create repository

DroneClient/Drone.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DroneClient
+{
+  internal class Drone
+  {
+    public struct DataOut
+    {
+      public float AccX, AccY, AccZ;
+      public float GyrX, GyrY, GyrZ;
+      public float PosX, PosY;
+      public float LaserRange;
+    }
+
+    public struct DataIn
+    {
+      public float MotorUL, MotorUR, MotorDL, MotorDR;  
+    }
+
+    public static byte[] getBytes(object data)
+    {
+      int size = Marshal.SizeOf(data);
+      byte[] arr = new 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;
+    }
+
+    public static object fromBytes(byte[] arr, Type type)
+    {
+      object mem = new 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;
+    }
+
+  }
+}