попытки сделать crsf, не взлетела часть с пультом

lib/port/unix/udp.cpp

@@ -0,0 +1,55 @@
+#include "port/udp.h"
+
+#include <cstring>
+#include <poll.h>
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+
+#include "crsf.h"
+
+
+drivers::UdpDriver::UdpDriver(uint16_t port) {
+    fd = socket(AF_INET, SOCK_DGRAM, 0);
+    if (fd < 0) {
+        throw std::runtime_error(std::string("UdpDriver open error: ") + std::strerror(errno));
+    }
+
+    sockaddr_in addr{};
+    addr.sin_family = AF_INET;
+    addr.sin_port = htons(port);
+    addr.sin_addr.s_addr = INADDR_ANY;
+
+    if (bind(fd, (sockaddr*)&addr, sizeof(addr)) < 0) if (fd < 0) {
+        close(fd);
+        throw std::runtime_error(std::string("UdpDriver bind error: ") + std::strerror(errno));
+    }
+
+    events = POLLIN;
+}
+bool drivers::UdpDriver::sendTo(std::span<const uint8_t> data, const std::string& addr, uint16_t port) {
+    if (fd < 0) return false;
+
+    sockaddr_in dst{};
+    dst.sin_family = AF_INET;
+    dst.sin_port = htons(port);
+    inet_aton(addr.c_str(), &dst.sin_addr);
+
+    auto w = sendto(fd, data.data(), data.size(), 0, (sockaddr*)&dst, sizeof(dst));
+    return w == data.size();
+}
+bool drivers::UdpDriver::recvPacket(std::vector<uint8_t>& out) {
+    out.resize(crsf::CRSF_MAX_FRAME_SIZE);
+    ssize_t received = recvfrom(fd, out.data(), out.size(), MSG_DONTWAIT, nullptr, nullptr);
+
+    if (received > 0) {
+        out.resize(received);
+        return true;
+    }
+    out.clear();
+
+    return false;
+}
+drivers::UdpDriver::~UdpDriver() {
+    close(fd);
+}