feat: C控制程序对接KCP

ros-control-c/common/teleop_transport.h

@@ -0,0 +1,59 @@
+#ifndef TELEOP_TRANSPORT_H
+#define TELEOP_TRANSPORT_H
+
+#include <netinet/in.h>
+#include <pthread.h>
+
+#include "protocol.h"
+#include "peer_kcp_client.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define DEFAULT_KCP_SERVER_ADDR "127.0.0.1:9002"
+#define DEFAULT_KCP_KEYBOARD_PEER_ID "ros-keyboard-ctrl"
+#define DEFAULT_KCP_GAMEPAD_PEER_ID "ros-gamepad-ctrl"
+#define DEFAULT_KCP_TARGET_PEER_ID "ros-bridge-ctrl"
+
+typedef enum teleop_transport_mode {
+    TELEOP_TRANSPORT_MODE_UDP = 0,
+    TELEOP_TRANSPORT_MODE_KCP = 1
+} teleop_transport_mode_t;
+
+typedef struct teleop_transport_config {
+    teleop_transport_mode_t mode;
+    const char *udp_ip;
+    int udp_port;
+    const char *server_addr;
+    const char *relay_via;
+    const char *peer_id;
+    const char *target_peer;
+} teleop_transport_config_t;
+
+typedef struct teleop_transport {
+    teleop_transport_mode_t mode;
+    int udp_fd;
+    struct sockaddr_in udp_dest;
+    kcp_client_t *kcp_client;
+    pthread_t recv_thread;
+    int recv_thread_started;
+    volatile int stop_requested;
+    char server_addr[OMNI_MAX_ADDR_TEXT];
+    char relay_via[OMNI_MAX_ADDR_TEXT];
+    char peer_id[OMNI_MAX_PEER_ID];
+    char target_peer[OMNI_MAX_PEER_ID];
+} teleop_transport_t;
+
+int teleop_transport_parse_mode(const char *raw, teleop_transport_mode_t *out_mode);
+const char *teleop_transport_mode_name(teleop_transport_mode_t mode);
+
+int teleop_transport_open(teleop_transport_t *transport, const teleop_transport_config_t *config);
+int teleop_transport_send_twist(teleop_transport_t *transport, const twist_cmd_t *cmd);
+void teleop_transport_close(teleop_transport_t *transport);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* TELEOP_TRANSPORT_H */