+bool Client::ConnectToServer(const char* ip, int port)
+{
+    WSAData wsaData;
+    WORD DLLVersion = MAKEWORD(2, 2);
+
+    if (WSAStartup(DLLVersion, &wsaData) != 0)
+    {
+        std::cerr << "Error: WSAStartup failed" << std::endl;
+        return false;
+    }
+
+    SOCKADDR_IN addr;
+    inet_pton(AF_INET, ip, &addr.sin_addr);
+    addr.sin_port = htons(port);
+    addr.sin_family = AF_INET;
+
+    Connection = socket(AF_INET, SOCK_STREAM, 0);
+    if (Connection == INVALID_SOCKET)
+    {
+        std::cerr << "Error: Failed to create socket" << std::endl;
+        WSACleanup();
+        return false;
+    }
+
+    if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
+    {
+        std::cerr << "Error: Failed to connect to server" << std::endl;
+        closesocket(Connection);
+        WSACleanup();
+        return false;
+    }
+
+    return true;
+}
+
+void Client::CloseConnection()
+{
+    if (Connection != INVALID_SOCKET)
+    {
+        closesocket(Connection);
+        WSACleanup();
+        Connection = INVALID_SOCKET;
+    }
+}
+
+void Client::ReceiveHandler()
+{
+    while (running)
+    {
+        DataIn tempData;
+        int result = recv(Connection, (char*)&tempData, sizeof(tempData), 0);
+
+        if (result <= 0)
+        {
+            std::cerr << "Error: Connection lost (recv failed)" << std::endl;
+            running = false;
+            break;
+        }
+
+        std::lock_guard<std::mutex> lock(dataMutex);
+        dataIn = tempData;
+    }
+}
+
+void Client::SendHandler()
+{
+    while (running)
+    {
+        {
+            std::lock_guard<std::mutex> lock(dataMutex);
+            send(Connection, (char*)&dataOut, sizeof(dataOut), 0);
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+}
+
+void Client::Start()
+{
+    recvThread = std::thread(&Client::ReceiveHandler, this);
+    sendThread = std::thread(&Client::SendHandler, this);
+}
+
+void Client::Stop()
+{
+    running = false;
+    if (recvThread.joinable()) recvThread.join();
+    if (sendThread.joinable()) sendThread.join();
+}

DroneClientCpp/Client.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#include <iostream>
+#include <WinSock2.h>
+#include <WS2tcpip.h>
+#include <thread>
+#include <atomic>
+#include <mutex>
+
+#pragma comment(lib, "Ws2_32.lib")
+
+class Client
+{
+public:
+    Client(const char* ip, int port);
+    ~Client();
+
+    void Start();   // Запуск потоков
+    void Stop();    // Остановка потоков
+    struct DataIn
+    {
+        float AccX, AccY, AccZ;
+        float GyrX, GyrY, GyrZ;
+        float PosX, PosY, LaserRange;
+    } dataIn;
+
+    struct DataOut
+    {
+        float MotorUL, MotorUR, MotorDL, MotorDR;
+    } dataOut;
+    bool ConnectToServer(const char* ip, int port);
+    void CloseConnection();
+
+private:
+    std::atomic<bool> running;
+    std::mutex dataMutex;
+
+    SOCKET Connection;
+    std::thread recvThread;
+    std::thread sendThread;
+
+    void ReceiveHandler();
+    void SendHandler();
+};

DroneClientCpp/Drone.cpp

@@ -0,0 +1,197 @@
+#include "Drone.h"
+
+namespace DroneClient {
+
+    // Реализация статического метода GetBytes
+    array<Byte>^ Drone::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;
+    }
+
+    // Реализация статического метода FromBytes
+    Object^ Drone::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;
+    }
+
+    // Реализация приватного метода SendDataMotor4
+    array<Byte>^ Drone::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);
+    }
+
+    // Реализация приватного метода RecvDataIMU
+    array<Byte>^ Drone::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);
+    }
+
+    // Реализация приватного метода RecvDataPos
+    array<Byte>^ Drone::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);
+    }
+
+    // Реализация приватного метода ClientRequestResponse
+    array<Byte>^ Drone::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;
+    }
+
+    // Реализация конструктора
+    Drone::Drone()
+    {
+        DroneStreamData = gcnew array<Byte>(DroneStreamCount); // Инициализация массива
+        DroneStreamIndex = 0;
+        DroneStreamHead.Mode = DroneData::DataMode::None;
+        DroneStreamHead.Size = 0;
+        DroneStreamHead.Type = DroneData::DataType::None;
+    }
+
+    // Реализация метода DataStream
+    System::Collections::Generic::List<array<Byte>^>^ Drone::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;
+    }
+
+    // Реализация метода SendRequest
+    array<Byte>^ Drone::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/Drone.h

@@ -0,0 +1,46 @@
+#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);
+        static Object^ FromBytes(array<Byte>^ arr, Type^ type);
+
+    private:
+        array<Byte>^ SendDataMotor4();
+        array<Byte>^ RecvDataIMU(array<Byte>^ data);
+        array<Byte>^ RecvDataPos(array<Byte>^ data);
+        array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);
+
+        literal int DroneStreamCount = 512;
+        array<Byte>^ DroneStreamData;
+        int DroneStreamIndex;
+        DroneData::DataHead DroneStreamHead;
+
+    public:
+        Drone(); // Конструктор для инициализации
+
+        System::Collections::Generic::List<array<Byte>^>^ DataStream(array<Byte>^ data, int size);
+        array<Byte>^ SendRequest();
+    };
+}

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);
+            }
+        }
+    };
+}

DroneClientCpp/DroneClientCpp.sln

@@ -0,0 +1,28 @@
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+MinimumVisualStudioVersion = 10.0.40219.1
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+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
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+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

DroneClientCpp/DroneClientCpp.vcxproj

@@ -0,0 +1,141 @@
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+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
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+    <ClCompile Include="Drone.cpp" />
+    <ClCompile Include="FormMain.cpp" />
+    <ClCompile Include="NetClient.cpp" />
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+    <ClInclude Include="NetClient.h" />
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DroneClientCpp/DroneClientCpp.vcxproj.filters

@@ -0,0 +1,42 @@
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+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="FormMain.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="NetClient.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="DroneData.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+    <ClInclude Include="Drone.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>

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/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/FormMain.cpp

@@ -0,0 +1,12 @@
+#include "FormMain.h"
+
+#include <Windows.h>
+
+using namespace DroneClientCpp;
+
+int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) {
+    Application::EnableVisualStyles();
+    Application::SetCompatibleTextRenderingDefault(false);
+    Application::Run(gcnew FormMain);
+    return 0;
+}

DroneClientCpp/FormMain.resx

@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="backgroundWorker1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>310, 17</value>
+  </metadata>
+</root>

DroneClientCpp/MyForm.cpp

@@ -0,0 +1,12 @@
+#include "MyForm.h"
+
+#include <Windows.h>
+
+using namespace DroneClientCpp;
+
+int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) {
+    Application::EnableVisualStyles();
+    Application::SetCompatibleTextRenderingDefault(false);
+    Application::Run(gcnew MyForm);
+    return 0;
+}

DroneClientCpp/MyForm.resx

@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>

DroneClientCpp/NetClient.cpp

@@ -0,0 +1,105 @@
+#include "NetClient.h"
+
+namespace DroneSimulator {
+
+    // Конструктор ConnectData
+    NetClient::ConnectData::ConnectData(bool connect, Socket^ server)
+    {
+        Connect = connect;
+        Server = server;
+    }
+
+    // Конструктор ReceiveData
+    NetClient::ReceiveData::ReceiveData(array<Byte>^ buffer, int size, Socket^ server)
+    {
+        Buffer = buffer;
+        Size = size;
+        Server = server;
+    }
+
+    // Конструктор NetClient
+    NetClient::NetClient()
+    {
+        Connected = false;
+        ServerSocket = nullptr;
+        DataServer = gcnew ServerData(); // Инициализация DataServer
+    }
+
+    // Реализация метода Connect
+    NetClient::ClientState NetClient::Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive)
+    {
+        if (Connected)
+        {
+            Close();
+            return ClientState::Stop;
+        }
+
+        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;
+
+        ConnectionCallback(gcnew ConnectData(true, ServerSocket));
+
+        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;
+    }
+
+    // Реализация метода Close
+    void NetClient::Close()
+    {
+        try { ServerSocket->Shutdown(SocketShutdown::Both); }
+        catch (...) {}
+        ServerSocket->Close();
+        Connected = false;
+    }
+
+    // Реализация метода Send
+    void NetClient::Send(array<Byte>^ data)
+    {
+        if (ServerSocket != nullptr && Connected)
+        {
+            try { ServerSocket->Send(data); }
+            catch (...) {}
+        }
+    }
+
+    // Реализация метода ReadCallback
+    void NetClient::ReadCallback(IAsyncResult^ ar)
+    {
+        ReceiveData^ cd = (ReceiveData^)ar->AsyncState;
+        if (cd == nullptr) return;
+
+        int bytes = 0;
+        try { bytes = ServerSocket->EndReceive(ar); }
+        catch (...) {}
+
+        if (bytes == 0)
+        {
+            ServerSocket->Close();
+            Connected = false;
+
+            if (ServerSocket != nullptr)
+            {
+                ConnectionCallback(gcnew ConnectData(false, nullptr));
+            }
+
+            return;
+        }
+
+        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/NetClient.h

@@ -0,0 +1,68 @@
+#pragma once
+
+#include <Windows.h>
+#include <vcclr.h>
+
+#using <System.dll>
+#using <System.Net.dll>
+
+using namespace System;
+using namespace System::Net;
+using namespace System::Net::Sockets;
+
+namespace DroneSimulator {
+
+    public ref class NetClient
+    {
+    public:
+        ref class ConnectData
+        {
+        public:
+            bool Connect;
+            Socket^ Server;
+
+            ConnectData(bool connect, Socket^ server);
+        };
+
+        ref class ReceiveData
+        {
+        public:
+            array<Byte>^ Buffer;
+            int Size;
+            Socket^ Server;
+
+            ReceiveData(array<Byte>^ buffer, int size, Socket^ server);
+        };
+
+    private:
+        ref class ServerData
+        {
+        public:
+            literal int size = 1024;
+            array<Byte>^ buffer = gcnew array<Byte>(size);
+        };
+
+        bool Connected;
+        Socket^ ServerSocket;
+        ServerData^ DataServer;
+
+    public:
+        delegate void ClientCallback(Object^ o);
+
+    private:
+        ClientCallback^ ConnectionCallback;
+        ClientCallback^ ReceiveCallback;
+
+    public:
+        NetClient(); // Добавлен конструктор
+
+        enum class ClientState { Error, Connected, Stop };
+
+        ClientState Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive);
+        void Close();
+        void Send(array<Byte>^ data);
+
+    private:
+        void ReadCallback(IAsyncResult^ ar);
+    };
+}

DroneClientCpp/Source.cpp

@@ -0,0 +1,11 @@
+#include "MyForm.h"
+
+using namespace MyWinFormsApp; // ???????????? ???? ?????? ???????
+
+[STAThread]
+int main(array<String^>^ args) {
+    Application::EnableVisualStyles(); // ???????? ??????????? ????? ????????? ??????????
+    Application::SetCompatibleTextRenderingDefault(false); // ????????? ?????????? ??????
+    Application::Run(gcnew MyForm()); // ?????? ?????
+    return 0;
+}