forked from CPL/Simulator
67 lines
1.6 KiB
C++
67 lines
1.6 KiB
C++
#pragma once
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#include "DroneData.h"
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#include <Windows.h>
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#include <vcclr.h>
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#include "Orientation.h"
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#include "joypad.h"
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#using <System.dll>
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#using <mscorlib.dll>
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using namespace System;
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using namespace System::Collections::Generic;
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using namespace System::Runtime::InteropServices;
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namespace DroneClient {
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public ref class Drone
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{
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public:
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float AccX, AccY, AccZ;
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float GyrX, GyrY, GyrZ;
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unsigned int TimeAcc, TimeGyr;
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float PosX, PosY;
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float LaserRange;
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unsigned int TimeRange;
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float MotorUL, MotorUR, MotorDL, MotorDR;
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float pitch, roll, yaw;
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float desPitch, desRoll, desYaw;
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Joypad^ joy;
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static array<Byte>^ GetBytes(Object^ data);
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static Object^ FromBytes(array<Byte>^ arr, Type^ type);
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private:
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array<Byte>^ SendDataMotor4();
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array<Byte>^ RecvDataAcc(array<Byte>^ data);
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array<Byte>^ RecvDataGyr(array<Byte>^ data);
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array<Byte>^ RecvDataRange(array<Byte>^ data);
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array<Byte>^ RecvDataLocal(array<Byte>^ data);
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array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);
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void setMotors();
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literal int DroneStreamCount = 512;
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array<Byte>^ DroneStreamData;
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int DroneStreamIndex;
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DroneData::DataHead DroneStreamHead;
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public:
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Drone(); // Конструктор для инициализации
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System::Collections::Generic::List<array<Byte>^>^ DataStream(array<Byte>^ data, int size);
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array<Byte>^ SendRequest();
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void updateData();
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};
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} |