попытки сделать crsf, не взлетела часть с пультом

CMakeLists.txt

@@ -6,8 +6,33 @@ set(CMAKE_CXX_STANDARD 20)
 option(ENABLE_GROUND_BUILD "Enable build ground station" OFF)
 option(ENABLE_AIR_BUILD "Enable build air" ON)
 
+if(WIN32)
+    set(PORT_SPECIFIC_FILES
+            lib/port/win/poller.cpp
+            lib/port/win/uart.cpp
+            lib/port/win/udp.cpp
+    )
+else ()
+    set(PORT_SPECIFIC_FILES
+            lib/port/unix/poller.cpp
+            lib/port/unix/uart.cpp
+            lib/port/unix/udp.cpp
+    )
+endif()
+
+set(LIB_FILES
+        ${PORT_SPECIFIC_FILES}
+        lib/crsf.cpp
+        lib/crsf.h
+        lib/port/poller-general.cpp
+        lib/port/poller.h
+        lib/port/uart.h
+        lib/port/udp.h
+)
+
 if (ENABLE_GROUND_BUILD)
     message("Enabled ground build!")
+
     # Настройки для Windows
     if(WIN32)
         add_definitions(-DWIN32_LEAN_AND_MEAN)
@@ -17,18 +42,13 @@ if (ENABLE_GROUND_BUILD)
         endif()
     endif()
 
-    find_package(SDL2 REQUIRED)
-    include_directories(${SDL2_INCLUDE_DIRS})
-
     add_executable(${PROJECT_NAME}-ground
-            ground/joystick-reader.cpp
-            ground/joystick-reader.h
             ground/main.cpp
-            ground/udp-driver.cpp
+            ${LIB_FILES}
-            ground/udp-driver.h
     )
 
-    target_link_libraries(${PROJECT_NAME}-ground ${SDL2_LIBRARIES} ${EXTRA_LIBS})
+    target_link_libraries(${PROJECT_NAME}-ground ${EXTRA_LIBS})
+    target_include_directories(${PROJECT_NAME}-ground PRIVATE ground/ lib/)
 endif()
 
 if (ENABLE_AIR_BUILD)
@@ -36,6 +56,8 @@ if (ENABLE_AIR_BUILD)
 
     add_executable(${PROJECT_NAME}-air
             air/main.cpp
+            ${LIB_FILES}
     )
+    target_include_directories(${PROJECT_NAME}-air PRIVATE air/ lib/)
 endif()
 

air/main.cpp

@@ -1,229 +1,13 @@
-#include <sys/ioctl.h>
-#include <asm/termbits.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <unistd.h>
-#include <fcntl.h>
-
 #include <iostream>
 #include <vector>
-#include <cstring>
 #include <atomic>
-#include <span>
+#include <port/udp.h>
 
+#include "port/uart.h"
 
-
+static constexpr uint16_t UDP_PORT = 1067;
-
-class UDPServer {
-private:
-    int sockfd;
-    sockaddr_in server_addr, client_addr;
-    socklen_t client_len;
-
-public:
-    UDPServer(uint16_t port) : client_len(sizeof(client_addr)) {
-        // Создание UDP сокета
-        sockfd = socket(AF_INET, SOCK_DGRAM, 0);
-        if (sockfd < 0) {
-            throw std::runtime_error("Failed to create socket");
-        }
-
-        // Настройка адреса сервера
-        memset(&server_addr, 0, sizeof(server_addr));
-        server_addr.sin_family = AF_INET;
-        server_addr.sin_addr.s_addr = INADDR_ANY;
-        server_addr.sin_port = htons(port);
-
-        // Привязка сокета
-        if (bind(sockfd, (sockaddr*)&server_addr, sizeof(server_addr)) < 0) {
-            close(sockfd);
-            throw std::runtime_error("Failed to bind socket");
-        }
-
-        std::cout << "UDP server listening on port " << port << std::endl;
-    }
-
-    ~UDPServer() {
-        if (sockfd >= 0) {
-            close(sockfd);
-        }
-    }
-
-    std::vector<uint16_t> receive() {
-        std::vector<uint16_t> data(64);
-
-        ssize_t received = recvfrom(sockfd,
-                                   data.data(),
-                                   data.size() * sizeof(uint16_t),
-                                   MSG_DONTWAIT, // Неблокирующий режим
-                                   (sockaddr*)&client_addr,
-                                   &client_len);
-
-        if (received > 0) {
-            // Выводим информацию о отправителе и данные
-            data.resize(received / 2);
-            char client_ip[INET_ADDRSTRLEN];
-            inet_ntop(AF_INET, &client_addr.sin_addr, client_ip, INET_ADDRSTRLEN);
-            // std::cout << "Received data from " << client_ip << ":" << ntohs(client_addr.sin_port) << std::endl;
-
-            // std::cout << "Data: ";
-            // for (int i = 0; i < 4 && i < data.size(); ++i) {
-            //     std::cout << data[i] << " ";
-            // }
-            // std::cout << "..." << std::endl;
-
-            return data;
-        }
-
-        return {};
-    }
-};
-
-struct SbusData {
-    bool lost_frame = false;
-    bool failsafe = false;
-    bool ch17 = false, ch18 = false;
-    static constexpr size_t NUM_CH = 16;
-    int16_t ch[NUM_CH];
-
-    /* Message len */
-    static constexpr int8_t BUF_LEN_ = 25;
-    /* SBUS message defs */
-    static constexpr int8_t NUM_SBUS_CH_ = 16;
-    static constexpr uint8_t HEADER_ = 0x0F;
-    static constexpr uint8_t FOOTER_ = 0x00;
-    static constexpr uint8_t FOOTER2_ = 0x04;
-    static constexpr uint8_t CH17_MASK_ = 0x01;
-    static constexpr uint8_t CH18_MASK_ = 0x02;
-    static constexpr uint8_t LOST_FRAME_MASK_ = 0x04;
-    static constexpr uint8_t FAILSAFE_MASK_ = 0x08;
-    /* Data */
-    uint8_t buf_[BUF_LEN_];
-
-    void fillDataBuf() {
-        /* Assemble packet */
-        buf_[0] = HEADER_;
-        buf_[1] = static_cast<uint8_t>((ch[0] & 0x07FF));
-        buf_[2] = static_cast<uint8_t>((ch[0] & 0x07FF) >> 8 |
-                (ch[1] & 0x07FF) << 3);
-        buf_[3] = static_cast<uint8_t>((ch[1] & 0x07FF) >> 5 |
-                (ch[2] & 0x07FF) << 6);
-        buf_[4] = static_cast<uint8_t>((ch[2] & 0x07FF) >> 2);
-        buf_[5] = static_cast<uint8_t>((ch[2] & 0x07FF) >> 10 |
-                (ch[3] & 0x07FF) << 1);
-        buf_[6] = static_cast<uint8_t>((ch[3] & 0x07FF) >> 7 |
-                (ch[4] & 0x07FF) << 4);
-        buf_[7] = static_cast<uint8_t>((ch[4] & 0x07FF) >> 4 |
-                (ch[5] & 0x07FF) << 7);
-        buf_[8] = static_cast<uint8_t>((ch[5] & 0x07FF) >> 1);
-        buf_[9] = static_cast<uint8_t>((ch[5] & 0x07FF) >> 9  |
-                (ch[6] & 0x07FF) << 2);
-        buf_[10] = static_cast<uint8_t>((ch[6] & 0x07FF) >> 6  |
-                 (ch[7] & 0x07FF) << 5);
-        buf_[11] = static_cast<uint8_t>((ch[7] & 0x07FF) >> 3);
-        buf_[12] = static_cast<uint8_t>((ch[8] & 0x07FF));
-        buf_[13] = static_cast<uint8_t>((ch[8] & 0x07FF) >> 8 |
-                 (ch[9]  & 0x07FF) << 3);
-        buf_[14] = static_cast<uint8_t>((ch[9] & 0x07FF) >> 5 |
-                 (ch[10] & 0x07FF) << 6);
-        buf_[15] = static_cast<uint8_t>((ch[10] & 0x07FF) >> 2);
-        buf_[16] = static_cast<uint8_t>((ch[10] & 0x07FF) >> 10 |
-                 (ch[11] & 0x07FF) << 1);
-        buf_[17] = static_cast<uint8_t>((ch[11] & 0x07FF) >> 7  |
-                 (ch[12] & 0x07FF) << 4);
-        buf_[18] = static_cast<uint8_t>((ch[12] & 0x07FF) >> 4  |
-                 (ch[13] & 0x07FF) << 7);
-        buf_[19] = static_cast<uint8_t>((ch[13] & 0x07FF) >> 1);
-        buf_[20] = static_cast<uint8_t>((ch[13] & 0x07FF) >> 9  |
-                 (ch[14] & 0x07FF) << 2);
-        buf_[21] = static_cast<uint8_t>((ch[14] & 0x07FF) >> 6  |
-                 (ch[15] & 0x07FF) << 5);
-        buf_[22] = static_cast<uint8_t>((ch[15] & 0x07FF) >> 3);
-        buf_[23] = 0x00 | (ch17 * CH17_MASK_) | (ch18 * CH18_MASK_) |
-                 (failsafe * FAILSAFE_MASK_) |
-                 (lost_frame * LOST_FRAME_MASK_);
-        buf_[24] = FOOTER_;
-    }
-
-};
-
-class SerialPort {
-private:
-    int fd;
-
-public:
-    SerialPort() : fd(-1) {}
-
-    bool open(const std::string& port_path) {
-        // Открытие последовательного порта
-        fd = ::open(port_path.c_str(), O_RDWR | O_NOCTTY | O_SYNC);
-        if (fd < 0) {
-            std::cerr << "Failed to open serial port " << port_path << ": " << std::strerror(errno) << std::endl;
-            return false;
-        }
-        struct termios2 tio{};
-        ioctl(fd, TCGETS2, &tio);
-        // 8bit
-        tio.c_cflag &= ~CSIZE;
-        tio.c_cflag |= CS8;
-        // even
-        tio.c_cflag &= ~(PARODD | CMSPAR);
-        tio.c_cflag |= PARENB;
-        // 2 stop bits
-        tio.c_cflag |= CSTOPB;
-        // baud rate
-        tio.c_ispeed = 100000;
-        tio.c_ospeed = 100000;
-        // other
-        tio.c_iflag |= (INPCK|IGNBRK|IGNCR|ISTRIP);
-        tio.c_cflag &= ~CBAUD;
-        tio.c_cflag |= (BOTHER|CREAD|CLOCAL);
-
-        if (ioctl(fd, TCSETS2, &tio) != 0) {
-            std::cerr << "Failed to set termios2 attributes: " << std::strerror(errno) << std::endl;
-            close(fd);
-            return false;
-        }
-
-        std::cout << "Serial port " << port_path << " opened and configured: 100000 baud, 8E2" << std::endl;
-        return true;
-    }
-
-    ~SerialPort() {
-        _close();
-    }
-
-    void _close() {
-        if (fd >= 0) {
-            ::close(fd);
-            fd = -1;
-        }
-    }
-
-    // Метод для получения файлового дескриптора порта
-    int getDescriptor() const {
-        return fd;
-    }
-
-    // Метод для записи данных в порт
-    bool write(std::span<const uint8_t> data) {
-        if (fd < 0) return false;
-
-        ssize_t written = ::write(fd, data.data(), data.size());
-        if (written < 0) {
-            std::cerr << "Failed to write to serial port" << std::endl;
-            return false;
-        }
-
-        // Принудительная отправка данных
-        // tcdrain(fd);
-        return true;
-    }
-};
 
 int main(int argc, char* argv[]) {
-    // Парсим аргументы командной строки
     std::string serial_port = "/dev/ttyUSB0";
     if (argc > 1) {
         serial_port = argv[1];
@@ -231,23 +15,16 @@ int main(int argc, char* argv[]) {
 
     try {
         // Создание UDP сервера
-        UDPServer udp_server(1066);
+        drivers::UdpDriver udp_server(UDP_PORT);
-
+        drivers::UartDriver uart(serial_port, 416666);
-        // Открытие последовательного порта
-        SerialPort serial;
-        if (!serial.open(serial_port)) {
-            return 1;
-        }
 
         std::cout << "Ready to receive UDP packets and forward to serial port" << std::endl;
         std::cout << "Press Ctrl+C to exit" << std::endl;
 
-        SbusData sb{};
-
         int packet_count = 0;
         while (true) {
             // Прием UDP пакета
-            std::vector<uint16_t> data = udp_server.receive();
+            std::vector<uint16_t> data = udp_server.recvPacket();
 
             if (!data.empty()) {
                 packet_count++;

ground/joystick-reader.cpp

@@ -1,80 +0,0 @@
-#include "joystick-reader.h"
-#include <iostream>
-#include <thread>
-#include <chrono>
-
-JoystickReader::JoystickReader()
-    : joystick(nullptr) {}
-
-JoystickReader::~JoystickReader() {
-    if (joystick) {
-        SDL_JoystickClose(joystick);
-    }
-    SDL_Quit();
-}
-
-bool JoystickReader::initialize() {
-    if (SDL_Init(SDL_INIT_JOYSTICK) < 0) {
-        std::cerr << "SDL initialization failed: " << SDL_GetError() << std::endl;
-        return false;
-    }
-
-    int numJoysticks = SDL_NumJoysticks();
-    if (numJoysticks < 1) {
-        std::cerr << "No joysticks found" << std::endl;
-        return false;
-    }
-
-    std::cout << "Found " << numJoysticks << " joystick(s)" << std::endl;
-
-    // Открываем первый джойстик
-    joystick = SDL_JoystickOpen(0);
-    if (!joystick) {
-        std::cerr << "Failed to open joystick: " << SDL_GetError() << std::endl;
-        return false;
-    }
-
-    joystickName = SDL_JoystickName(joystick);
-    std::cout << "Opened joystick: " << joystickName << std::endl;
-    std::cout << "Axes: " << SDL_JoystickNumAxes(joystick)
-              << ", Buttons: " << SDL_JoystickNumButtons(joystick)
-              << ", Balls: " << SDL_JoystickNumBalls(joystick)
-              << ", Hats: " << SDL_JoystickNumHats(joystick) << std::endl;
-
-    return true;
-}
-
-bool JoystickReader::readData(std::vector<uint16_t>& data) {
-    if (!joystick) return false;
-    if (SDL_JoystickGetAttached(joystick) != SDL_TRUE) { return false; }
-
-    SDL_JoystickUpdate();
-
-    data.resize(24); // Заполняем нейтральным значением
-    for (auto& i: data) { i = 1500; }
-
-    int axes = std::min(SDL_JoystickNumAxes(joystick), 8);
-    for (int i = 0; i < std::min(8, axes); ++i) {
-        Sint16 axisValue = SDL_JoystickGetAxis(joystick, i);
-        // Преобразуем из [-32768, 32767] в [1000, 2000]
-        data[i] = static_cast<uint16_t>((axisValue + 32768) * 1000 / 65536 + 1000);
-    }
-    axes = 8;
-
-    // Читаем кнопки
-    int buttons = SDL_JoystickNumButtons(joystick);
-    for (int i = 0; i < buttons && i < data.size() - axes; ++i) {
-        auto buttonState = SDL_JoystickGetButton(joystick, i);
-        data[axes + i] = static_cast<uint16_t>(1000.0 + (buttonState * (1000.0 / 255.0)));
-    }
-
-    for (auto& i: data) {
-        if (i < 950) i = 950;
-        if (i > 2050) i = 2050;
-    }
-    return true;
-}
-
-std::string JoystickReader::getJoystickName() const {
-    return joystickName;
-}

ground/joystick-reader.h

@@ -1,28 +0,0 @@
-#ifndef SDRPI_FPV_CONTROL_GROUND_JOYSTICK_READER_H
-#define SDRPI_FPV_CONTROL_GROUND_JOYSTICK_READER_H
-
-#include <cstdint>
-#include <vector>
-#include <string>
-
-#ifdef _WIN32
-#include <SDL.h>
-#else
-#include <SDL2/SDL.h>
-#endif
-
-class JoystickReader {
-public:
-    JoystickReader();
-    ~JoystickReader();
-
-    bool initialize();
-    bool readData(std::vector<uint16_t>& data);
-    std::string getJoystickName() const;
-
-private:
-    SDL_Joystick* joystick;
-    std::string joystickName;
-};
-
-#endif //SDRPI_FPV_CONTROL_GROUND_JOYSTICK_READER_H

ground/main.cpp

@@ -1,58 +1,86 @@
 #include <iostream>
 #include <vector>
 #include <thread>
-#include <csignal>
+#include <port/poller.h>
+#include <port/uart.h>
+#include <port/udp.h>
+#include <crsf.h>
 
-#include "joystick-reader.h"
+#include "port/poller.h"
-#include "udp-driver.h"
+#include "port/uart.h"
+#include "port/udp.h"
+
+static constexpr uint16_t UDP_PORT = 1067;
 
 int main(int argc, char* argv[]) {
-
+    if (argc < 3 || argc > 4) {
-    // Парсим аргументы командной строки для частоты
+        std::cerr << "Usage: " << argv[0]
-    int frequency = 5;
+                  << " serial_port remote.ip.addr.4 [control packets frequency]\n";
-    const char* sendAddress;
-    if (argc == 1) {
-        sendAddress = "127.0.0.1";
-    } else if (argc == 2) {
-        sendAddress = argv[1];
-    } else if (argc == 3) {
-        sendAddress = argv[1];
-        frequency = std::atoi(argv[2]);
-    } else {
-        std::cerr << "Usage: " << argv[0] << " send.ip.addr.v4 [Frequency]" << std::endl;
         return 1;
     }
 
-    std::cout << "Starting joystick reader with frequency: " << frequency << " Hz" << std::endl;
+    const std::string serialPort = argv[1];
+    const std::string remoteIp = argv[2];
+    const int controlFreq = (argc == 4) ? std::atoi(argv[3]) : 50;
 
-    JoystickReader reader;
+    // UART speed fixed at 400k per your earlier specification
-    const int64_t timeInterval = 1000 / frequency;
+    constexpr int UART_BAUD = 400000;
-    while (!reader.initialize()) {
-        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-    }
 
-    UDPSocket udp(sendAddress, 1066);
+    std::cout << "Opening UART: " << serialPort << " @ " << UART_BAUD << "\n";
-    std::vector<uint16_t> data;
+    std::cout << "Remote CRSF UDP endpoint: " << remoteIp << ":14550\n";
+    std::cout << "Control packets frequency: " << controlFreq << " Hz\n";
 
-    std::cout << "Sending data to " << sendAddress << ":1066" << std::endl;
+    poller::PollWrapper poller;
 
-    int counter = 0;
+    auto uart = std::make_shared<drivers::UartDriver>(serialPort, UART_BAUD);
-    while (reader.readData(data)) {
+    auto udp  = std::make_shared<drivers::UdpDriver>(UDP_PORT);
-        if (!udp.sendFrame(data)) {
+
-            std::cerr << "Failed to send UDP packet" << std::endl;
+    poller.objects.push_back(uart);
+    poller.objects.push_back(udp);
+
+    crsf::CrsfParser parser;
+    // CrsfTxProcessor processor(udp, uart, remoteIp, UDP_PORT, controlFreq);
+
+    std::vector<uint8_t> tmpBuffer;
+
+    auto lastTick = std::chrono::steady_clock::now();
+
+    while (true) {
+        poller.loop(1000);
+
+        if (uart->isPollHup()) {
+            std::cerr << "UART disconnected!\n";
+            break;
+        }
+        if (udp->isPollHup()) {
+            std::cerr << "UDP socket error!\n";
+            break;
         }
 
-        // Выводим прогресс каждые 100 пакетов
+        bool eventReceived = false;
-        if (++counter % 100 == 0) {
+
-            std::cout << "Sent " << counter << " packets" << std::endl;
+        // UART input
+        if (uart->isPollIn()) {
+            eventReceived = true;
+            size_t read = uart->readChunk(tmpBuffer);
+            if (read > 0) {
+                parser.parseBytes(tmpBuffer);
+            }
         }
 
-        // вычислим время для сна
+        while (true) {
-        // должно быть время now+timeInterval
+            auto pkt = parser.pullPacket();
+            if (pkt == nullptr) {
+                break;
+            }
+            pkt->writeToBuffer(tmpBuffer);
+            udp->sendTo(std::span<const uint8_t>(tmpBuffer), remoteIp, UDP_PORT);
+        }
 
-        std::this_thread::sleep_for(std::chrono::milliseconds(timeInterval));
+        if (!eventReceived) {
+            std::cout << "[W]: No actions received in last 1s!" << std::endl;
+        }
     }
 
-    std::cout << "Exiting..." << std::endl;
     return 0;
 }

ground/udp-driver.cpp

@@ -1,111 +0,0 @@
-#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;
-}

ground/udp-driver.h

@@ -1,37 +0,0 @@
-#ifndef SDRPI_FPV_CONTROL_GROUND_UDP_DRIVER_H
-#define SDRPI_FPV_CONTROL_GROUND_UDP_DRIVER_H
-
-#include <string>
-#include <cstdint>
-#include <vector>
-
-#ifdef _WIN32
-#include <winsock2.h>
-#include <ws2tcpip.h>
-#pragma comment(lib, "ws2_32.lib")
-#else
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <unistd.h>
-#endif
-
-class UDPSocket {
-public:
-    UDPSocket(const std::string& ip, uint16_t port);
-    ~UDPSocket();
-    bool sendFrame(const std::vector<uint16_t>& data);
-
-private:
-#ifdef _WIN32
-    SOCKET sockfd;
-    WSADATA wsaData;
-#else
-    int sockfd;
-#endif
-    sockaddr_in dest_addr;
-
-    bool initialize();
-};
-
-#endif //SDRPI_FPV_CONTROL_GROUND_UDP_DRIVER_H

lib/crsf.cpp

@@ -0,0 +1,138 @@
+#include "crsf.h"
+
+// rawBuffer — полный CRSF-пакет:
+// [0] = preamble (0xC8)
+// [1] = size
+// [2] = address
+// [3] = type
+// [4..N-2] = payload
+// [N-1] = crc
+crsf::CrsfFrame::CrsfFrame(std::span<const uint8_t> rawBuffer) {
+    if (rawBuffer.size() < 6) {
+        // минимальный размер CRSF кадра — 6 байт
+        return;
+    }
+
+    uint8_t size = rawBuffer[1];
+    if (rawBuffer.size() != size + 2) {
+        // размер несоответствует фактической длине буфера
+        return;
+    }
+
+    address = rawBuffer[2];
+    type    = rawBuffer[3];
+
+    size_t payloadSize = size - 2; // address + type занимают первые 2
+    payload.assign(rawBuffer.begin() + 4, rawBuffer.begin() + 4 + payloadSize);
+
+    crc = rawBuffer[rawBuffer.size() - 1];
+}
+
+bool crsf::CrsfFrame::checkCrc() const {
+    // CRC считается по address + type + payload
+    uint8_t expected = crsfComputeCrc(std::span<const uint8_t>(payload.empty()
+            ? nullptr : &payload[0], payload.size() + 2));
+
+    // Нам нужно подготовить временный буфер, потому что адрес и тип не в payload
+    std::vector<uint8_t> tmp;
+    tmp.reserve(payload.size() + 2);
+    tmp.push_back(address);
+    tmp.push_back(type);
+    tmp.insert(tmp.end(), payload.begin(), payload.end());
+
+    expected = crsfComputeCrc(tmp);
+
+    return expected == crc;
+}
+void crsf::CrsfFrame::setCrc() {
+    // аналогично checkCrc, но записываем CRC в поле структуры
+    std::vector<uint8_t> tmp;
+    tmp.reserve(payload.size() + 2);
+    tmp.push_back(address);
+    tmp.push_back(type);
+    tmp.insert(tmp.end(), payload.begin(), payload.end());
+
+    crc = crsfComputeCrc(tmp);
+}
+void crsf::CrsfFrame::writeToBuffer(std::vector<uint8_t>& dest) const {
+    dest.clear();
+
+    const uint8_t preamble = 0xC8;
+    const uint8_t size = static_cast<uint8_t>(2 + payload.size() + 1); // addr + type + payload + crc
+
+    dest.reserve(size + 2);
+
+    dest.push_back(preamble);
+    dest.push_back(size);
+    dest.push_back(address);
+    dest.push_back(type);
+
+    dest.insert(dest.end(), payload.begin(), payload.end());
+
+    // финальный байт crc
+    dest.push_back(crc);
+}
+
+
+uint8_t crsf::crsfComputeCrc(std::span<const uint8_t> data) {
+    uint8_t crc = 0;
+    for (const auto i: data) {
+        crc += i;
+    }
+    return crc;
+}
+
+void crsf::CrsfParser::reset() {
+    bufferPos = 0;
+    frameSize = 0;
+}
+
+void crsf::CrsfParser::parseBytes(const std::vector<uint8_t>& data) {
+    for (auto byte : data) {
+        // преамбула
+        if (bufferPos == 0) {
+            if (byte == PREAMBLE) {
+                buffer[0] = byte;
+                bufferPos = 1;
+            }
+            continue;
+        }
+
+        // чтение size
+        if (bufferPos == 1) {
+            buffer[1] = byte;
+            frameSize = byte;
+
+            if (frameSize < 3 || frameSize > (CRSF_MAX_FRAME_SIZE - 2)) {
+                reset();
+                continue;
+            }
+
+            bufferPos = 2;
+            continue;
+        }
+
+        // обработка тела кадра
+        buffer[bufferPos++] = byte;
+
+        const size_t fullFrameSize = frameSize + 2; // preamble + size + frameSize bytes
+
+        if (bufferPos == fullFrameSize) {
+            auto frame = std::make_unique<CrsfFrame>(std::span(buffer, bufferPos));
+            if (frame->checkCrc()) {
+                frames.push_back(std::move(frame));
+            }
+
+            reset();
+        }
+    }
+}
+
+std::unique_ptr<crsf::CrsfFrame> crsf::CrsfParser::pullPacket() {
+    std::unique_ptr<CrsfFrame> out;
+    if (!this->frames.empty()) {
+        out = std::move(this->frames.front());
+        frames.pop_front();
+    }
+    return out;
+}

lib/crsf.h

@@ -0,0 +1,61 @@
+#ifndef SDRPI_FPV_CONTROL_PLATFORM_PORT_CRSF_H
+#define SDRPI_FPV_CONTROL_PLATFORM_PORT_CRSF_H
+
+#include <algorithm>
+#include <deque>
+#include <memory>
+#include <span>
+#include <vector>
+
+namespace crsf {
+    struct CrsfFrame {
+        uint8_t address; // адрес получателя
+        uint8_t type; // тип пакета
+        std::vector<uint8_t> payload; // полезная нагрузка
+        uint8_t crc; // контрольная сумма
+
+        CrsfFrame();
+        CrsfFrame(uint8_t addr, uint8_t t, std::vector<uint8_t> p);
+        CrsfFrame(std::span<const uint8_t> rawBuffer);
+
+        bool checkCrc() const;
+        void setCrc();
+
+        void writeToBuffer(std::vector<uint8_t>& dest) const;
+    };
+
+    constexpr size_t CRSF_MAX_FRAME_SIZE = 260;
+
+    uint8_t crsfComputeCrc(std::span<const uint8_t> data);
+
+    class CrsfParser {
+    public:
+        CrsfParser() = default;
+
+        /**
+         * Разбирает поток байт и формирует пакеты, добавляя их во внутреннюю очередь.
+         * Метод может принимать чанки любых размеров (например, 512 байт с UART).
+         */
+        void parseBytes(const std::vector<uint8_t>& data);
+
+        /**
+         * Отдает все готовые пакеты и очищает очередь.
+         */
+        std::unique_ptr<CrsfFrame> pullPacket();
+
+        void reset();
+
+    private:
+        static constexpr uint8_t PREAMBLE = 0xC8;
+
+        uint8_t buffer[CRSF_MAX_FRAME_SIZE]{};
+        size_t bufferPos{0};
+        size_t frameSize{0};
+
+        std::deque<std::unique_ptr<CrsfFrame>> frames;
+
+    };
+
+}
+
+#endif //SDRPI_FPV_CONTROL_PLATFORM_PORT_CRSF_H

lib/port/poller-general.cpp

@@ -0,0 +1,2 @@
+
+

lib/port/poller.h

@@ -0,0 +1,54 @@
+#ifndef SDRPI_FPV_CONTROL_GROUND_PORT_POLLER_H
+#define SDRPI_FPV_CONTROL_GROUND_PORT_POLLER_H
+
+#include <memory>
+#include <vector>
+
+namespace poller {
+    /**
+    * PollObject - базовый объект для мониторинга I/O.
+    * Платформенно-специфичные дескрипторы хранятся в защищённых полях.
+    */
+    class PollObject {
+    public:
+        bool isPollIn() const;
+        bool isPollOut() const;
+        bool isPollHup() const;
+
+        virtual ~PollObject();
+    protected:
+#ifdef _WIN32
+        // UART HANDLE или UDP событие
+        HANDLE hCom{INVALID_HANDLE_VALUE};
+        SOCKET sock{INVALID_SOCKET};
+        WSAEVENT winHandle{nullptr};
+        short revents{0}; // событие произошло
+#else
+        int fd{0};
+        short events{0};
+        short revents{0};
+#endif
+        friend class PollWrapper;
+    };
+
+    /**
+     * Класс-обертка для мониторинга файловых дискрипторов. Использует стек для хранения массива структур мониторинга.
+     */
+    class PollWrapper {
+    public:
+        PollWrapper();
+
+        std::vector<std::shared_ptr<PollObject>> objects;
+
+        /**
+         * Функция, которую нужно вызывать в бесконечном цикле. Вызывает `poll`, после чего выполняет обработчики событий, если нужно.
+         * @param timeoutMs
+         */
+        void loop(int timeoutMs = -1);
+
+        ~PollWrapper();
+    };
+
+} // namespace poller
+
+#endif //SDRPI_FPV_CONTROL_GROUND_PORT_POLLER_H

lib/port/uart.h

@@ -0,0 +1,25 @@
+#ifndef SDRPI_FPV_CONTROL_GROUND_PORT_UART_H
+#define SDRPI_FPV_CONTROL_GROUND_PORT_UART_H
+#include <cstdint>
+
+#include "port/poller.h"
+#include <string>
+#include <vector>
+#include <span>
+
+namespace drivers {
+    class UartDriver : public poller::PollObject {
+    public:
+        UartDriver(const std::string& path, int baud);
+        bool writeData(std::span<const uint8_t> data);
+        size_t readChunk(std::vector<uint8_t>& out);
+        ~UartDriver() override;
+
+#if _WIN32
+    protected:
+        OVERLAPPED overlapped{};
+#endif
+    };
+}
+
+#endif //SDRPI_FPV_CONTROL_GROUND_PORT_UART_H

lib/port/udp.h

@@ -0,0 +1,21 @@
+#ifndef SDRPI_FPV_CONTROL_GROUND_PORT_UDP_H
+#define SDRPI_FPV_CONTROL_GROUND_PORT_UDP_H
+
+#include "port/poller.h"
+#include <string>
+#include <vector>
+#include <cstdint>
+#include <span>
+
+namespace drivers {
+    class UdpDriver : public poller::PollObject {
+    public:
+        // port - локальный порт
+        explicit UdpDriver(uint16_t port);
+        bool sendTo(std::span<const uint8_t> data, const std::string& addr, uint16_t port);
+        bool recvPacket(std::vector<uint8_t>& out);
+        ~UdpDriver() override;
+    };
+}
+
+#endif //SDRPI_FPV_CONTROL_GROUND_PORT_UDP_H

lib/port/unix/poller.cpp

@@ -0,0 +1,51 @@
+#include "port/poller.h"
+
+#include <sys/poll.h>
+#include <algorithm>
+
+bool poller::PollObject::isPollIn() const { return revents & POLLIN; }
+bool poller::PollObject::isPollOut() const { return revents & POLLOUT; }
+bool poller::PollObject::isPollHup() const { return revents & POLLHUP; }
+poller::PollObject::~PollObject() = default;
+
+poller::PollWrapper::PollWrapper() = default;
+
+void poller::PollWrapper::loop(int timeoutMs) {
+    if (this->objects.empty()) {
+        return;
+    }
+
+    // проверяем, что нет объектов с fd < 0, удаляем такие объекты если они есть
+    for (size_t index = 0; index < this->objects.size();) {
+        if (this->objects[index]->fd < 0) {
+            this->objects.erase(this->objects.begin() + static_cast<ssize_t>(index));
+        } else {
+            index++;
+        }
+    }
+
+    const auto qsize = this->objects.size();
+
+    // массив для вызова poll
+    pollfd pollFds[qsize];
+
+    // заполняем данные для poll
+    for (size_t i = 0; i < qsize; i++) {
+        pollFds[i].revents = 0;
+        pollFds[i].fd = this->objects[i]->fd;
+        pollFds[i].events = this->objects[i]->events;
+    }
+
+    // выполняем poll
+    poll(pollFds, qsize, timeoutMs);
+
+    // проверяем события
+    for (size_t i = 0; i < qsize; i++) {
+        objects[i]->revents = pollFds[i].revents;
+        // if (pollFds[i].revents != 0) {
+        //     objects[i]->callback();
+        // }
+    }
+}
+
+poller::PollWrapper::~PollWrapper() = default;

lib/port/unix/uart.cpp

@@ -0,0 +1,60 @@
+#include "port/uart.h"
+
+#include <sys/ioctl.h>
+#include <asm/termbits.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <poll.h>
+
+#include <iostream>
+#include <vector>
+#include <cstring>
+#include <atomic>
+#include <span>
+
+
+drivers::UartDriver::UartDriver(const std::string& path, int baud) {
+    fd = open(path.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
+    if (fd < 0) throw std::runtime_error(std::string("UartDriver open error ") + path + ": " + std::strerror(errno));
+
+    struct termios2 tio{};
+    if (ioctl(fd, TCGETS2, &tio) != 0) {
+        close(fd);
+        throw std::runtime_error(std::string("UartDriver setup error: ") + std::strerror(errno));
+    }
+    // 8bit
+    tio.c_cflag &= ~CSIZE;
+    tio.c_cflag |= CS8;
+    // baud rate
+    tio.c_ispeed = baud;
+    tio.c_ospeed = baud;
+    // other
+    tio.c_iflag |= (INPCK|IGNBRK|IGNCR|ISTRIP);
+    tio.c_cflag &= ~CBAUD;
+    tio.c_cflag |= (BOTHER|CREAD|CLOCAL);
+
+    if (ioctl(fd, TCSETS2, &tio) != 0) {
+        close(fd);
+        throw std::runtime_error(std::string("UartDriver setup error: ") + std::strerror(errno));
+    }
+
+    events = POLLIN;
+}
+bool drivers::UartDriver::writeData(std::span<const uint8_t> data) {
+    if (fd < 0) return false;
+    auto w = write(fd, data.data(), data.size());
+    return w == data.size();
+}
+size_t drivers::UartDriver::readChunk(std::vector<uint8_t>& out) {
+    if (fd < 0) return 0;
+    out.resize(1024);
+    auto r = read(fd, out.data(), out.size());
+    if (r <= 0) return 0;
+    out.resize(r);
+    return static_cast<size_t>(r);
+}
+drivers::UartDriver::~UartDriver() {
+    close(fd);
+}

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);
+}

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

vcpkg.json

@@ -1,5 +0,0 @@
-{
-  "dependencies": [
-    "sdl2"
-  ]
-}