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;
    }

  }
}