3.14作业

1.客户端对机械臂进行控制

#include <myhead.h>
#define SER_PORT 8888
#define SER_IP "192.168.117.49"
#define CLI_PORT 6666
#define CLI_IP "192.168.117.97"


int main(int argc, const char *argv[])
{
	int cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd == -1)
	{
		perror("socket");
		return -1;
	}
	printf("socket success\n");
	
	//设置端口号快速重用
    int reuse = 1;
    if(setsockopt(cfd, SOL_SOCKET, SO_REUSEPORT, &reuse, sizeof(reuse)) ==-1)
    {
        perror("setsockopt error");
        return -1;
    }
    printf("端口号快速重用成功\n");
	
	struct sockaddr_in cin;
	cin.sin_family=AF_INET;
	cin.sin_port=htons(CLI_PORT);
	cin.sin_addr.s_addr=inet_addr(CLI_IP);

	if(bind(cfd,(struct sockaddr*)&cin,sizeof(cin))==-1)
	{
		perror("bind");
		return -1;
	}
	printf("bind success\n");
	
	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(SER_PORT);
	sin.sin_addr.s_addr=inet_addr(SER_IP);

	if(connect(cfd,(struct sockaddr*)&sin,sizeof(sin))==-1)
	{
		perror("connect");
		return -1;
	}
	printf("connect success\n");

	char c=0;
	char rbuf[5]={0xff,0x02,0x00,0,0xff};
	unsigned char bbuf[5]={0xff,0x02,0x01,90,0xff};
	while(1)
	{
		printf("请输入w/s/d/a：");
		scanf("%c",&c);
		getchar();
		
		switch(c)
		{
		case'w':
			{
				rbuf[3]+=10;
				send(cfd,rbuf,sizeof(rbuf),0);
				break;
			}
		case's':
			{
				rbuf[3]-=10;	
				send(cfd,rbuf,sizeof(rbuf),0);
				break;
			}
		case'd':
			{	
				bbuf[3]+=10;		
				send(cfd,bbuf,sizeof(bbuf),0);
				break;
			}
		case'a':
			{	
				bbuf[3]-=10;
				send(cfd,bbuf,sizeof(bbuf),0);
				break;
			}
		default:printf("输入错误\n");
		}
	
	}

	close(cfd);
	return 0;
}