#include <iostream>
#include <WinSock2.h>
#include <WS2tcpip.h>
#include <thread>

#pragma comment(lib, "Ws2_32.lib")

struct DataIn
{
    float AccX, AccY, AccZ;
    float GyrX, GyrY, GyrZ;
    float PosX, PosY, LaserRange;
} dataIn;

struct DataOut
{
    float MotorUL, MotorUR, MotorDL, MotorDR;
} dataOut;

int main()
{
    WSAData wsaData;
    WORD DLLVersion = MAKEWORD(2, 1);

    if (WSAStartup(DLLVersion, &wsaData) != 0)
    {
        std::cout << "Error startup\n";
        exit(1);
    }

    SOCKADDR_IN addr;
    int sizeofaddr = sizeof(addr);

    inet_pton(AF_INET, "127.0.0.1", &addr.sin_addr);
    addr.sin_port = htons(1001);
    addr.sin_family = AF_INET;

    SOCKET Connection = socket(AF_INET, SOCK_STREAM, NULL);
    if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
    {
        std::cout << "Error: failed connect to server \n";
        return 1;
    }

    dataOut.MotorUL = 10;
    dataOut.MotorUR = 10;
    dataOut.MotorDL = 10;
    dataOut.MotorDR = 10;

    while (1)
    {
        send(Connection, (char*)&(dataOut), sizeof(dataOut), 0);
        recv(Connection, (char*)&(dataIn), sizeof(dataIn), 0);
        //std::cout << dataIn.GyrX << " " << dataIn.GyrY << " " << dataIn.GyrZ << std::endl;
        //std::cout << dataIn.PosX << " " << dataIn.PosY << " " << dataIn.LaserRange << std::endl;
        //std::cout << dataIn.AccX << " " << dataIn.AccY << " " << dataIn.AccZ << std::endl;
        std::cout << dataIn.LaserRange << std::endl;
        std::cout << "-----------------------------------------------------------" << std::endl;
        //std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    
    system("pause");
}