попытки сделать crsf, не взлетела часть с пультом

lib/port/win/poller.cpp

@@ -0,0 +1,64 @@
+#include "port/poller.h"
+#include <windows.h>
+#include <stdexcept>
+
+bool poller::PollObject::isPollIn() const { return revents != 0; }
+bool poller::PollObject::isPollOut() const { return true; } // для Windows драйверов обычно всегда можно писать
+bool poller::PollObject::isPollHup() const {
+    // UART: проверка ClearCommError
+    if (hCom != INVALID_HANDLE_VALUE) {
+        DWORD errors;
+        if (!ClearCommError(hCom, &errors, nullptr)) {
+            DWORD err = GetLastError();
+            if (err == ERROR_INVALID_HANDLE || err == ERROR_FILE_NOT_FOUND)
+                return true; // COM порт физически пропал
+        }
+        if (errors & CE_RXOVER) return true; // overflow тоже можно трактовать как проблему
+    }
+
+    // UDP: проверка ошибки сокета через SO_ERROR
+    if (sock != INVALID_SOCKET) {
+        int err = 0;
+        int len = sizeof(err);
+        if (getsockopt(sock, SOL_SOCKET, SO_ERROR, (char*)&err, &len) == 0) {
+            if (err != 0) return true; // есть ошибка на сокете
+        }
+    }
+
+    return false;
+}
+poller::PollObject::~PollObject() = default;
+
+poller::PollWrapper::PollWrapper() = default;
+
+void poller::PollWrapper::loop(int timeoutMs) {
+    // собираем все события
+    std::vector<HANDLE> handles;
+    for (auto& obj : objects) {
+#ifdef _WIN32
+        if (!obj) continue;
+        // UART HANDLE или UDP событие
+        if (obj->winHandle)
+            handles.push_back(obj->winHandle);
+#endif
+    }
+
+    if (handles.empty()) return;
+
+    DWORD waitTime = (timeoutMs < 0) ? INFINITE : static_cast<DWORD>(timeoutMs);
+    DWORD rc = WaitForMultipleObjects(static_cast<DWORD>(handles.size()),
+                                      handles.data(),
+                                      FALSE, // ждем любого события
+                                      waitTime);
+    if (rc == WAIT_FAILED)
+        throw std::runtime_error("WaitForMultipleObjects failed");
+
+    // Определяем, какой объект сработал
+    int idx = rc - WAIT_OBJECT_0;
+    if (idx >= 0 && idx < static_cast<int>(handles.size())) {
+        auto& obj = objects[idx];
+        obj->revents = 1; // простая метка, что событие произошло
+    }
+}
+
+poller::PollWrapper::~PollWrapper() = default;

lib/port/win/uart.cpp

@@ -0,0 +1,71 @@
+#include "port/poller.h"
+#include "port/uart.h"
+#include <Windows.h>
+#include <string>
+#include <vector>
+#include <span>
+#include <stdexcept>
+
+drivers::UartDriver::UartDriver(const std::string& path, int baud) {
+    hCom = CreateFileA(path.c_str(),
+                       GENERIC_READ | GENERIC_WRITE,
+                       0, nullptr,
+                       OPEN_EXISTING,
+                       FILE_FLAG_OVERLAPPED,
+                       nullptr);
+    if (hCom == INVALID_HANDLE_VALUE)
+        throw std::runtime_error("Cannot open UART port");
+
+    // Настройка DCB
+    DCB dcb{};
+    dcb.DCBlength = sizeof(dcb);
+    if (!GetCommState(hCom, &dcb))
+        throw std::runtime_error("GetCommState failed");
+
+    dcb.BaudRate = baud;
+    dcb.ByteSize = 8;
+    dcb.Parity   = EVENPARITY; // 8E2
+    dcb.StopBits = TWOSTOPBITS;
+
+    if (!SetCommState(hCom, &dcb))
+        throw std::runtime_error("SetCommState failed");
+
+    // Настройка событий
+    winHandle = CreateEvent(nullptr, TRUE, FALSE, nullptr);
+    if (!winHandle) throw std::runtime_error("CreateEvent failed");
+
+    if (!SetCommMask(hCom, EV_RXCHAR))
+        throw std::runtime_error("SetCommMask failed");
+
+    // Первый вызов WaitCommEvent в асинхронном режиме
+    memset(&overlapped, 0, sizeof(overlapped));
+    overlapped.hEvent = winHandle;
+    DWORD dummy;
+    WaitCommEvent(hCom, &dummy, &overlapped);
+}
+bool drivers::UartDriver::writeData(std::span<const uint8_t> data) {
+    DWORD written;
+    OVERLAPPED ov{};
+    ov.hEvent = CreateEvent(nullptr, TRUE, FALSE, nullptr);
+
+    bool ok = WriteFile(hCom, data.data(), (DWORD)data.size(), &written, &ov) ||
+              GetOverlappedResult(hCom, &ov, &written, TRUE);
+    CloseHandle(ov.hEvent);
+    return ok && written == data.size();
+}
+size_t drivers::UartDriver::readChunk(std::vector<uint8_t>& out) {
+    out.resize(512);
+    DWORD read = 0;
+    OVERLAPPED ov{};
+    ov.hEvent = CreateEvent(nullptr, TRUE, FALSE, nullptr);
+    bool ok = ReadFile(hCom, out.data(), (DWORD)out.size(), &read, &ov) ||
+              GetOverlappedResult(hCom, &ov, &read, TRUE);
+    CloseHandle(ov.hEvent);
+    out.resize(read);
+    return read;
+}
+drivers::UartDriver::~UartDriver() {
+    if (hCom != INVALID_HANDLE_VALUE) CloseHandle(hCom);
+    if (winHandle) CloseHandle(winHandle);
+}
+

lib/port/win/udp.cpp

@@ -0,0 +1,66 @@
+// File: src/port/win/udp_driver_win.cpp
+#include "pollobject.h"
+#include <winsock2.h>
+#include <ws2tcpip.h>
+#include <string>
+#include <vector>
+#include <span>
+#include <stdexcept>
+
+#pragma comment(lib, "Ws2_32.lib")
+
+namespace drivers {
+
+    class UdpDriver : public poller::PollObject {
+    public:
+        explicit UdpDriver(uint16_t port) {
+            WSADATA wsa;
+            WSAStartup(MAKEWORD(2,2), &wsa);
+
+            sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+            if (sock == INVALID_SOCKET) throw std::runtime_error("Cannot create socket");
+
+            sockaddr_in addr{};
+            addr.sin_family = AF_INET;
+            addr.sin_port = htons(port);
+            addr.sin_addr.s_addr = INADDR_ANY;
+
+            if (bind(sock, (sockaddr*)&addr, sizeof(addr)) == SOCKET_ERROR)
+                throw std::runtime_error("Bind failed");
+
+            winHandle = WSACreateEvent();
+            if (!winHandle) throw std::runtime_error("WSACreateEvent failed");
+
+            WSAEventSelect(sock, winHandle, FD_READ);
+        }
+
+        bool sendTo(std::span<const uint8_t> data, const std::string& addrStr, uint16_t port) {
+            sockaddr_in dest{};
+            dest.sin_family = AF_INET;
+            dest.sin_port = htons(port);
+            inet_pton(AF_INET, addrStr.c_str(), &dest.sin_addr);
+
+            int ret = sendto(sock, (const char*)data.data(), (int)data.size(), 0,
+                             (sockaddr*)&dest, sizeof(dest));
+            return ret == (int)data.size();
+        }
+
+        bool recvPacket(std::vector<uint8_t>& out) {
+            out.resize(512);
+            sockaddr_in src{};
+            int len = sizeof(src);
+            int ret = recvfrom(sock, (char*)out.data(), (int)out.size(), MSG_PEEK,
+                               (sockaddr*)&src, &len);
+            if (ret <= 0) return false; // ничего нет или ошибка
+            out.resize(ret);
+            return true;
+        }
+
+        ~UdpDriver() override {
+            if (sock != INVALID_SOCKET) closesocket(sock);
+            if (winHandle) WSACloseEvent(winHandle);
+            WSACleanup();
+        }
+    };
+
+} // namespace drivers