From 994b0f87128b51cd3014f6bd00c190c2f2d69ef4 Mon Sep 17 00:00:00 2001
From: Dizel <likhenko@sfedu.ru>
Date: Thu, 3 Apr 2025 13:07:57 +0300
Subject: [PATCH] =?UTF-8?q?=D0=A1=D0=BE=D0=B7=D0=B4=D0=B0=D0=BD=D0=B8?=
 =?UTF-8?q?=D0=B5=20=D0=BA=D0=BB=D0=B0=D1=81=D1=81=D0=B0=20=D0=BA=D0=BB?=
 =?UTF-8?q?=D0=B8=D0=B5=D0=BD=D1=82=D0=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 DroneClientCpp/Client.cpp                     | 106 ++++++++++++++++++
 DroneClientCpp/Client.h                       |  44 ++++++++
 DroneClientCpp/DroneClientCpp.vcxproj         |   2 +
 DroneClientCpp/DroneClientCpp.vcxproj.filters |   6 +
 4 files changed, 158 insertions(+)
 create mode 100644 DroneClientCpp/Client.cpp
 create mode 100644 DroneClientCpp/Client.h

diff --git a/DroneClientCpp/Client.cpp b/DroneClientCpp/Client.cpp
new file mode 100644
index 0000000..7fab2d4
--- /dev/null
+++ b/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();
+}
diff --git a/DroneClientCpp/Client.h b/DroneClientCpp/Client.h
new file mode 100644
index 0000000..6801903
--- /dev/null
+++ b/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();
+};
\ No newline at end of file
diff --git a/DroneClientCpp/DroneClientCpp.vcxproj b/DroneClientCpp/DroneClientCpp.vcxproj
index 46349e2..ce872f9 100644
--- a/DroneClientCpp/DroneClientCpp.vcxproj
+++ b/DroneClientCpp/DroneClientCpp.vcxproj
@@ -118,9 +118,11 @@
     <Reference Include="System.Xml" />
   </ItemGroup>
   <ItemGroup>
+    <ClCompile Include="Client.cpp" />
     <ClCompile Include="FormMain.cpp" />
   </ItemGroup>
   <ItemGroup>
+    <ClInclude Include="Client.h" />
     <ClInclude Include="FormMain.h">
       <FileType>CppForm</FileType>
     </ClInclude>
diff --git a/DroneClientCpp/DroneClientCpp.vcxproj.filters b/DroneClientCpp/DroneClientCpp.vcxproj.filters
index 5ad5172..7b8fd21 100644
--- a/DroneClientCpp/DroneClientCpp.vcxproj.filters
+++ b/DroneClientCpp/DroneClientCpp.vcxproj.filters
@@ -18,10 +18,16 @@
     <ClCompile Include="FormMain.cpp">
       <Filter>Исходные файлы</Filter>
     </ClCompile>
+    <ClCompile Include="Client.cpp">
+      <Filter>Исходные файлы</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="FormMain.h">
       <Filter>Файлы заголовков</Filter>
     </ClInclude>
+    <ClInclude Include="Client.h">
+      <Filter>Файлы заголовков</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>
\ No newline at end of file