add some code

managed_components/78__esp-ml307/src/esp/esp_udp.cc

@@ -0,0 +1,111 @@
+#include "esp_udp.h"
+
+#include <esp_log.h>
+#include <unistd.h>
+#include <cstring>
+#include <arpa/inet.h>
+#include <sys/socket.h>
+#include <netdb.h>
+
+static const char *TAG = "EspUdp";
+
+EspUdp::EspUdp() : udp_fd_(-1) {
+    event_group_ = xEventGroupCreate();
+}
+
+EspUdp::~EspUdp() {
+    Disconnect();
+
+    if (event_group_ != nullptr) {
+        vEventGroupDelete(event_group_);
+        event_group_ = nullptr;
+    }
+}
+
+bool EspUdp::Connect(const std::string& host, int port) {
+    // 确保先断开已有连接
+    if (connected_) {
+        Disconnect();
+    }
+
+    struct sockaddr_in server_addr;
+    bzero(&server_addr, sizeof(server_addr));
+    server_addr.sin_family = AF_INET;
+    server_addr.sin_port = htons(port);
+    // host is domain
+    struct hostent *server = gethostbyname(host.c_str());
+    if (server == NULL) {
+        ESP_LOGE(TAG, "Failed to get host by name");
+        return false;
+    }
+    memcpy(&server_addr.sin_addr, server->h_addr, server->h_length);
+
+    udp_fd_ = socket(AF_INET, SOCK_DGRAM, 0);
+    if (udp_fd_ < 0) {
+        ESP_LOGE(TAG, "Failed to create socket");
+        return false;
+    }
+
+    int ret = connect(udp_fd_, (struct sockaddr*)&server_addr, sizeof(server_addr));
+    if (ret < 0) {
+        ESP_LOGE(TAG, "Failed to connect to %s:%d", host.c_str(), port);
+        close(udp_fd_);
+        udp_fd_ = -1;
+        return false;
+    }
+
+    connected_ = true;
+
+    xEventGroupClearBits(event_group_, ESP_UDP_EVENT_RECEIVE_TASK_EXIT);
+    xTaskCreate([](void* arg) {
+        EspUdp* udp = (EspUdp*)arg;
+        udp->ReceiveTask();
+        xEventGroupSetBits(udp->event_group_, ESP_UDP_EVENT_RECEIVE_TASK_EXIT);
+        vTaskDelete(NULL);
+    }, "udp_receive", 4096, this, 1, &receive_task_handle_);
+    return true;
+}
+
+void EspUdp::Disconnect() {
+    connected_ = false;
+
+    if (udp_fd_ != -1) {
+        close(udp_fd_);
+        udp_fd_ = -1;
+
+        auto bits = xEventGroupWaitBits(event_group_, ESP_UDP_EVENT_RECEIVE_TASK_EXIT, pdFALSE, pdFALSE, pdMS_TO_TICKS(10000));
+        if (!(bits & ESP_UDP_EVENT_RECEIVE_TASK_EXIT)) {
+            ESP_LOGE(TAG, "Failed to wait for receive task exit");
+        }
+    }
+}
+
+int EspUdp::Send(const std::string& data) {
+    if (!connected_) {
+        ESP_LOGE(TAG, "Not connected");
+        return -1;
+    }
+
+    int ret = send(udp_fd_, data.data(), data.size(), 0);
+    if (ret <= 0) {
+        ESP_LOGE(TAG, "Send failed: ret=%d, errno=%d", ret, errno);
+    }
+    return ret;
+}
+
+void EspUdp::ReceiveTask() {
+    std::string data;
+    while (connected_) {
+        data.resize(1500);
+        int ret = recv(udp_fd_, data.data(), data.size(), 0);
+        if (ret <= 0) {
+            connected_ = false;
+            break;
+        }
+        
+        if (message_callback_) {
+            data.resize(ret);
+            message_callback_(data);
+        }
+    }
+}