update

DroneClient/Drone.cs

@@ -1,5 +1,7 @@
-using System.Diagnostics.Metrics;
+using DroneData;
+using System.Diagnostics.Metrics;
 using System.Drawing;
+using System.Numerics;
 using System.Runtime.InteropServices;
 
 namespace DroneClient
@@ -15,6 +17,8 @@ namespace DroneClient
     public float LaserRange;
     public uint TimeRange;
 
+    public Vector2 OF = Vector2.Zero;
+
     public float MotorUL, MotorUR, MotorDL, MotorDR;
 
     public static byte[] getBytes(object data)
@@ -116,6 +120,16 @@ namespace DroneClient
       return new byte[0];
     }
 
+    private byte[]? RecvDataOF(byte[] data)
+    {
+      DroneData.DataOF of = (DroneData.DataOF)fromBytes(data, typeof(DroneData.DataOF));
+
+      OF.X = of.X;
+      OF.Y = of.Y;
+
+      return new byte[0];
+    }
+
     private byte[]? ClientRequestResponse(DroneData.DataHead head, byte[] body)
     {
       byte[] zero = new byte[0];
@@ -186,6 +200,22 @@ namespace DroneClient
             }
           }
 
+        case DroneData.DataType.DataOF:
+          {
+            if (head.Mode == DroneData.DataMode.Request)
+            {
+              // Запрос данных
+              // ... //
+              //
+              return zero;
+            }
+            else
+            {
+              // Пришли данные
+              return RecvDataOF(body);
+            }
+          }
+
         case DroneData.DataType.DataMotor4:
           {
             if (head.Mode == DroneData.DataMode.Request)
@@ -271,12 +301,18 @@ namespace DroneClient
       local.Mode = DroneData.DataMode.Request;
       local.Type = DroneData.DataType.DataLocal;
 
+      DroneData.DataHead of = new DroneData.DataHead();
+      of.Size = DroneData.DataHead.StrLen;
+      of.Mode = DroneData.DataMode.Request;
+      of.Type = DroneData.DataType.DataOF;
+
       List<byte[]> list = new List<byte[]>();
 
       list.Add(getBytes(acc));
       list.Add(getBytes(gyr));
       list.Add(getBytes(range));
       list.Add(getBytes(local));
+      list.Add(getBytes(of));
       list.Add(SendDataMotor4());
 
       int count = 0;