Удаление лишнего
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#using <mscorlib.dll>
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[assembly: System::Runtime::Versioning::TargetFrameworkAttribute(L".NETFramework,Version=v4.7.2", FrameworkDisplayName=L".NET Framework 4.7.2")];
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#include <iostream>
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#include <WinSock2.h>
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#include <WS2tcpip.h>
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#include <thread>
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#include <atomic>
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#include <mutex>
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#pragma comment(lib, "Ws2_32.lib")
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struct DataIn
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{
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float AccX, AccY, AccZ;
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float GyrX, GyrY, GyrZ;
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float PosX, PosY, LaserRange;
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} dataIn;
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struct DataOut
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{
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float MotorUL, MotorUR, MotorDL, MotorDR;
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} dataOut;
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std::atomic<bool> running(true); // Флаг работы потоков
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std::mutex dataMutex; // Мьютекс для синхронизации доступа к dataIn и dataOut
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SOCKET ConnectToServer(const char* ip, int port)
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{
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WSAData wsaData;
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WORD DLLVersion = MAKEWORD(2, 1);
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if (WSAStartup(DLLVersion, &wsaData) != 0)
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{
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std::cout << "Error: WSAStartup failed\n";
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return INVALID_SOCKET;
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}
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SOCKADDR_IN addr;
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inet_pton(AF_INET, ip, &addr.sin_addr);
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addr.sin_port = htons(port);
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addr.sin_family = AF_INET;
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SOCKET Connection = socket(AF_INET, SOCK_STREAM, 0);
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if (Connection == INVALID_SOCKET)
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{
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std::cout << "Error: Failed to create socket\n";
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WSACleanup();
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return INVALID_SOCKET;
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}
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if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
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{
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std::cout << "Error: Failed to connect to server\n";
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closesocket(Connection);
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WSACleanup();
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return INVALID_SOCKET;
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}
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return Connection;
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}
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void CloseConnection(SOCKET& socket)
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{
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if (socket != INVALID_SOCKET)
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{
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closesocket(socket);
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WSACleanup();
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socket = INVALID_SOCKET;
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}
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}
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// Функция приема данных
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void ReceiveHandler(SOCKET socket)
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{
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while (running)
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{
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DataIn tempData;
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int result = recv(socket, (char*)&tempData, sizeof(tempData), 0);
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if (result <= 0)
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{
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std::cout << "Error: Connection lost (recv failed)\n";
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running = false;
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break;
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}
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// Потокобезопасное обновление данных
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std::lock_guard<std::mutex> lock(dataMutex);
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dataIn = tempData;
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}
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}
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// Функция отправки данных
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void SendHandler(SOCKET socket)
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{
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while (running)
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{
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{
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std::lock_guard<std::mutex> lock(dataMutex);
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send(socket, (char*)&dataOut, sizeof(dataOut), 0);
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(100)); // Задержка для уменьшения нагрузки
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}
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}
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int main()
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{
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SOCKET Connection = ConnectToServer("127.0.0.1", 1001);
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if (Connection == INVALID_SOCKET)
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{
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return 1;
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}
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dataOut.MotorUL = 10;
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dataOut.MotorUR = 10;
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dataOut.MotorDL = 10;
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dataOut.MotorDR = 10;
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// Создание потоков
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std::thread recvThread(ReceiveHandler, Connection);
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std::thread sendThread(SendHandler, Connection);
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for (int i = 0; i < 1000000; i++)
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{
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{
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std::lock_guard<std::mutex> lock(dataMutex);
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std::cout << "Laser Range: " << dataIn.LaserRange << std::endl;
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}
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std::cout << "-----------------------------------------------------------" << std::endl;
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std::this_thread::sleep_for(std::chrono::milliseconds(500)); // Задержка вывода
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}
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// Завершаем работу потоков
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running = false;
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recvThread.join();
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sendThread.join();
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CloseConnection(Connection);
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system("pause");
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return 0;
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}
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@ -1,135 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<ItemGroup Label="ProjectConfigurations">
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<ProjectConfiguration Include="Debug|Win32">
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<Configuration>Debug</Configuration>
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<Platform>Win32</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Release|Win32">
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<Configuration>Release</Configuration>
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<Platform>Win32</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Debug|x64">
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<Configuration>Debug</Configuration>
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<Platform>x64</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Release|x64">
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<Configuration>Release</Configuration>
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<Platform>x64</Platform>
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</ProjectConfiguration>
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</ItemGroup>
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<PropertyGroup Label="Globals">
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<VCProjectVersion>17.0</VCProjectVersion>
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<Keyword>Win32Proj</Keyword>
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<ProjectGuid>{b7cc5245-b628-40e9-a9a0-a904e2bf25ea}</ProjectGuid>
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<RootNamespace>TestClientConnection</RootNamespace>
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<WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
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</PropertyGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>true</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>false</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<WholeProgramOptimization>true</WholeProgramOptimization>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>true</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>false</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<WholeProgramOptimization>true</WholeProgramOptimization>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
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<ImportGroup Label="ExtensionSettings">
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</ImportGroup>
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<ImportGroup Label="Shared">
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<PropertyGroup Label="UserMacros" />
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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</Link>
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</ItemDefinitionGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<FunctionLevelLinking>true</FunctionLevelLinking>
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<IntrinsicFunctions>true</IntrinsicFunctions>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<EnableCOMDATFolding>true</EnableCOMDATFolding>
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<OptimizeReferences>true</OptimizeReferences>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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</Link>
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</ItemDefinitionGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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</Link>
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</ItemDefinitionGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<FunctionLevelLinking>true</FunctionLevelLinking>
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<IntrinsicFunctions>true</IntrinsicFunctions>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<EnableCOMDATFolding>true</EnableCOMDATFolding>
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<OptimizeReferences>true</OptimizeReferences>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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</Link>
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</ItemDefinitionGroup>
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<ItemGroup>
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<ClCompile Include="TestClientConnection.cpp" />
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</ItemGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
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<ImportGroup Label="ExtensionTargets">
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</ImportGroup>
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</Project>
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@ -1,22 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<ItemGroup>
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<Filter Include="Исходные файлы">
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<UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
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<Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
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</Filter>
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<Filter Include="Файлы заголовков">
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<UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
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<Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
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</Filter>
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<Filter Include="Файлы ресурсов">
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<UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
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<Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
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</Filter>
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</ItemGroup>
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<ItemGroup>
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<ClCompile Include="TestClientConnection.cpp">
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<Filter>Исходные файлы</Filter>
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</ClCompile>
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</ItemGroup>
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</Project>
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