добавил все для наземной станции

ground/udp-driver.cpp

@@ -0,0 +1,111 @@
+#include "udp-driver.h"
+#include <iostream>
+#include <cstring>
+
+UDPSocket::UDPSocket(const std::string& ip, uint16_t port) {
+#ifdef _WIN32
+    sockfd = INVALID_SOCKET;
+#else
+    sockfd = -1;
+#endif
+
+    if (!initialize()) {
+        return;
+    }
+
+    // Создание сокета
+#ifdef _WIN32
+    sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+    if (sockfd == INVALID_SOCKET) {
+        std::cerr << "Socket creation failed: " << WSAGetLastError() << std::endl;
+        return;
+    }
+#else
+    sockfd = socket(AF_INET, SOCK_DGRAM, 0);
+    if (sockfd < 0) {
+        std::cerr << "Socket creation failed" << std::endl;
+        return;
+    }
+#endif
+
+    // Настройка адреса назначения
+    memset(&dest_addr, 0, sizeof(dest_addr));
+    dest_addr.sin_family = AF_INET;
+    dest_addr.sin_port = htons(port);
+
+#ifdef _WIN32
+    dest_addr.sin_addr.s_addr = inet_addr(ip.c_str());
+    if (dest_addr.sin_addr.s_addr == INADDR_NONE) {
+        std::cerr << "Invalid address: " << ip << std::endl;
+        closesocket(sockfd);
+        sockfd = INVALID_SOCKET;
+    }
+#else
+    if (inet_pton(AF_INET, ip.c_str(), &dest_addr.sin_addr) <= 0) {
+        std::cerr << "Invalid address: " << ip << std::endl;
+        close(sockfd);
+        sockfd = -1;
+    }
+#endif
+}
+
+bool UDPSocket::initialize() {
+#ifdef _WIN32
+    // Инициализация Winsock
+    if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
+        std::cerr << "WSAStartup failed: " << WSAGetLastError() << std::endl;
+        return false;
+    }
+#endif
+    return true;
+}
+
+UDPSocket::~UDPSocket() {
+#ifdef _WIN32
+    if (sockfd != INVALID_SOCKET) {
+        closesocket(sockfd);
+    }
+    WSACleanup();
+#else
+    if (sockfd >= 0) {
+        close(sockfd);
+    }
+#endif
+}
+
+bool UDPSocket::sendFrame(const std::vector<uint16_t>& data) {
+#ifdef _WIN32
+    if (sockfd == INVALID_SOCKET) return false;
+#else
+    if (sockfd < 0) return false;
+#endif
+
+    if (data.empty()) return false;
+
+    // Отправка данных
+#ifdef _WIN32
+    int result = sendto(sockfd,
+                       reinterpret_cast<const char*>(data.data()),
+                       data.size() * sizeof(uint16_t),
+                       0,
+                       (sockaddr*)&dest_addr,
+                       sizeof(dest_addr));
+    if (result == SOCKET_ERROR) {
+        std::cerr << "Send failed: " << WSAGetLastError() << std::endl;
+        return false;
+    }
+#else
+    ssize_t result = sendto(sockfd,
+                           data.data(),
+                           data.size() * sizeof(uint16_t),
+                           0,
+                           (sockaddr*)&dest_addr,
+                           sizeof(dest_addr));
+    if (result < 0) {
+        std::cerr << "Send failed" << std::endl;
+        return false;
+    }
+#endif
+
+    return true;
+}