TCP机械臂测试
#define SER_IP "192.168.122.12"
#define SER_PORT 8888
#define CLI_IP "192.168.71.128"
#define CLI_PORT 8888
int main(int argc, const char *argv[])
{
int cfd=socket(AF_INET,SOCK_STREAM,0);
if(cfd==-1)
{
perror("socket");
return -1;
}
printf("success socket cfd=%d\n",cfd);
int reuse=1;
if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1)
{
perror("setsockopt");
return -1;
}
printf("快速重启端口成功\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");
//连接服务器
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");
//数据发送
char rbuf[5]={0xff,0x02,0x00,0x10,0xff};
unsigned char bbuf[5]={0xff,0x02,0x01,0x10,0xff};
send(cfd,rbuf,sizeof(rbuf),0);
send(cfd,bbuf,sizeof(bbuf),0);
sleep(1);
//输入键盘字符
char key=0;
while(1)
{
system("clear");
scanf("%c",&key);
while(getchar()!=10);
switch(key)
{
//红色机械臂操作
case "W":
case "w":
{
rbuf[3]+=5; //每次加五度
if(rbuf[3]>=90)
rbuf[3]=90;
send(cfd,rbuf,sizeof(rbuf),0);
}
break;
case "S" :
case "s" :
{
rbuf[3]-=5;
if(rbuf[3]<=-90)
rbuf[3]=-90;
send(cfd,rbuf,sizeof(rbuf),0);
}
break;
// 蓝色机械臂操作
case "A" :
case "a" :
{
bbuf[3]-=5;
if(bbuf[3]<=0)
bbuf[3]=-0;
send(cfd,bbuf,sizeof(bbuf),0);
}
break;
case "D" :
case "d" :
{
bbuf[3]+=5;
if(bbuf[3]>=180)
bbuf[3]=180;
send(cfd,bbuf,sizeof(bbuf),0);
}
break;
case "Q":
case "q":"
goto END;
default:printf("enter error\n");
}
}
END:
close(cfd);
return 0;
}
思维导图