cpp

DroneClientCpp/DroneData.h

@@ -0,0 +1,77 @@
+#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);
+    };
+}