#pragma once

#include "DroneData.h"
#include <Windows.h>
#include <vcclr.h>

#using <System.dll>
#using <mscorlib.dll>

using namespace System;
using namespace System::Collections::Generic;
using namespace System::Runtime::InteropServices;

namespace DroneClient {

    public ref class Drone
    {
    public:
        float AccX, AccY, AccZ;
        float GyrX, GyrY, GyrZ;
        float PosX, PosY;
        float LaserRange;

        float MotorUL, MotorUR, MotorDL, MotorDR;

        static array<Byte>^ GetBytes(Object^ data);
        static Object^ FromBytes(array<Byte>^ arr, Type^ type);

    private:
        array<Byte>^ SendDataMotor4();
        array<Byte>^ RecvDataIMU(array<Byte>^ data);
        array<Byte>^ RecvDataPos(array<Byte>^ data);
        array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);

        literal int DroneStreamCount = 512;
        array<Byte>^ DroneStreamData;
        int DroneStreamIndex;
        DroneData::DataHead DroneStreamHead;

    public:
        Drone(); // Конструктор для инициализации

        System::Collections::Generic::List<array<Byte>^>^ DataStream(array<Byte>^ data, int size);
        array<Byte>^ SendRequest();
    };
}