77 lines
1.4 KiB
C++
77 lines
1.4 KiB
C++
#pragma once
|
|
|
|
#include <Windows.h>
|
|
#include <vcclr.h>
|
|
|
|
using namespace System;
|
|
using namespace System::Runtime::InteropServices;
|
|
|
|
namespace DroneData {
|
|
|
|
public enum class DataMode : unsigned short
|
|
{
|
|
None = 0, Response = 1, Request = 2
|
|
};
|
|
|
|
public enum class DataType : unsigned short
|
|
{
|
|
None = 0, Head = 1,
|
|
DataIMU = 1001, DataPos = 1002,
|
|
DataMotor4 = 2001, DataMotor6 = 2002
|
|
};
|
|
|
|
public value struct DataHead
|
|
{
|
|
public:
|
|
int Size;
|
|
DataMode Mode;
|
|
DataType Type;
|
|
|
|
static const int StrLen = sizeof(DataHead);
|
|
};
|
|
|
|
public value struct XYZ
|
|
{
|
|
public:
|
|
float X, Y, Z;
|
|
};
|
|
|
|
public value struct DataIMU
|
|
{
|
|
public:
|
|
DataHead Head;
|
|
XYZ Acc, Gyr, Mag;
|
|
|
|
static const int StrLen = sizeof(DataIMU);
|
|
};
|
|
|
|
public value struct DataPos
|
|
{
|
|
public:
|
|
DataHead Head;
|
|
XYZ Local;
|
|
float LiDAR;
|
|
|
|
static const int StrLen = sizeof(DataPos);
|
|
};
|
|
|
|
public value struct DataMotor4
|
|
{
|
|
public:
|
|
DataHead Head;
|
|
unsigned long long Count;
|
|
float UL, UR, DL, DR;
|
|
|
|
static const int StrLen = sizeof(DataMotor4);
|
|
};
|
|
|
|
public value struct DataMotor6
|
|
{
|
|
public:
|
|
DataHead Head;
|
|
unsigned long long Count;
|
|
float UL, UR, LL, RR, DL, DR;
|
|
|
|
static const int StrLen = sizeof(DataMotor6);
|
|
};
|
|
} |