网络编程DAY2

tcp服务器

#include <myhead.h>

#define ERR_MSG(msg) 	do{\
	printf("__%d__\n",__LINE__);\
	perror(msg);\
}while(0)

#define IP "192.168.10.147"
#define PORT 6666

int main(int argc, const char *argv[])
{
	//创建流式套接字
	int sfd = socket(AF_INET,SOCK_STREAM,0);
	if (sfd < 0)
	{
		ERR_MSG("socket");
		return -1;
	}
	
	//允许端口被快速重用
	int reuse = 1;
	if (setsockopt(sfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse)) < 0) 
	{
		ERR_MSG("setsockopt");
		return -1;
	}
	printf("允许端口快速被重用成功\n");

	//填充服务器的地址信息结构体
	struct sockaddr_in sin;
	sin.sin_family 			= AF_INET;
	sin.sin_port 			= htons(PORT);
	sin.sin_addr.s_addr 	=inet_addr(IP);

	//绑定服务器的IP和端口 		必须绑定
	if (bind(sfd,(struct sockaddr *)&sin,sizeof(sin)) < 0)
	{
		ERR_MSG("bind");
		return -1;
	}
	printf("bind success\n");

	//将套接字设置为被动监听
	if (listen(sfd,128) < 0)
	{
		ERR_MSG("listen");
		return -1;
	}
	printf("listen success\n");

	//存储客户端地址信息
	struct sockaddr_in cin;
	socklen_t addrlen = sizeof(cin);

	//有客户端连接后,创建一个新的通信套接字和客户端通信
	int newfd = accept(sfd,(struct sockaddr *)&cin,&addrlen);
	if (newfd < 0)
	{
		ERR_MSG("accept");
		return -1;
	}
	printf("[%s : %d] newfd = %d 客户端连接成功\n",\
			inet_ntoa(cin.sin_addr),ntohs(cin.sin_port),newfd);

	//定义容器
	char buf[128] = "";
	ssize_t res = 0;
	
	while (1)
	{
		//接受数据
		bzero(buf,sizeof(buf));
		res = recv(newfd,buf,sizeof(buf),0);
		if (res < 0)
		{
			ERR_MSG("recv");
			return -1;
		}
		else if (0 == res)
		{
			printf("[%s : %d] newfd = %d :  客户端下线\n",\
					inet_ntoa(cin.sin_addr),ntohs(cin.sin_port),newfd);
			break;
		}
		else
		{
			printf("[%s : %d] newfd = %d :  %s\n",\
					inet_ntoa(cin.sin_addr),ntohs(cin.sin_port),newfd,buf);
		}

		//发送数据
		strcat(buf,"*_*");
		if (send(newfd,buf,sizeof(buf),0) < 0)
		{
			ERR_MSG("send");
			return -1;
		}
		printf("send success\n");
	}
	close(newfd);

	//关闭文件描述符
		if (close(sfd) < 0)
		{
			ERR_MSG("close");
			return -1;
		}
	return 0;
}

tcp客户端

#include <myhead.h>

#define ERR_MSG(msg) 	do{\
	printf("__%d__\n",__LINE__);\
	perror(msg);\
}while(0)

#define IP "192.168.10.147"
#define PORT 6666

int main(int argc, const char *argv[])
{
	//创建流式套接字
	int cfd = socket(AF_INET,SOCK_STREAM,0);
	if (cfd < 0)
	{
		ERR_MSG("socket");
		return -1;
	}
	
	//允许端口被快速重用
	int reuse = 1;
	if (setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse)) < 0) 
	{
		ERR_MSG("setsockopt");
		return -1;
	}
	printf("允许端口快速被重用成功\n");


	//绑定服务器的IP和端口 		不绑定自动分配

	//填充服务器的地址信息结构体,让connect连接
	struct sockaddr_in sin;
	sin.sin_family 			= AF_INET;
	sin.sin_port 			= htons(PORT);
	sin.sin_addr.s_addr 	=inet_addr(IP);

	//连接服务器
	if (connect(cfd,(struct sockaddr *)&sin,sizeof(sin)) < 0)
	{
		ERR_MSG("connect");
		return -1;
	}
	printf("connect success\n");



	//定义容器
	char buf[128] = "";
	ssize_t res = 0;
	
	while (1)
	{
		//发送数据
		bzero(buf,sizeof(buf));
		printf("请输入:");
		fgets(buf,sizeof(buf),stdin);
		buf[strlen(buf)-1] = 0;
		if (send(cfd,buf,sizeof(buf),0) < 0)
		{
			ERR_MSG("send");
			return -1;
		}
		printf("send success\n");

		//接受数据
		bzero(buf,sizeof(buf));
		res = recv(cfd,buf,sizeof(buf),0);
		if (res < 0)
		{
			ERR_MSG("recv");
			return -1;
		}
		else if (0 == res)
		{
			printf("cfd = %d  服务器下线\n",cfd);
			break;
		}
		else
		{
			printf("cfd = %d :  %s\n",cfd,buf);
		}

	}

	//关闭文件描述符
		if (close(cfd) < 0)
		{
			ERR_MSG("close");
			return -1;
		}
	return 0;
}

让红机械臂转到16度

#include <myhead.h>

#define ERR_MSG(msg) 	do{\
	printf("__%d__\n",__LINE__);\
	perror(msg);\
}while(0)

#define IP "192.168.10.125"
#define PORT 8888

int main(int argc, const char *argv[])
{
	//创建流式套接字
	int cfd = socket(AF_INET,SOCK_STREAM,0);
	if (cfd < 0)
	{
		ERR_MSG("socket");
		return -1;
	}
	
	//允许端口被快速重用
	int reuse = 1;
	if (setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse)) < 0) 
	{
		ERR_MSG("setsockopt");
		return -1;
	}
	printf("允许端口快速被重用成功\n");


	//绑定服务器的IP和端口 		不绑定自动分配

	//填充服务器的地址信息结构体,让connect连接
	struct sockaddr_in sin;
	sin.sin_family 			= AF_INET;
	sin.sin_port 			= htons(PORT);
	sin.sin_addr.s_addr 	=inet_addr(IP);

	//连接服务器
	if (connect(cfd,(struct sockaddr *)&sin,sizeof(sin)) < 0)
	{
		ERR_MSG("connect");
		return -1;
	}
	printf("connect success\n");

	//定义容器
	char buf[128] = {0xff,0x02,0x00,0x10,0xff};
	
		//发送数据
		if (send(cfd,buf,sizeof(buf),0) < 0)
		{
			ERR_MSG("send");
			return -1;
		}
		printf("send success\n");


	//关闭文件描述符
		if (close(cfd) < 0)
		{
			ERR_MSG("close");
			return -1;
		}
	return 0;
}

wasd移动机械臂

 

#include <myhead.h>

#define ERR_MSG(msg) 	do{\
	printf("__%d__\n",__LINE__);\
	perror(msg);\
}while(0)

#define IP "192.168.10.125"
#define PORT 8888

int main(int argc, const char *argv[])
{
	//创建流式套接字
	int cfd = socket(AF_INET,SOCK_STREAM,0);
	if (cfd < 0)
	{
		ERR_MSG("socket");
		return -1;
	}
	
	//允许端口被快速重用
	int reuse = 1;
	if (setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse)) < 0) 
	{
		ERR_MSG("setsockopt");
		return -1;
	}
	printf("允许端口快速被重用成功\n");


	//绑定服务器的IP和端口 		不绑定自动分配

	//填充服务器的地址信息结构体,让connect连接
	struct sockaddr_in sin;
	sin.sin_family 			= AF_INET;
	sin.sin_port 			= htons(PORT);
	sin.sin_addr.s_addr 	=inet_addr(IP);

	//连接服务器
	if (connect(cfd,(struct sockaddr *)&sin,sizeof(sin)) < 0)
	{
		ERR_MSG("connect");
		return -1;
	}
	printf("connect success\n");

	//定义容器
	char red[5] = {0xff,0x02,0x00,0,0xff};
	char blue[5] = {0xff,0x02,0x01,0,0xff};

	//初始化机械臂
	if (send(cfd,blue,sizeof(blue),0) < 0)
	{
		ERR_MSG("send");
		return -1;
	}

	if (send(cfd,red,sizeof(red),0) < 0)
	{
		ERR_MSG("send");
		return -1;
	}
	printf("初始化成功\n");
	char ch;
	//用wasd控制红蓝机械臂
	while (1)
	{
		scanf(" %c",&ch);
		switch(ch)
		{
		case 'w':
			if (red[3] >= 90)
			{	
				red[3] = 90;
				printf("红色机械臂达到90度无法再增加\n");
			}
			else
			{
				red[3]++;
				printf("红色机械臂增加1度\n");
			}
			if (send(cfd,red,sizeof(red),0) < 0)
			{
				ERR_MSG("send");
				return -1;
			}
			getchar();
			break;
		case 's':
			if (red[3] <= -90)
			{	
				red[3] = -90;
				printf("红色机械臂达到-90度无法再减少\n");
			}
			else
			{
				red[3]--;
				printf("红色机械臂减少1度\n");
			}
			if (send(cfd,red,sizeof(red),0) < 0)
			{
				ERR_MSG("send");
				return -1;
			}
			getchar();
			break;
		case 'a':
			if (blue[3] >= 180)
			{	
				blue[3] = 180;
				printf("蓝色机械臂达到180度无法再增加\n");
			}
			else
			{
				blue[3]++;
				printf("蓝色机械臂增加1度\n");
			}
			if (send(cfd,blue,sizeof(blue),0) < 0)
			{
				ERR_MSG("send");
				return -1;
			}
			getchar();
			break;
		case 'd':
			if (blue[3] <= 0)
			{	
				blue[3] = 0;
				printf("蓝色机械臂达到0度无法再减少\n");
			}
			else
			{
				blue[3]--;
				printf("蓝色机械臂减少1度\n");
			}
			if (send(cfd,blue,sizeof(blue),0) < 0)
			{
				ERR_MSG("send");
				return -1;
			}
			getchar();
			break;
		default :  printf("无效操作\n");break;
		}
		printf("当前红色机械臂度数:%d\n当前蓝色机械臂度数:%d\n",red[3],blue[3]);
	}


	//关闭文件描述符
	if (close(cfd) < 0)
	{
		ERR_MSG("close");
		return -1;
	}
	return 0;
}