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update

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Sergey Sklyarov 2025-04-06 20:58:15 +03:00
parent 21b60b7f4c
commit 6aeb99968e
2 changed files with 0 additions and 109 deletions
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67
Common/DroneData.cs
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@ -1,67 +0,0 @@
using System.Runtime.InteropServices;
namespace DroneData
{
public enum DataMode : ushort
{
None = 0, Response = 1, Request = 2
};
public enum DataType : ushort
{
None = 0, Head = 1,
// Output
DataIMU = 1001, DataPos = 1002,
// Input
DataMotor4 = 2001, DataMotor6 = 2002
};
public struct DataHead
{
public int Size;
public DataMode Mode;
public DataType Type;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
}
public struct XYZ { public float X, Y, Z; }
public struct DataIMU
{
public DataHead Head;
public XYZ Acc, Gyr, Mag;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataIMU));
}
public struct DataPos
{
public DataHead Head;
public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
public float LiDAR; // Äàò÷èê ïîñàäêè
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataPos));
}
public struct DataMotor4
{
public DataHead Head;
public ulong Count;
public float UL, UR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor4));
}
public struct DataMotor6
{
public DataHead Head;
public ulong Count;
public float UL, UR, LL, RR, DL, DR;
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMotor6));
}
}

42
Common/DroneData.h
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namespace DroneData
{
enum class StructType : unsigned long
{
// Output
DataIMU = 1, DataPos = 2,
// Input
DataMotor4 = 1001, DataMotor6 = 1002
};
public struct DataInfo
{
StructType Type;
unsigned long Size;
};
public struct DataXYZ { float X, Y, Z; };
public struct DataIMU
{
DataXYZ Acc, Gyr, Mag;
};
public struct DataPos
{
DataXYZ Local; // Ëîêàëüíûå êîîðäèíàòû
float LiDAR; // Äàò÷èê ïîñàäêè
};
public struct DataMotor4
{
ulong Count;
float M1, M2, M3, M4;
};
public struct DataMotor6
{
ulong Count;
float M1, M2, M3, M4, M5, M6;
};
}