Чистка кода от мусора
This commit is contained in:
@ -1,67 +1,62 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading.Tasks;
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using System.Runtime.InteropServices;
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namespace DroneClient
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{
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internal class Drone
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{
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public struct DataOut
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internal class Drone
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{
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public float AccX, AccY, AccZ;
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public float GyrX, GyrY, GyrZ;
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public float PosX, PosY;
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public float LaserRange;
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public struct DataOut
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{
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public float AccX, AccY, AccZ;
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public float GyrX, GyrY, GyrZ;
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public float PosX, PosY;
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public float LaserRange;
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}
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public struct DataIn
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{
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public float MotorUL, MotorUR, MotorDL, MotorDR;
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}
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public static byte[] getBytes(object data)
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{
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int size = Marshal.SizeOf(data);
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byte[] arr = new byte[size];
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IntPtr ptr = IntPtr.Zero;
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try
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{
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ptr = Marshal.AllocHGlobal(size);
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Marshal.StructureToPtr(data, ptr, true);
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Marshal.Copy(ptr, arr, 0, size);
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}
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finally
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{
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Marshal.FreeHGlobal(ptr);
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}
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return arr;
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}
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public static object fromBytes(byte[] arr, Type type)
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{
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object mem = new object();
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int size = Marshal.SizeOf(type);
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IntPtr ptr = IntPtr.Zero;
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try
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{
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ptr = Marshal.AllocHGlobal(size);
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Marshal.Copy(arr, 0, ptr, size);
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mem = Marshal.PtrToStructure(ptr, type);
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}
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finally
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{
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Marshal.FreeHGlobal(ptr);
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}
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return mem;
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}
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}
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public struct DataIn
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{
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public float MotorUL, MotorUR, MotorDL, MotorDR;
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}
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public static byte[] getBytes(object data)
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{
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int size = Marshal.SizeOf(data);
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byte[] arr = new byte[size];
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IntPtr ptr = IntPtr.Zero;
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try
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{
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ptr = Marshal.AllocHGlobal(size);
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Marshal.StructureToPtr(data, ptr, true);
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Marshal.Copy(ptr, arr, 0, size);
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}
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finally
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{
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Marshal.FreeHGlobal(ptr);
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}
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return arr;
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}
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public static object fromBytes(byte[] arr, Type type)
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{
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object mem = new object();
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int size = Marshal.SizeOf(type);
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IntPtr ptr = IntPtr.Zero;
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try
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{
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ptr = Marshal.AllocHGlobal(size);
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Marshal.Copy(arr, 0, ptr, size);
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mem = Marshal.PtrToStructure(ptr, type);
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}
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finally
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{
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Marshal.FreeHGlobal(ptr);
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}
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return mem;
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}
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}
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}
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@ -1,108 +1,103 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Net;
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using System.Net.Sockets;
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using System.Net;
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namespace DroneSimulator
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{
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internal class NetClient
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{
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public class ConnectData
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internal class NetClient
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{
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public bool Connect;
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public class ConnectData
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{
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public bool Connect;
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public Socket? Server;
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public Socket? Server;
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}
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public class ReceiveData
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{
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public byte[]? Buffer;
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public int Size;
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public Socket? Server;
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}
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private class ServerData
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{
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public const int size = 1024;
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public byte[] buffer = new byte[size];
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}
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private bool Connected = false;
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private Socket? ServerSocket = null;
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private ServerData DataServer = new ServerData();
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public delegate void ClientCallback(object o);
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private ClientCallback? ConnectionCallback;
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private ClientCallback? ReceiveCallback;
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public enum ClientState { Error, Connected, Stop };
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public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
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{
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if (Connected)
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{
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try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
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ServerSocket?.Close();
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Connected = false;
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return ClientState.Stop;
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}
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ConnectionCallback = Connection;
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ReceiveCallback = Receive;
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IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
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ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
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try { ServerSocket.Connect(ep); }
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catch { ServerSocket.Close(); return ClientState.Error; }
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Connected = true;
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ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket });
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ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket };
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try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); }
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catch { }
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return ClientState.Connected;
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}
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public void Close()
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{
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try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
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ServerSocket?.Close();
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Connected = false;
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}
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public void ReadCallback(IAsyncResult ar)
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{
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ReceiveData cd = (ReceiveData)ar.AsyncState;
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if (cd == null) return;
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int bytes = 0;
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try { bytes = ServerSocket.EndReceive(ar); } catch { }
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if (bytes == 0)
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{
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ServerSocket?.Close();
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Connected = false;
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if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
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return;
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}
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ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
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try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }
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catch { }
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}
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}
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public class ReceiveData
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{
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public byte[]? Buffer;
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public int Size;
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public Socket? Server;
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}
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private class ServerData
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{
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public const int size = 1024;
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public byte[] buffer = new byte[size];
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}
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private bool Connected = false;
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private Socket? ServerSocket = null;
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private ServerData DataServer = new ServerData();
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public delegate void ClientCallback(object o);
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private ClientCallback? ConnectionCallback;
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private ClientCallback? ReceiveCallback;
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public enum ClientState { Error, Connected, Stop };
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public ClientState Connect(string Addr, int Port, ClientCallback Connection, ClientCallback Receive)
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{
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if (Connected)
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{
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try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
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ServerSocket?.Close();
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Connected = false;
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return ClientState.Stop;
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}
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ConnectionCallback = Connection;
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ReceiveCallback = Receive;
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IPEndPoint ep = new IPEndPoint(IPAddress.Parse(Addr), Port);
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ServerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
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try { ServerSocket.Connect(ep); }
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catch { ServerSocket.Close(); return ClientState.Error; }
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Connected = true;
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ConnectionCallback(new ConnectData { Connect = true, Server = ServerSocket });
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ReceiveData receiveData = new ReceiveData { Buffer = DataServer.buffer, Size = ServerData.size, Server = ServerSocket };
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try { ServerSocket.BeginReceive(DataServer.buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), receiveData); }
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catch { }
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return ClientState.Connected;
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}
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public void Close()
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{
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try { ServerSocket?.Shutdown(SocketShutdown.Both); } catch { }
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ServerSocket?.Close();
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Connected = false;
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}
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public void ReadCallback(IAsyncResult ar)
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{
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ReceiveData cd = (ReceiveData)ar.AsyncState;
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if (cd == null) return;
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int bytes = 0;
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try { bytes = ServerSocket.EndReceive(ar); } catch { }
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if (bytes == 0)
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{
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ServerSocket?.Close();
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Connected = false;
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if (ServerSocket != null) ConnectionCallback(new ConnectData { Connect = false, Server = null });
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return;
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}
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ReceiveCallback(new ReceiveData { Buffer = cd.Buffer, Size = bytes, Server = ServerSocket });
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try { ServerSocket?.BeginReceive(cd.Buffer, 0, ServerData.size, 0, new AsyncCallback(ReadCallback), cd); }
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catch { }
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}
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}
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}
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Reference in New Issue
Block a user