feat: 基于Python ROS2的控制程序

python/omnisocket/omnisocket_client.h

@@ -2,6 +2,7 @@
 #define OMNISOCKET_PY_CLIENT_H
 
 #include "peer_kcp_client.h"
+#include "peer_udp_client.h"
 
 typedef struct omnisocket_session_stats {
     uint64_t send_calls;
@@ -23,6 +24,15 @@ typedef struct omnisocket_session {
     omnisocket_session_stats_t stats;
 } omnisocket_session_t;
 
+typedef struct omnisocket_udp_session {
+    pthread_mutex_t mutex;
+    pthread_cond_t idle_cond;
+    udp_client_t *client;
+    size_t active_ops;
+    int closing;
+    omnisocket_session_stats_t stats;
+} omnisocket_udp_session_t;
+
 int omnisocket_session_init(omnisocket_session_t *session);
 void omnisocket_session_destroy(omnisocket_session_t *session);
 
@@ -48,4 +58,27 @@ int omnisocket_session_recv_into(
 );
 void omnisocket_session_stats_snapshot(omnisocket_session_t *session, omnisocket_session_stats_t *out_stats);
 
+int omnisocket_udp_session_init(omnisocket_udp_session_t *session);
+void omnisocket_udp_session_destroy(omnisocket_udp_session_t *session);
+
+int omnisocket_udp_session_connect(
+    omnisocket_udp_session_t *session,
+    const char *server_addr,
+    const char *peer_id,
+    const char *bind_ip,
+    const char *bind_device,
+    int enable_timestamping
+);
+int omnisocket_udp_session_close(omnisocket_udp_session_t *session);
+int omnisocket_udp_session_send(omnisocket_udp_session_t *session, const char *to, const void *data, size_t data_len);
+int omnisocket_udp_session_recv(omnisocket_udp_session_t *session, message_t *out_msg, int timeout_ms);
+int omnisocket_udp_session_recv_into(
+    omnisocket_udp_session_t *session,
+    void *buffer,
+    size_t buffer_len,
+    udp_client_recv_meta_t *out_meta,
+    int timeout_ms
+);
+void omnisocket_udp_session_stats_snapshot(omnisocket_udp_session_t *session, omnisocket_session_stats_t *out_stats);
+
 #endif