попытки сделать crsf, не взлетела часть с пультом

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