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cpp

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This commit is contained in:
Sergey Sklyarov 2025-04-11 14:56:04 +03:00
parent 6aeb99968e
commit 64c0637e6a
20 changed files with 1206 additions and 1 deletions
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3
.gitignore vendored
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.vs/ .vs/
obj/ obj/
bin/ bin/
x64/

106
DroneClientCpp/Client.cpp Normal file
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#pragma once
#include "Client.h"
Client::Client(const char* ip, int port) : running(true), Connection(INVALID_SOCKET)
{
if (!ConnectToServer(ip, port))
{
std::cerr << "Failed to connect to server!" << std::endl;
}
}
Client::~Client()
{
Stop();
CloseConnection();
}
bool Client::ConnectToServer(const char* ip, int port)
{
WSAData wsaData;
WORD DLLVersion = MAKEWORD(2, 2);
if (WSAStartup(DLLVersion, &wsaData) != 0)
{
std::cerr << "Error: WSAStartup failed" << std::endl;
return false;
}
SOCKADDR_IN addr;
inet_pton(AF_INET, ip, &addr.sin_addr);
addr.sin_port = htons(port);
addr.sin_family = AF_INET;
Connection = socket(AF_INET, SOCK_STREAM, 0);
if (Connection == INVALID_SOCKET)
{
std::cerr << "Error: Failed to create socket" << std::endl;
WSACleanup();
return false;
}
if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
{
std::cerr << "Error: Failed to connect to server" << std::endl;
closesocket(Connection);
WSACleanup();
return false;
}
return true;
}
void Client::CloseConnection()
{
if (Connection != INVALID_SOCKET)
{
closesocket(Connection);
WSACleanup();
Connection = INVALID_SOCKET;
}
}
void Client::ReceiveHandler()
{
while (running)
{
DataIn tempData;
int result = recv(Connection, (char*)&tempData, sizeof(tempData), 0);
if (result <= 0)
{
std::cerr << "Error: Connection lost (recv failed)" << std::endl;
running = false;
break;
}
std::lock_guard<std::mutex> lock(dataMutex);
dataIn = tempData;
}
}
void Client::SendHandler()
{
while (running)
{
{
std::lock_guard<std::mutex> lock(dataMutex);
send(Connection, (char*)&dataOut, sizeof(dataOut), 0);
}
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
}
void Client::Start()
{
recvThread = std::thread(&Client::ReceiveHandler, this);
sendThread = std::thread(&Client::SendHandler, this);
}
void Client::Stop()
{
running = false;
if (recvThread.joinable()) recvThread.join();
if (sendThread.joinable()) sendThread.join();
}

44
DroneClientCpp/Client.h Normal file
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#pragma once
#include <iostream>
#include <WinSock2.h>
#include <WS2tcpip.h>
#include <thread>
#include <atomic>
#include <mutex>
#pragma comment(lib, "Ws2_32.lib")
class Client
{
public:
Client(const char* ip, int port);
~Client();
void Start(); // Запуск потоков
void Stop(); // Остановка потоков
struct DataIn
{
float AccX, AccY, AccZ;
float GyrX, GyrY, GyrZ;
float PosX, PosY, LaserRange;
} dataIn;
struct DataOut
{
float MotorUL, MotorUR, MotorDL, MotorDR;
} dataOut;
bool ConnectToServer(const char* ip, int port);
void CloseConnection();
private:
std::atomic<bool> running;
std::mutex dataMutex;
SOCKET Connection;
std::thread recvThread;
std::thread sendThread;
void ReceiveHandler();
void SendHandler();
};

197
DroneClientCpp/Drone.cpp Normal file
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#include "Drone.h"
namespace DroneClient {
// Реализация статического метода GetBytes
array<Byte>^ Drone::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;
}
// Реализация статического метода FromBytes
Object^ Drone::FromBytes(array<Byte>^ arr, Type^ type)
{
Object^ mem = gcnew Object();
int size = Marshal::SizeOf(type);
IntPtr ptr = IntPtr::Zero;
try
{
ptr = Marshal::AllocHGlobal(size);
Marshal::Copy(arr, 0, ptr, size);
mem = Marshal::PtrToStructure(ptr, type);
}
finally
{
Marshal::FreeHGlobal(ptr);
}
return mem;
}
// Реализация приватного метода SendDataMotor4
array<Byte>^ Drone::SendDataMotor4()
{
DroneData::DataMotor4 mot4;
mot4.Head.Size = Marshal::SizeOf(DroneData::DataMotor4::typeid);
mot4.Head.Mode = DroneData::DataMode::Response;
mot4.Head.Type = DroneData::DataType::DataMotor4;
mot4.UL = MotorUL;
mot4.UR = MotorUR;
mot4.DL = MotorDL;
mot4.DR = MotorDR;
return GetBytes(mot4);
}
// Реализация приватного метода RecvDataIMU
array<Byte>^ Drone::RecvDataIMU(array<Byte>^ data)
{
DroneData::DataIMU imu = (DroneData::DataIMU)FromBytes(data, DroneData::DataIMU::typeid);
AccX = imu.Acc.X; AccY = imu.Acc.Y; AccZ = imu.Acc.Z;
GyrX = imu.Gyr.X; GyrY = imu.Gyr.Y; GyrZ = imu.Gyr.Z;
return gcnew array<Byte>(0);
}
// Реализация приватного метода RecvDataPos
array<Byte>^ Drone::RecvDataPos(array<Byte>^ data)
{
DroneData::DataPos pos = (DroneData::DataPos)FromBytes(data, DroneData::DataPos::typeid);
PosX = pos.Local.X; PosY = pos.Local.Y;
LaserRange = pos.LiDAR;
return gcnew array<Byte>(0);
}
// Реализация приватного метода ClientRequestResponse
array<Byte>^ Drone::ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body)
{
array<Byte>^ zero = gcnew array<Byte>(0);
switch (head.Type)
{
case DroneData::DataType::DataIMU:
if (head.Mode == DroneData::DataMode::Request)
{
return zero; // Запрос данных (не реализовано)
}
else
{
return RecvDataIMU(body); // Пришли данные
}
case DroneData::DataType::DataPos:
if (head.Mode == DroneData::DataMode::Request)
{
return zero; // Запрос данных (не реализовано)
}
else
{
return RecvDataPos(body); // Пришли данные
}
case DroneData::DataType::DataMotor4:
if (head.Mode == DroneData::DataMode::Request)
{
return SendDataMotor4(); // Запрос данных
}
else
{
return zero; // Пришли данные (не реализовано)
}
}
return zero;
}
// Реализация конструктора
Drone::Drone()
{
DroneStreamData = gcnew array<Byte>(DroneStreamCount); // Инициализация массива
DroneStreamIndex = 0;
DroneStreamHead.Mode = DroneData::DataMode::None;
DroneStreamHead.Size = 0;
DroneStreamHead.Type = DroneData::DataType::None;
}
// Реализация метода DataStream
System::Collections::Generic::List<array<Byte>^>^ Drone::DataStream(array<Byte>^ data, int size)
{
System::Collections::Generic::List<array<Byte>^>^ ret = gcnew System::Collections::Generic::List<array<Byte>^>();
if (data == nullptr) return ret; // Последовательность не сформирована
if (size + DroneStreamIndex > DroneStreamCount) return nullptr; // Ошибка переполнения
Array::Copy(data, 0, DroneStreamData, DroneStreamIndex, size);
DroneStreamIndex += size;
while (true)
{
if (DroneStreamHead.Size == 0) // Заголовок еще не получен
{
if (DroneStreamIndex < DroneData::DataHead::StrLen) return ret;
DroneStreamHead = (DroneData::DataHead)FromBytes(DroneStreamData, DroneData::DataHead::typeid);
}
if (DroneStreamHead.Size > DroneStreamIndex) break; // Пакет еще не полный
array<Byte>^ body = gcnew array<Byte>(DroneStreamHead.Size);
Array::Copy(DroneStreamData, 0, body, 0, DroneStreamHead.Size);
int shift = DroneStreamHead.Size;
DroneStreamIndex -= shift;
Array::Copy(DroneStreamData, shift, DroneStreamData, 0, DroneStreamIndex); // Сдвиг массива
DroneStreamHead.Size = 0; // Сброс заголовка
ret->Add(ClientRequestResponse(DroneStreamHead, body));
}
return ret;
}
// Реализация метода SendRequest
array<Byte>^ Drone::SendRequest()
{
DroneData::DataHead imu;
imu.Size = DroneData::DataHead::StrLen;
imu.Mode = DroneData::DataMode::Request;
imu.Type = DroneData::DataType::DataIMU;
DroneData::DataHead pos;
pos.Size = DroneData::DataHead::StrLen;
pos.Mode = DroneData::DataMode::Request;
pos.Type = DroneData::DataType::DataPos;
array<Byte>^ si = GetBytes(imu);
array<Byte>^ sp = GetBytes(pos);
array<Byte>^ sm = SendDataMotor4();
array<Byte>^ send = gcnew array<Byte>(si->Length + sp->Length + sm->Length);
Array::Copy(si, 0, send, 0, si->Length);
Array::Copy(sp, 0, send, si->Length, sp->Length);
Array::Copy(sm, 0, send, si->Length + sp->Length, sm->Length);
return send;
}
}

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DroneClientCpp/Drone.h Normal file
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#pragma once
#include "DroneData.h"
#include <Windows.h>
#include <vcclr.h>
#using <System.dll>
#using <mscorlib.dll>
using namespace System;
using namespace System::Collections::Generic;
using namespace System::Runtime::InteropServices;
namespace DroneClient {
public ref class Drone
{
public:
float AccX, AccY, AccZ;
float GyrX, GyrY, GyrZ;
float PosX, PosY;
float LaserRange;
float MotorUL, MotorUR, MotorDL, MotorDR;
static array<Byte>^ GetBytes(Object^ data);
static Object^ FromBytes(array<Byte>^ arr, Type^ type);
private:
array<Byte>^ SendDataMotor4();
array<Byte>^ RecvDataIMU(array<Byte>^ data);
array<Byte>^ RecvDataPos(array<Byte>^ data);
array<Byte>^ ClientRequestResponse(DroneData::DataHead head, array<Byte>^ body);
literal int DroneStreamCount = 512;
array<Byte>^ DroneStreamData;
int DroneStreamIndex;
DroneData::DataHead DroneStreamHead;
public:
Drone(); // Конструктор для инициализации
System::Collections::Generic::List<array<Byte>^>^ DataStream(array<Byte>^ data, int size);
array<Byte>^ SendRequest();
};
}

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DroneClientCpp/DroneClient.h Normal file
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#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);
}
}
};
}

28
DroneClientCpp/DroneClientCpp.sln Normal file
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Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 17
VisualStudioVersion = 17.12.35527.113
MinimumVisualStudioVersion = 10.0.40219.1
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DroneClientCpp", "DroneClientCpp.vcxproj", "{690C304C-A70B-4B0F-BF61-8C51290BF444}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|x64 = Debug|x64
Debug|x86 = Debug|x86
Release|x64 = Release|x64
Release|x86 = Release|x86
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.ActiveCfg = Debug|x64
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x64.Build.0 = Debug|x64
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.ActiveCfg = Debug|Win32
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Debug|x86.Build.0 = Debug|Win32
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.ActiveCfg = Release|x64
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x64.Build.0 = Release|x64
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.ActiveCfg = Release|Win32
{690C304C-A70B-4B0F-BF61-8C51290BF444}.Release|x86.Build.0 = Release|Win32
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal

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DroneClientCpp/DroneClientCpp.vcxproj Normal file
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<ProjectGuid>{690C304C-A70B-4B0F-BF61-8C51290BF444}</ProjectGuid>
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<ClCompile Include="FormMain.cpp" />
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<ClInclude Include="DroneData.h" />
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DroneClientCpp/DroneClientCpp.vcxproj.filters Normal file
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<?xml version="1.0" encoding="utf-8"?>
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DroneClientCpp/DroneData.h Normal file
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#pragma once
#include <Windows.h>
#include <vcclr.h>
using namespace System;
using namespace System::Runtime::InteropServices;
namespace DroneData {
public enum class DataMode : unsigned short
{
None = 0, Response = 1, Request = 2
};
public enum class DataType : unsigned short
{
None = 0, Head = 1,
DataIMU = 1001, DataPos = 1002,
DataMotor4 = 2001, DataMotor6 = 2002
};
public value struct DataHead
{
public:
int Size;
DataMode Mode;
DataType Type;
static const int StrLen = sizeof(DataHead);
};
public value struct XYZ
{
public:
float X, Y, Z;
};
public value struct DataIMU
{
public:
DataHead Head;
XYZ Acc, Gyr, Mag;
static const int StrLen = sizeof(DataIMU);
};
public value struct DataPos
{
public:
DataHead Head;
XYZ Local;
float LiDAR;
static const int StrLen = sizeof(DataPos);
};
public value struct DataMotor4
{
public:
DataHead Head;
unsigned long long Count;
float UL, UR, DL, DR;
static const int StrLen = sizeof(DataMotor4);
};
public value struct DataMotor6
{
public:
DataHead Head;
unsigned long long Count;
float UL, UR, LL, RR, DL, DR;
static const int StrLen = sizeof(DataMotor6);
};
}

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DroneClientCpp/FormMain.cpp Normal file
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#include "FormMain.h"
#include <Windows.h>
using namespace DroneClientCpp;
int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) {
Application::EnableVisualStyles();
Application::SetCompatibleTextRenderingDefault(false);
Application::Run(gcnew FormMain);
return 0;
}

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DroneClientCpp/FormMain.h Normal file
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DroneClientCpp/FormMain.resx Normal file
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<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="backgroundWorker1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
<metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>310, 17</value>
</metadata>
</root>

12
DroneClientCpp/MyForm.cpp Normal file
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#include "MyForm.h"
#include <Windows.h>
using namespace DroneClientCpp;
int WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int) {
Application::EnableVisualStyles();
Application::SetCompatibleTextRenderingDefault(false);
Application::Run(gcnew MyForm);
return 0;
}

BIN
DroneClientCpp/MyForm.h Normal file
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120
DroneClientCpp/MyForm.resx Normal file
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@ -0,0 +1,120 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>

105
DroneClientCpp/NetClient.cpp Normal file
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#include "NetClient.h"
namespace DroneSimulator {
// Конструктор ConnectData
NetClient::ConnectData::ConnectData(bool connect, Socket^ server)
{
Connect = connect;
Server = server;
}
// Конструктор ReceiveData
NetClient::ReceiveData::ReceiveData(array<Byte>^ buffer, int size, Socket^ server)
{
Buffer = buffer;
Size = size;
Server = server;
}
// Конструктор NetClient
NetClient::NetClient()
{
Connected = false;
ServerSocket = nullptr;
DataServer = gcnew ServerData(); // Инициализация DataServer
}
// Реализация метода Connect
NetClient::ClientState NetClient::Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive)
{
if (Connected)
{
Close();
return ClientState::Stop;
}
ConnectionCallback = Connection;
ReceiveCallback = Receive;
IPEndPoint^ ep = gcnew IPEndPoint(IPAddress::Parse(Addr), Port);
ServerSocket = gcnew Socket(AddressFamily::InterNetwork, SocketType::Stream, ProtocolType::Tcp);
try { ServerSocket->Connect(ep); }
catch (...) { ServerSocket->Close(); return ClientState::Error; }
Connected = true;
ConnectionCallback(gcnew ConnectData(true, ServerSocket));
ReceiveData^ receiveData = gcnew ReceiveData(DataServer->buffer, ServerData::size, ServerSocket);
try { ServerSocket->BeginReceive(DataServer->buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), receiveData); }
catch (...) {}
return ClientState::Connected;
}
// Реализация метода Close
void NetClient::Close()
{
try { ServerSocket->Shutdown(SocketShutdown::Both); }
catch (...) {}
ServerSocket->Close();
Connected = false;
}
// Реализация метода Send
void NetClient::Send(array<Byte>^ data)
{
if (ServerSocket != nullptr && Connected)
{
try { ServerSocket->Send(data); }
catch (...) {}
}
}
// Реализация метода ReadCallback
void NetClient::ReadCallback(IAsyncResult^ ar)
{
ReceiveData^ cd = (ReceiveData^)ar->AsyncState;
if (cd == nullptr) return;
int bytes = 0;
try { bytes = ServerSocket->EndReceive(ar); }
catch (...) {}
if (bytes == 0)
{
ServerSocket->Close();
Connected = false;
if (ServerSocket != nullptr)
{
ConnectionCallback(gcnew ConnectData(false, nullptr));
}
return;
}
ReceiveCallback(gcnew ReceiveData(cd->Buffer, bytes, ServerSocket));
try { ServerSocket->BeginReceive(cd->Buffer, 0, ServerData::size, SocketFlags::None, gcnew AsyncCallback(this, &NetClient::ReadCallback), cd); }
catch (...) {}
}
}

68
DroneClientCpp/NetClient.h Normal file
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#pragma once
#include <Windows.h>
#include <vcclr.h>
#using <System.dll>
#using <System.Net.dll>
using namespace System;
using namespace System::Net;
using namespace System::Net::Sockets;
namespace DroneSimulator {
public ref class NetClient
{
public:
ref class ConnectData
{
public:
bool Connect;
Socket^ Server;
ConnectData(bool connect, Socket^ server);
};
ref class ReceiveData
{
public:
array<Byte>^ Buffer;
int Size;
Socket^ Server;
ReceiveData(array<Byte>^ buffer, int size, Socket^ server);
};
private:
ref class ServerData
{
public:
literal int size = 1024;
array<Byte>^ buffer = gcnew array<Byte>(size);
};
bool Connected;
Socket^ ServerSocket;
ServerData^ DataServer;
public:
delegate void ClientCallback(Object^ o);
private:
ClientCallback^ ConnectionCallback;
ClientCallback^ ReceiveCallback;
public:
NetClient(); // Добавлен конструктор
enum class ClientState { Error, Connected, Stop };
ClientState Connect(String^ Addr, int Port, ClientCallback^ Connection, ClientCallback^ Receive);
void Close();
void Send(array<Byte>^ data);
private:
void ReadCallback(IAsyncResult^ ar);
};
}

11
DroneClientCpp/Source.cpp Normal file
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#include "MyForm.h"
using namespace MyWinFormsApp; // ???????????? ???? ?????? ???????
[STAThread]
int main(array<String^>^ args) {
Application::EnableVisualStyles(); // ???????? ??????????? ????? ????????? ??????????
Application::SetCompatibleTextRenderingDefault(false); // ????????? ?????????? ??????
Application::Run(gcnew MyForm()); // ?????? ?????
return 0;
}