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Dana Markova
2025-04-30 12:16:18 +03:00
parent 1f97891439
commit 27a120fc7f
12 changed files with 707 additions and 4 deletions
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16
DroneClientCpp/Drone.h
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@ -3,10 +3,14 @@
#include "DroneData.h"
#include <Windows.h>
#include <vcclr.h>
#include "Orientation.h"
#include "joypad.h"
#using <System.dll>
#using <mscorlib.dll>
using namespace System;
using namespace System::Collections::Generic;
using namespace System::Runtime::InteropServices;
@ -20,12 +24,18 @@ namespace DroneClient {
float GyrX, GyrY, GyrZ;
unsigned int TimeAcc, TimeGyr;
float PosX, PosY;
float LaserRange;
unsigned int TimeRange;
float MotorUL, MotorUR, MotorDL, MotorDR;
float pitch, roll, yaw;
float desPitch, desRoll, desYaw;
Joypad^ joy;
static array<Byte>^ GetBytes(Object^ data);
static Object^ FromBytes(array<Byte>^ arr, Type^ type);
@ -37,6 +47,9 @@ namespace DroneClient {
array<Byte>^ RecvDataLocal(array<Byte>^ data);
array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);
void setMotors();
literal int DroneStreamCount = 512;
array<Byte>^ DroneStreamData;
int DroneStreamIndex;
@ -47,5 +60,8 @@ namespace DroneClient {
System::Collections::Generic::List<array<Byte>^>^ DataStream(array<Byte>^ data, int size);
array<Byte>^ SendRequest();
void updateData();
};
}