Simulator/DroneSimulator/DroneData.cs

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));
  }
}