Simulator/DroneClient/Drone.cs

using System.Runtime.InteropServices;

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;
        }

    }
}