#pragma once

#include "Drone.h"          // Новый Drone.h
#include "DroneData.h"      // Новый DroneData.h
#include "NetClient.h"
#include <cliext/utility>
#include <ppltasks.h>                    //  Task, create_task
#include "WsServer.h"

namespace DroneClientCpp {

    using namespace System;
    using namespace System::ComponentModel;
    using namespace System::Collections;
    using namespace System::Windows::Forms;
    using namespace System::Data;
    using namespace System::Drawing;
    using namespace DroneClient;  // Пространство имен из Drone.h
    using namespace DroneData;    // Пространство имен из DroneData.h
    using namespace DroneSimulator;

    using namespace System::Threading;
    using namespace System::Threading::Tasks;
    using namespace System::Net::WebSockets;
    using namespace concurrency;             //  пространство PPL


    public ref class FormMain : public System::Windows::Forms::Form
    {
    public:
        FormMain(void)
        {
            InitializeComponent();
            netClient = gcnew NetClient();
            dataDrone = gcnew Drone(); // Инициализация объекта Drone
            wsClient = gcnew WsServer();



        }

    protected:
        ~FormMain()
        {
            if (components) delete components;
            if (netClient != nullptr)
            {
                netClient->Close();
                netClient = nullptr;
            }
        }

    private:
        // Элементы управления (оставить как есть)
        System::Windows::Forms::GroupBox^ groupBox_Server;
        System::Windows::Forms::Label^ label_Port;
        System::Windows::Forms::Button^ button_Connect;
        System::Windows::Forms::NumericUpDown^ numericUpDown_Server_Port;
        System::Windows::Forms::TextBox^ textBox_Server_Addr;
        System::Windows::Forms::GroupBox^ groupBox_Acc;
        System::Windows::Forms::Label^ label_Addr;
        System::Windows::Forms::Label^ label_Acc_X_Info;
        System::Windows::Forms::Label^ label_Acc_Z;
        System::Windows::Forms::Label^ label_Acc_Y;
        System::Windows::Forms::Label^ label_Acc_X;
        System::Windows::Forms::Label^ label_Acc_Z_Info;
        System::Windows::Forms::Label^ label_Acc_Y_Info;
        System::ComponentModel::BackgroundWorker^ backgroundWorker1;
        System::Windows::Forms::GroupBox^ groupBox_Gyr;
        System::Windows::Forms::Label^ label_Gyr_Z;
        System::Windows::Forms::Label^ label_Gyr_Y;
        System::Windows::Forms::Label^ label_Gyr_X;
        System::Windows::Forms::Label^ label_Gyr_Z_Info;
        System::Windows::Forms::Label^ label_Gyr_Y_Info;
        System::Windows::Forms::Label^ label_Gyr_X_Info;
        System::Windows::Forms::GroupBox^ groupBox_Pos;
        System::Windows::Forms::Label^ label_Pos_L;
        System::Windows::Forms::Label^ label_Pos_Y;
        System::Windows::Forms::Label^ label_Pos_X;
        System::Windows::Forms::Label^ label_Pos_L_Info;
        System::Windows::Forms::Label^ label_Pos_Y_Info;
        System::Windows::Forms::Label^ label_Pos_X_Info;
        System::Windows::Forms::GroupBox^ groupBox_Input;
        System::Windows::Forms::Button^ button_RR;
        System::Windows::Forms::Button^ button_LL;
        System::Windows::Forms::Button^ button_MR;
        System::Windows::Forms::Button^ button_ML;
        System::Windows::Forms::Button^ button_DD;
        System::Windows::Forms::Button^ button_UU;
        System::Windows::Forms::TrackBar^ trackBar_Power;
        System::Windows::Forms::Label^ label_Pow;
        System::Windows::Forms::Timer^ timer1;
        System::ComponentModel::IContainer^ components;

        // Наши поля
        NetClient^ netClient;
        Drone^ dataDrone;
    private: System::Windows::Forms::Label^ label_time_acc;
    private: System::Windows::Forms::Label^ label_time_gyr;
    private: System::Windows::Forms::Label^ label_time_range;
    private: System::Windows::Forms::GroupBox^ groupBox1;
    private: System::Windows::Forms::Button^ button1;
           const float pow = 0.1f;

           WsServer^ wsClient;          // WebSocket‑клиент
    private: System::Windows::Forms::Label^ label3;
    private: System::Windows::Forms::Label^ label2;
    private: System::Windows::Forms::Label^ label1;
    private: System::Windows::Forms::Label^ label6;
    private: System::Windows::Forms::Label^ label5;
    private: System::Windows::Forms::Label^ label4;
           bool          _working = false;
    private: System::Windows::Forms::Label^ label8;
    private: System::Windows::Forms::Label^ label7;




           // Наши методы
    private:
        void ConnectionCallback(Object^ o)
        {
            NetClient::ConnectData^ data = (NetClient::ConnectData^)o;
            if (!data->Connect)
            {
                try
                {
                    this->Invoke(gcnew Action(this, &FormMain::UpdateDisconnectedUI));
                }
                catch (...) {}
                return;
            }
            // Отправка начальных данных при подключении
            data->Server->Send(dataDrone->SendRequest());
        }

        void UpdateDisconnectedUI()
        {
            button_Connect->Text = "Connect";
            button_Connect->BackColor = Color::Transparent;
            MessageBox::Show("Connection closed");
        }

        void ReceiveCallback(Object^ o)
        {
            NetClient::ReceiveData^ data = (NetClient::ReceiveData^)o;
            System::Collections::Generic::List<array<Byte>^>^ responses = dataDrone->DataStream(data->Buffer, data->Size);

            if (responses == nullptr) return;
            try
            {
                for each (array<Byte> ^ b in responses)
                {
                    if (b != nullptr) data->Server->Send(b);
                }
            }
            catch (...) {}
        }


#pragma region Windows Form Designer generated code
        /// <summary>
        /// Требуемый метод для поддержки конструктора — не изменяйте 
        /// содержимое этого метода с помощью редактора кода.
        /// </summary>
        void InitializeComponent(void)
        {
            this->components = (gcnew System::ComponentModel::Container());
            this->groupBox_Server = (gcnew System::Windows::Forms::GroupBox());
            this->label_Addr = (gcnew System::Windows::Forms::Label());
            this->button_Connect = (gcnew System::Windows::Forms::Button());
            this->numericUpDown_Server_Port = (gcnew System::Windows::Forms::NumericUpDown());
            this->textBox_Server_Addr = (gcnew System::Windows::Forms::TextBox());
            this->label_Port = (gcnew System::Windows::Forms::Label());
            this->groupBox_Acc = (gcnew System::Windows::Forms::GroupBox());
            this->label_time_acc = (gcnew System::Windows::Forms::Label());
            this->label_Acc_Z = (gcnew System::Windows::Forms::Label());
            this->label_Acc_Y = (gcnew System::Windows::Forms::Label());
            this->label_Acc_X = (gcnew System::Windows::Forms::Label());
            this->label_Acc_Z_Info = (gcnew System::Windows::Forms::Label());
            this->label_Acc_Y_Info = (gcnew System::Windows::Forms::Label());
            this->label_Acc_X_Info = (gcnew System::Windows::Forms::Label());
            this->backgroundWorker1 = (gcnew System::ComponentModel::BackgroundWorker());
            this->groupBox_Gyr = (gcnew System::Windows::Forms::GroupBox());
            this->label_time_gyr = (gcnew System::Windows::Forms::Label());
            this->label_Gyr_Z = (gcnew System::Windows::Forms::Label());
            this->label_Gyr_Y = (gcnew System::Windows::Forms::Label());
            this->label_Gyr_X = (gcnew System::Windows::Forms::Label());
            this->label_Gyr_Z_Info = (gcnew System::Windows::Forms::Label());
            this->label_Gyr_Y_Info = (gcnew System::Windows::Forms::Label());
            this->label_Gyr_X_Info = (gcnew System::Windows::Forms::Label());
            this->groupBox_Pos = (gcnew System::Windows::Forms::GroupBox());
            this->label_time_range = (gcnew System::Windows::Forms::Label());
            this->label_Pos_L = (gcnew System::Windows::Forms::Label());
            this->label_Pos_Y = (gcnew System::Windows::Forms::Label());
            this->label_Pos_X = (gcnew System::Windows::Forms::Label());
            this->label_Pos_L_Info = (gcnew System::Windows::Forms::Label());
            this->label_Pos_Y_Info = (gcnew System::Windows::Forms::Label());
            this->label_Pos_X_Info = (gcnew System::Windows::Forms::Label());
            this->groupBox_Input = (gcnew System::Windows::Forms::GroupBox());
            this->label_Pow = (gcnew System::Windows::Forms::Label());
            this->button_RR = (gcnew System::Windows::Forms::Button());
            this->button_LL = (gcnew System::Windows::Forms::Button());
            this->button_MR = (gcnew System::Windows::Forms::Button());
            this->button_ML = (gcnew System::Windows::Forms::Button());
            this->button_DD = (gcnew System::Windows::Forms::Button());
            this->button_UU = (gcnew System::Windows::Forms::Button());
            this->trackBar_Power = (gcnew System::Windows::Forms::TrackBar());
            this->timer1 = (gcnew System::Windows::Forms::Timer(this->components));
            this->groupBox1 = (gcnew System::Windows::Forms::GroupBox());
            this->label6 = (gcnew System::Windows::Forms::Label());
            this->label5 = (gcnew System::Windows::Forms::Label());
            this->label4 = (gcnew System::Windows::Forms::Label());
            this->label3 = (gcnew System::Windows::Forms::Label());
            this->label2 = (gcnew System::Windows::Forms::Label());
            this->label1 = (gcnew System::Windows::Forms::Label());
            this->button1 = (gcnew System::Windows::Forms::Button());
            this->label7 = (gcnew System::Windows::Forms::Label());
            this->label8 = (gcnew System::Windows::Forms::Label());
            this->groupBox_Server->SuspendLayout();
            (cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Server_Port))->BeginInit();
            this->groupBox_Acc->SuspendLayout();
            this->groupBox_Gyr->SuspendLayout();
            this->groupBox_Pos->SuspendLayout();
            this->groupBox_Input->SuspendLayout();
            (cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->trackBar_Power))->BeginInit();
            this->groupBox1->SuspendLayout();
            this->SuspendLayout();
            // 
            // groupBox_Server
            // 
            this->groupBox_Server->Controls->Add(this->label_Addr);
            this->groupBox_Server->Controls->Add(this->button_Connect);
            this->groupBox_Server->Controls->Add(this->numericUpDown_Server_Port);
            this->groupBox_Server->Controls->Add(this->textBox_Server_Addr);
            this->groupBox_Server->Controls->Add(this->label_Port);
            this->groupBox_Server->Dock = System::Windows::Forms::DockStyle::Top;
            this->groupBox_Server->Location = System::Drawing::Point(0, 0);
            this->groupBox_Server->Margin = System::Windows::Forms::Padding(4);
            this->groupBox_Server->Name = L"groupBox_Server";
            this->groupBox_Server->Padding = System::Windows::Forms::Padding(4);
            this->groupBox_Server->Size = System::Drawing::Size(533, 110);
            this->groupBox_Server->TabIndex = 0;
            this->groupBox_Server->TabStop = false;
            this->groupBox_Server->Text = L"Server";
            // 
            // label_Addr
            // 
            this->label_Addr->AutoSize = true;
            this->label_Addr->Location = System::Drawing::Point(5, 26);
            this->label_Addr->Name = L"label_Addr";
            this->label_Addr->Size = System::Drawing::Size(39, 16);
            this->label_Addr->TabIndex = 5;
            this->label_Addr->Text = L"Addr:";
            // 
            // button_Connect
            // 
            this->button_Connect->Location = System::Drawing::Point(153, 66);
            this->button_Connect->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->button_Connect->Name = L"button_Connect";
            this->button_Connect->Size = System::Drawing::Size(116, 27);
            this->button_Connect->TabIndex = 4;
            this->button_Connect->Text = L"Connect";
            this->button_Connect->UseVisualStyleBackColor = true;
            this->button_Connect->Click += gcnew System::EventHandler(this, &FormMain::button_Connect_Click);
            // 
            // numericUpDown_Server_Port
            // 
            this->numericUpDown_Server_Port->Location = System::Drawing::Point(56, 66);
            this->numericUpDown_Server_Port->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->numericUpDown_Server_Port->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 65000, 0, 0, 0 });
            this->numericUpDown_Server_Port->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
            this->numericUpDown_Server_Port->Name = L"numericUpDown_Server_Port";
            this->numericUpDown_Server_Port->Size = System::Drawing::Size(93, 22);
            this->numericUpDown_Server_Port->TabIndex = 3;
            this->numericUpDown_Server_Port->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1001, 0, 0, 0 });
            // 
            // textBox_Server_Addr
            // 
            this->textBox_Server_Addr->Location = System::Drawing::Point(56, 23);
            this->textBox_Server_Addr->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->textBox_Server_Addr->Name = L"textBox_Server_Addr";
            this->textBox_Server_Addr->Size = System::Drawing::Size(215, 22);
            this->textBox_Server_Addr->TabIndex = 2;
            this->textBox_Server_Addr->Text = L"127.0.0.1";
            // 
            // label_Port
            // 
            this->label_Port->AutoSize = true;
            this->label_Port->Location = System::Drawing::Point(5, 70);
            this->label_Port->Name = L"label_Port";
            this->label_Port->Size = System::Drawing::Size(34, 16);
            this->label_Port->TabIndex = 1;
            this->label_Port->Text = L"Port:";
            // 
            // groupBox_Acc
            // 
            this->groupBox_Acc->Controls->Add(this->label_time_acc);
            this->groupBox_Acc->Controls->Add(this->label_Acc_Z);
            this->groupBox_Acc->Controls->Add(this->label_Acc_Y);
            this->groupBox_Acc->Controls->Add(this->label_Acc_X);
            this->groupBox_Acc->Controls->Add(this->label_Acc_Z_Info);
            this->groupBox_Acc->Controls->Add(this->label_Acc_Y_Info);
            this->groupBox_Acc->Controls->Add(this->label_Acc_X_Info);
            this->groupBox_Acc->Location = System::Drawing::Point(8, 116);
            this->groupBox_Acc->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->groupBox_Acc->Name = L"groupBox_Acc";
            this->groupBox_Acc->Padding = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->groupBox_Acc->Size = System::Drawing::Size(101, 137);
            this->groupBox_Acc->TabIndex = 1;
            this->groupBox_Acc->TabStop = false;
            this->groupBox_Acc->Text = L"Acc";
            // 
            // label_time_acc
            // 
            this->label_time_acc->AutoSize = true;
            this->label_time_acc->Location = System::Drawing::Point(7, 118);
            this->label_time_acc->Name = L"label_time_acc";
            this->label_time_acc->Size = System::Drawing::Size(14, 16);
            this->label_time_acc->TabIndex = 6;
            this->label_time_acc->Text = L"0";
            // 
            // label_Acc_Z
            // 
            this->label_Acc_Z->AutoSize = true;
            this->label_Acc_Z->Location = System::Drawing::Point(23, 75);
            this->label_Acc_Z->Name = L"label_Acc_Z";
            this->label_Acc_Z->Size = System::Drawing::Size(14, 16);
            this->label_Acc_Z->TabIndex = 5;
            this->label_Acc_Z->Text = L"0";
            // 
            // label_Acc_Y
            // 
            this->label_Acc_Y->AutoSize = true;
            this->label_Acc_Y->Location = System::Drawing::Point(23, 48);
            this->label_Acc_Y->Name = L"label_Acc_Y";
            this->label_Acc_Y->Size = System::Drawing::Size(14, 16);
            this->label_Acc_Y->TabIndex = 4;
            this->label_Acc_Y->Text = L"0";
            // 
            // label_Acc_X
            // 
            this->label_Acc_X->AutoSize = true;
            this->label_Acc_X->Location = System::Drawing::Point(23, 20);
            this->label_Acc_X->Name = L"label_Acc_X";
            this->label_Acc_X->Size = System::Drawing::Size(14, 16);
            this->label_Acc_X->TabIndex = 3;
            this->label_Acc_X->Text = L"0";
            // 
            // label_Acc_Z_Info
            // 
            this->label_Acc_Z_Info->AutoSize = true;
            this->label_Acc_Z_Info->Location = System::Drawing::Point(5, 75);
            this->label_Acc_Z_Info->Name = L"label_Acc_Z_Info";
            this->label_Acc_Z_Info->Size = System::Drawing::Size(21, 16);
            this->label_Acc_Z_Info->TabIndex = 2;
            this->label_Acc_Z_Info->Text = L"Z: ";
            // 
            // label_Acc_Y_Info
            // 
            this->label_Acc_Y_Info->AutoSize = true;
            this->label_Acc_Y_Info->Location = System::Drawing::Point(4, 48);
            this->label_Acc_Y_Info->Name = L"label_Acc_Y_Info";
            this->label_Acc_Y_Info->Size = System::Drawing::Size(22, 16);
            this->label_Acc_Y_Info->TabIndex = 1;
            this->label_Acc_Y_Info->Text = L"Y: ";
            // 
            // label_Acc_X_Info
            // 
            this->label_Acc_X_Info->AutoSize = true;
            this->label_Acc_X_Info->Location = System::Drawing::Point(5, 20);
            this->label_Acc_X_Info->Name = L"label_Acc_X_Info";
            this->label_Acc_X_Info->Size = System::Drawing::Size(21, 16);
            this->label_Acc_X_Info->TabIndex = 0;
            this->label_Acc_X_Info->Text = L"X: ";
            // 
            // groupBox_Gyr
            // 
            this->groupBox_Gyr->Controls->Add(this->label_time_gyr);
            this->groupBox_Gyr->Controls->Add(this->label_Gyr_Z);
            this->groupBox_Gyr->Controls->Add(this->label_Gyr_Y);
            this->groupBox_Gyr->Controls->Add(this->label_Gyr_X);
            this->groupBox_Gyr->Controls->Add(this->label_Gyr_Z_Info);
            this->groupBox_Gyr->Controls->Add(this->label_Gyr_Y_Info);
            this->groupBox_Gyr->Controls->Add(this->label_Gyr_X_Info);
            this->groupBox_Gyr->Location = System::Drawing::Point(123, 116);
            this->groupBox_Gyr->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->groupBox_Gyr->Name = L"groupBox_Gyr";
            this->groupBox_Gyr->Padding = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->groupBox_Gyr->Size = System::Drawing::Size(96, 137);
            this->groupBox_Gyr->TabIndex = 6;
            this->groupBox_Gyr->TabStop = false;
            this->groupBox_Gyr->Text = L"Gyr";
            // 
            // label_time_gyr
            // 
            this->label_time_gyr->AutoSize = true;
            this->label_time_gyr->Location = System::Drawing::Point(4, 118);
            this->label_time_gyr->Name = L"label_time_gyr";
            this->label_time_gyr->Size = System::Drawing::Size(14, 16);
            this->label_time_gyr->TabIndex = 7;
            this->label_time_gyr->Text = L"0";
            // 
            // label_Gyr_Z
            // 
            this->label_Gyr_Z->AutoSize = true;
            this->label_Gyr_Z->Location = System::Drawing::Point(23, 75);
            this->label_Gyr_Z->Name = L"label_Gyr_Z";
            this->label_Gyr_Z->Size = System::Drawing::Size(14, 16);
            this->label_Gyr_Z->TabIndex = 5;
            this->label_Gyr_Z->Text = L"0";
            // 
            // label_Gyr_Y
            // 
            this->label_Gyr_Y->AutoSize = true;
            this->label_Gyr_Y->Location = System::Drawing::Point(23, 48);
            this->label_Gyr_Y->Name = L"label_Gyr_Y";
            this->label_Gyr_Y->Size = System::Drawing::Size(14, 16);
            this->label_Gyr_Y->TabIndex = 4;
            this->label_Gyr_Y->Text = L"0";
            // 
            // label_Gyr_X
            // 
            this->label_Gyr_X->AutoSize = true;
            this->label_Gyr_X->Location = System::Drawing::Point(23, 20);
            this->label_Gyr_X->Name = L"label_Gyr_X";
            this->label_Gyr_X->Size = System::Drawing::Size(14, 16);
            this->label_Gyr_X->TabIndex = 3;
            this->label_Gyr_X->Text = L"0";
            // 
            // label_Gyr_Z_Info
            // 
            this->label_Gyr_Z_Info->AutoSize = true;
            this->label_Gyr_Z_Info->Location = System::Drawing::Point(5, 75);
            this->label_Gyr_Z_Info->Name = L"label_Gyr_Z_Info";
            this->label_Gyr_Z_Info->Size = System::Drawing::Size(21, 16);
            this->label_Gyr_Z_Info->TabIndex = 2;
            this->label_Gyr_Z_Info->Text = L"Z: ";
            // 
            // label_Gyr_Y_Info
            // 
            this->label_Gyr_Y_Info->AutoSize = true;
            this->label_Gyr_Y_Info->Location = System::Drawing::Point(4, 48);
            this->label_Gyr_Y_Info->Name = L"label_Gyr_Y_Info";
            this->label_Gyr_Y_Info->Size = System::Drawing::Size(22, 16);
            this->label_Gyr_Y_Info->TabIndex = 1;
            this->label_Gyr_Y_Info->Text = L"Y: ";
            // 
            // label_Gyr_X_Info
            // 
            this->label_Gyr_X_Info->AutoSize = true;
            this->label_Gyr_X_Info->Location = System::Drawing::Point(5, 20);
            this->label_Gyr_X_Info->Name = L"label_Gyr_X_Info";
            this->label_Gyr_X_Info->Size = System::Drawing::Size(21, 16);
            this->label_Gyr_X_Info->TabIndex = 0;
            this->label_Gyr_X_Info->Text = L"X: ";
            // 
            // groupBox_Pos
            // 
            this->groupBox_Pos->Controls->Add(this->label_time_range);
            this->groupBox_Pos->Controls->Add(this->label_Pos_L);
            this->groupBox_Pos->Controls->Add(this->label_Pos_Y);
            this->groupBox_Pos->Controls->Add(this->label_Pos_X);
            this->groupBox_Pos->Controls->Add(this->label_Pos_L_Info);
            this->groupBox_Pos->Controls->Add(this->label_Pos_Y_Info);
            this->groupBox_Pos->Controls->Add(this->label_Pos_X_Info);
            this->groupBox_Pos->Location = System::Drawing::Point(236, 116);
            this->groupBox_Pos->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->groupBox_Pos->Name = L"groupBox_Pos";
            this->groupBox_Pos->Padding = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->groupBox_Pos->Size = System::Drawing::Size(96, 137);
            this->groupBox_Pos->TabIndex = 7;
            this->groupBox_Pos->TabStop = false;
            this->groupBox_Pos->Text = L"Pos";
            // 
            // label_time_range
            // 
            this->label_time_range->AutoSize = true;
            this->label_time_range->Location = System::Drawing::Point(5, 118);
            this->label_time_range->Name = L"label_time_range";
            this->label_time_range->Size = System::Drawing::Size(14, 16);
            this->label_time_range->TabIndex = 8;
            this->label_time_range->Text = L"0";
            // 
            // label_Pos_L
            // 
            this->label_Pos_L->AutoSize = true;
            this->label_Pos_L->Location = System::Drawing::Point(23, 75);
            this->label_Pos_L->Name = L"label_Pos_L";
            this->label_Pos_L->Size = System::Drawing::Size(14, 16);
            this->label_Pos_L->TabIndex = 5;
            this->label_Pos_L->Text = L"0";
            // 
            // label_Pos_Y
            // 
            this->label_Pos_Y->AutoSize = true;
            this->label_Pos_Y->Location = System::Drawing::Point(23, 48);
            this->label_Pos_Y->Name = L"label_Pos_Y";
            this->label_Pos_Y->Size = System::Drawing::Size(14, 16);
            this->label_Pos_Y->TabIndex = 4;
            this->label_Pos_Y->Text = L"0";
            // 
            // label_Pos_X
            // 
            this->label_Pos_X->AutoSize = true;
            this->label_Pos_X->Location = System::Drawing::Point(23, 20);
            this->label_Pos_X->Name = L"label_Pos_X";
            this->label_Pos_X->Size = System::Drawing::Size(14, 16);
            this->label_Pos_X->TabIndex = 3;
            this->label_Pos_X->Text = L"0";
            // 
            // label_Pos_L_Info
            // 
            this->label_Pos_L_Info->AutoSize = true;
            this->label_Pos_L_Info->Location = System::Drawing::Point(5, 75);
            this->label_Pos_L_Info->Name = L"label_Pos_L_Info";
            this->label_Pos_L_Info->Size = System::Drawing::Size(17, 16);
            this->label_Pos_L_Info->TabIndex = 2;
            this->label_Pos_L_Info->Text = L"L:";
            // 
            // label_Pos_Y_Info
            // 
            this->label_Pos_Y_Info->AutoSize = true;
            this->label_Pos_Y_Info->Location = System::Drawing::Point(4, 48);
            this->label_Pos_Y_Info->Name = L"label_Pos_Y_Info";
            this->label_Pos_Y_Info->Size = System::Drawing::Size(22, 16);
            this->label_Pos_Y_Info->TabIndex = 1;
            this->label_Pos_Y_Info->Text = L"Y: ";
            // 
            // label_Pos_X_Info
            // 
            this->label_Pos_X_Info->AutoSize = true;
            this->label_Pos_X_Info->Location = System::Drawing::Point(5, 20);
            this->label_Pos_X_Info->Name = L"label_Pos_X_Info";
            this->label_Pos_X_Info->Size = System::Drawing::Size(21, 16);
            this->label_Pos_X_Info->TabIndex = 0;
            this->label_Pos_X_Info->Text = L"X: ";
            // 
            // groupBox_Input
            // 
            this->groupBox_Input->Controls->Add(this->label_Pow);
            this->groupBox_Input->Controls->Add(this->button_RR);
            this->groupBox_Input->Controls->Add(this->button_LL);
            this->groupBox_Input->Controls->Add(this->button_MR);
            this->groupBox_Input->Controls->Add(this->button_ML);
            this->groupBox_Input->Controls->Add(this->button_DD);
            this->groupBox_Input->Controls->Add(this->button_UU);
            this->groupBox_Input->Controls->Add(this->trackBar_Power);
            this->groupBox_Input->Location = System::Drawing::Point(8, 257);
            this->groupBox_Input->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->groupBox_Input->Name = L"groupBox_Input";
            this->groupBox_Input->Padding = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->groupBox_Input->Size = System::Drawing::Size(325, 345);
            this->groupBox_Input->TabIndex = 8;
            this->groupBox_Input->TabStop = false;
            // 
            // label_Pow
            // 
            this->label_Pow->AutoSize = true;
            this->label_Pow->Location = System::Drawing::Point(137, 256);
            this->label_Pow->Margin = System::Windows::Forms::Padding(4, 0, 4, 0);
            this->label_Pow->Name = L"label_Pow";
            this->label_Pow->Size = System::Drawing::Size(14, 16);
            this->label_Pow->TabIndex = 10;
            this->label_Pow->Text = L"0";
            // 
            // button_RR
            // 
            this->button_RR->Location = System::Drawing::Point(228, 165);
            this->button_RR->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->button_RR->Name = L"button_RR";
            this->button_RR->Size = System::Drawing::Size(77, 25);
            this->button_RR->TabIndex = 9;
            this->button_RR->Text = L"RR";
            this->button_RR->UseVisualStyleBackColor = true;
            this->button_RR->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_RR_MouseDown);
            this->button_RR->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_RR_MouseUp);
            // 
            // button_LL
            // 
            this->button_LL->Location = System::Drawing::Point(8, 165);
            this->button_LL->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->button_LL->Name = L"button_LL";
            this->button_LL->Size = System::Drawing::Size(77, 25);
            this->button_LL->TabIndex = 8;
            this->button_LL->Text = L"LL";
            this->button_LL->UseVisualStyleBackColor = true;
            this->button_LL->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_LL_MouseDown);
            this->button_LL->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_LL_MouseUp);
            // 
            // button_MR
            // 
            this->button_MR->Location = System::Drawing::Point(228, 37);
            this->button_MR->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->button_MR->Name = L"button_MR";
            this->button_MR->Size = System::Drawing::Size(77, 25);
            this->button_MR->TabIndex = 7;
            this->button_MR->Text = L"->";
            this->button_MR->UseVisualStyleBackColor = true;
            this->button_MR->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_MR_MouseDown);
            this->button_MR->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_MR_MouseUp);
            // 
            // button_ML
            // 
            this->button_ML->Location = System::Drawing::Point(8, 37);
            this->button_ML->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->button_ML->Name = L"button_ML";
            this->button_ML->Size = System::Drawing::Size(77, 25);
            this->button_ML->TabIndex = 6;
            this->button_ML->Text = L"<-";
            this->button_ML->UseVisualStyleBackColor = true;
            this->button_ML->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_ML_MouseDown);
            this->button_ML->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_ML_MouseUp);
            // 
            // button_DD
            // 
            this->button_DD->Location = System::Drawing::Point(107, 308);
            this->button_DD->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->button_DD->Name = L"button_DD";
            this->button_DD->Size = System::Drawing::Size(77, 25);
            this->button_DD->TabIndex = 5;
            this->button_DD->Text = L"DD";
            this->button_DD->UseVisualStyleBackColor = true;
            this->button_DD->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_DD_MouseDown);
            this->button_DD->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_DD_MouseUp);
            // 
            // button_UU
            // 
            this->button_UU->Location = System::Drawing::Point(115, 37);
            this->button_UU->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->button_UU->Name = L"button_UU";
            this->button_UU->Size = System::Drawing::Size(77, 25);
            this->button_UU->TabIndex = 4;
            this->button_UU->Text = L"UU";
            this->button_UU->UseVisualStyleBackColor = true;
            this->button_UU->MouseDown += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_UU_MouseDown);
            this->button_UU->MouseUp += gcnew System::Windows::Forms::MouseEventHandler(this, &FormMain::button_UU_MouseUp);
            // 
            // trackBar_Power
            // 
            this->trackBar_Power->Location = System::Drawing::Point(132, 85);
            this->trackBar_Power->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->trackBar_Power->Maximum = 100;
            this->trackBar_Power->Name = L"trackBar_Power";
            this->trackBar_Power->Orientation = System::Windows::Forms::Orientation::Vertical;
            this->trackBar_Power->RightToLeft = System::Windows::Forms::RightToLeft::No;
            this->trackBar_Power->Size = System::Drawing::Size(56, 169);
            this->trackBar_Power->TabIndex = 0;
            this->trackBar_Power->Scroll += gcnew System::EventHandler(this, &FormMain::trackBar_Power_Scroll);
            // 
            // timer1
            // 
            this->timer1->Enabled = true;
            this->timer1->Interval = 10;
            this->timer1->Tick += gcnew System::EventHandler(this, &FormMain::timer1_Tick);
            // 
            // groupBox1
            // 
            this->groupBox1->Controls->Add(this->label6);
            this->groupBox1->Controls->Add(this->label5);
            this->groupBox1->Controls->Add(this->label4);
            this->groupBox1->Controls->Add(this->label3);
            this->groupBox1->Controls->Add(this->label2);
            this->groupBox1->Controls->Add(this->label1);
            this->groupBox1->Controls->Add(this->button1);
            this->groupBox1->Dock = System::Windows::Forms::DockStyle::Top;
            this->groupBox1->Location = System::Drawing::Point(0, 110);
            this->groupBox1->Name = L"groupBox1";
            this->groupBox1->Size = System::Drawing::Size(533, 100);
            this->groupBox1->TabIndex = 9;
            this->groupBox1->TabStop = false;
            this->groupBox1->Text = L"groupBox1";
            // 
            // label6
            // 
            this->label6->AutoSize = true;
            this->label6->Location = System::Drawing::Point(365, 72);
            this->label6->Name = L"label6";
            this->label6->Size = System::Drawing::Size(44, 16);
            this->label6->TabIndex = 6;
            this->label6->Text = L"label6";
            // 
            // label5
            // 
            this->label5->AutoSize = true;
            this->label5->Location = System::Drawing::Point(365, 45);
            this->label5->Name = L"label5";
            this->label5->Size = System::Drawing::Size(44, 16);
            this->label5->TabIndex = 5;
            this->label5->Text = L"label5";
            // 
            // label4
            // 
            this->label4->AutoSize = true;
            this->label4->Location = System::Drawing::Point(365, 18);
            this->label4->Name = L"label4";
            this->label4->Size = System::Drawing::Size(44, 16);
            this->label4->TabIndex = 4;
            this->label4->Text = L"label4";
            // 
            // label3
            // 
            this->label3->AutoSize = true;
            this->label3->Location = System::Drawing::Point(321, 72);
            this->label3->Name = L"label3";
            this->label3->Size = System::Drawing::Size(34, 16);
            this->label3->TabIndex = 3;
            this->label3->Text = L"yaw:";
            this->label3->TextAlign = System::Drawing::ContentAlignment::TopCenter;
            // 
            // label2
            // 
            this->label2->AutoSize = true;
            this->label2->Location = System::Drawing::Point(321, 45);
            this->label2->Name = L"label2";
            this->label2->Size = System::Drawing::Size(28, 16);
            this->label2->TabIndex = 2;
            this->label2->Text = L"roll:";
            // 
            // label1
            // 
            this->label1->AutoSize = true;
            this->label1->Location = System::Drawing::Point(321, 18);
            this->label1->Name = L"label1";
            this->label1->Size = System::Drawing::Size(38, 16);
            this->label1->TabIndex = 1;
            this->label1->Text = L"pitch:";
            // 
            // button1
            // 
            this->button1->Location = System::Drawing::Point(28, 27);
            this->button1->Name = L"button1";
            this->button1->Size = System::Drawing::Size(121, 23);
            this->button1->TabIndex = 0;
            this->button1->Text = L"connect ws";
            this->button1->UseVisualStyleBackColor = true;
            this->button1->Click += gcnew System::EventHandler(this, &FormMain::button1_Click);
            // 
            // label7
            // 
            this->label7->AutoSize = true;
            this->label7->Location = System::Drawing::Point(415, 243);
            this->label7->Name = L"label7";
            this->label7->Size = System::Drawing::Size(44, 16);
            this->label7->TabIndex = 10;
            this->label7->Text = L"label7";
            // 
            // label8
            // 
            this->label8->AutoSize = true;
            this->label8->Location = System::Drawing::Point(418, 263);
            this->label8->Name = L"label8";
            this->label8->Size = System::Drawing::Size(44, 16);
            this->label8->TabIndex = 11;
            this->label8->Text = L"label8";
            // 
            // FormMain
            // 
            this->AutoScaleDimensions = System::Drawing::SizeF(8, 16);
            this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
            this->ClientSize = System::Drawing::Size(533, 610);
            this->Controls->Add(this->label8);
            this->Controls->Add(this->label7);
            this->Controls->Add(this->groupBox1);
            this->Controls->Add(this->groupBox_Input);
            this->Controls->Add(this->groupBox_Pos);
            this->Controls->Add(this->groupBox_Gyr);
            this->Controls->Add(this->groupBox_Acc);
            this->Controls->Add(this->groupBox_Server);
            this->Margin = System::Windows::Forms::Padding(3, 2, 3, 2);
            this->Name = L"FormMain";
            this->Text = L"FormMain";
            this->groupBox_Server->ResumeLayout(false);
            this->groupBox_Server->PerformLayout();
            (cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Server_Port))->EndInit();
            this->groupBox_Acc->ResumeLayout(false);
            this->groupBox_Acc->PerformLayout();
            this->groupBox_Gyr->ResumeLayout(false);
            this->groupBox_Gyr->PerformLayout();
            this->groupBox_Pos->ResumeLayout(false);
            this->groupBox_Pos->PerformLayout();
            this->groupBox_Input->ResumeLayout(false);
            this->groupBox_Input->PerformLayout();
            (cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->trackBar_Power))->EndInit();
            this->groupBox1->ResumeLayout(false);
            this->groupBox1->PerformLayout();
            this->ResumeLayout(false);
            this->PerformLayout();

        }
#pragma endregion


    private: System::Void button_Connect_Click(System::Object^ sender, System::EventArgs^ e)
    {
        NetClient::ClientState done = netClient->Connect(
            textBox_Server_Addr->Text,
            (int)numericUpDown_Server_Port->Value,
            gcnew NetClient::ClientCallback(this, &FormMain::ConnectionCallback),
            gcnew NetClient::ClientCallback(this, &FormMain::ReceiveCallback));

        switch (done)
        {
        case NetClient::ClientState::Error:
            MessageBox::Show("Error connecting to server");
            break;
        case NetClient::ClientState::Connected:
            button_Connect->Text = "Disconnect";
            button_Connect->BackColor = Color::LimeGreen;
            break;
        case NetClient::ClientState::Stop:
            button_Connect->Text = "Connect";
            button_Connect->BackColor = Color::Transparent;
            break;
        }
    }

    private: System::Void trackBar_Power_Scroll(System::Object^ sender, System::EventArgs^ e)
    {
        float pow = (float)trackBar_Power->Value / 100.0f;
        label_Pow->Text = pow.ToString("F2");
        dataDrone->MotorUL = dataDrone->MotorUR = dataDrone->MotorDL = dataDrone->MotorDR = pow;
    }

    private: System::Void button_UU_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        dataDrone->MotorUL -= pow; dataDrone->MotorUR -= pow;
        dataDrone->MotorDL += pow; dataDrone->MotorDR += pow;
    }

    private: System::Void button_DD_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {

        dataDrone->MotorUL += pow; dataDrone->MotorUR += pow;
        dataDrone->MotorDL -= pow; dataDrone->MotorDR -= pow;
    }

    private: System::Void button_LL_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        dataDrone->MotorUL -= pow; dataDrone->MotorUR += pow;
        dataDrone->MotorDL -= pow; dataDrone->MotorDR += pow;
    }

    private: System::Void button_RR_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        dataDrone->MotorUL += pow; dataDrone->MotorUR -= pow;
        dataDrone->MotorDL += pow; dataDrone->MotorDR -= pow;
    }

    private: System::Void button_ML_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        dataDrone->MotorUL -= pow; dataDrone->MotorUR += pow;
        dataDrone->MotorDL += pow; dataDrone->MotorDR -= pow;
    }

    private: System::Void button_MR_MouseDown(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        dataDrone->MotorUL += pow; dataDrone->MotorUR -= pow;
        dataDrone->MotorDL -= pow; dataDrone->MotorDR += pow;
    }

    private: System::Void button_UU_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        trackBar_Power_Scroll(nullptr, nullptr); // Сброс мощности до значения ползунка
    }

    private: System::Void button_DD_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        trackBar_Power_Scroll(nullptr, nullptr);
    }

    private: System::Void button_LL_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        trackBar_Power_Scroll(nullptr, nullptr);
    }

    private: System::Void button_RR_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        trackBar_Power_Scroll(nullptr, nullptr);
    }

    private: System::Void button_ML_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        trackBar_Power_Scroll(nullptr, nullptr);
    }

    private: System::Void button_MR_MouseUp(System::Object^ sender, System::Windows::Forms::MouseEventArgs^ e)
    {
        trackBar_Power_Scroll(nullptr, nullptr);
    }

    private: System::Void timer1_Tick(System::Object^ sender, System::EventArgs^ e)
    {
        label_Acc_X->Text = dataDrone->AccX.ToString("F3");
        label_Acc_Y->Text = dataDrone->AccY.ToString("F3");
        label_Acc_Z->Text = dataDrone->AccZ.ToString("F3");
        label_time_acc->Text = dataDrone->TimeAcc.ToString();

        label_Gyr_X->Text = dataDrone->GyrX.ToString("F3");
        label_Gyr_Y->Text = dataDrone->GyrY.ToString("F3");
        label_Gyr_Z->Text = dataDrone->GyrZ.ToString("F3");
        label_time_gyr->Text = dataDrone->TimeGyr.ToString();

        label_Pos_X->Text = dataDrone->PosX.ToString("F3");
        label_Pos_Y->Text = dataDrone->PosY.ToString("F3");
        label_Pos_L->Text = dataDrone->LaserRange.ToString("F3");
        label_time_range->Text = dataDrone->TimeRange.ToString();


        label4->Text = dataDrone->pitch.ToString("F3");
        label5->Text = dataDrone->roll.ToString("F3");
        label6->Text = dataDrone->yaw.ToString("F3");
        label7->Text = dataDrone->desPitch.ToString("F3");
        label8->Text = dataDrone->desRoll.ToString("F3");
        // Отправка запроса серверу, как в C#
        netClient->Send(dataDrone->SendRequest());
    }

    private: System::Void button1_Click(System::Object^ sender, System::EventArgs^ e) {
        if (!wsClient->IsConnected)
        {
            // Пытаемся подключиться к Node‑серверу
            if (wsClient->Connect("ws://localhost:8080/"))
            {
                // -------- старт потока -------------
                wsClient->_runTx = true;
                wsClient->_txThread = gcnew System::Threading::Thread(
                    gcnew System::Threading::ParameterizedThreadStart(
                        wsClient, &WsServer::TxLoop));
                wsClient->_txThread->IsBackground = true;
                wsClient->_txThread->Start(dataDrone);   // <-- передаём Drone^
                // -----------------------------------

                button1->Text = "disconnect ws";
                button1->BackColor = System::Drawing::Color::LimeGreen;
            }
            else
            {
                System::Windows::Forms::MessageBox::Show("Не удалось подключиться");
            }
        }
        else
        {
            wsClient->_runTx = false;
            if (wsClient->_txThread && wsClient->_txThread->IsAlive)
                wsClient->_txThread->Join();             // ждём завершения


            wsClient->Disconnect();
            button1->Text = "connect ws";
            button1->BackColor = System::Drawing::Color::Transparent;
        }
    }


    };
}