Simulator/DroneClientCpp/DroneClient.h

#pragma once

#include <Windows.h>
#include <vcclr.h>

#using <System.dll>
#using <mscorlib.dll>

using namespace System;
using namespace System::Runtime::InteropServices;

namespace DroneClient {

    public ref class Drone
    {
    public:
        value struct DataOut
        {
            float AccX, AccY, AccZ;
            float GyrX, GyrY, GyrZ;
            float PosX, PosY;
            float LaserRange;
        };

        value struct DataIn
        {
            float MotorUL, MotorUR, MotorDL, MotorDR;
        };

        static array<Byte>^ GetBytes(Object^ data)
        {
            int size = Marshal::SizeOf(data);
            array<Byte>^ arr = gcnew array<Byte>(size);

            IntPtr ptr = IntPtr::Zero;
            try
            {
                ptr = Marshal::AllocHGlobal(size);
                Marshal::StructureToPtr(data, ptr, true);
                Marshal::Copy(ptr, arr, 0, size);
            }
            finally
            {
                Marshal::FreeHGlobal(ptr);
            }
            return arr;
        }

        static Object^ FromBytes(array<Byte>^ arr, Type^ type)
        {
            int size = Marshal::SizeOf(type);
            IntPtr ptr = IntPtr::Zero;
            try
            {
                ptr = Marshal::AllocHGlobal(size);
                Marshal::Copy(arr, 0, ptr, size);
                return Marshal::PtrToStructure(ptr, type);
            }
            finally
            {
                Marshal::FreeHGlobal(ptr);
            }
        }
    };
}