20240520机械臂

#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <pthread.h>
#include <semaphore.h>
#include <wait.h>
#include <signal.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <sys/socket.h>
#include <sys/ipc.h>
#include <sys/sem.h>
#include <semaphore.h>
#include <sys/msg.h>
#include <sys/shm.h>
#include <sys/un.h>
#include <netdb.h>

#define SER_PORT 8888
#define SER_IP "192.168.117.156"
#define CLI_PORT 6668
#define CLI_IP "192.168.117.87"
int main(int argc, char const *argv[])
{
int cfd = socket(AF_INET, SOCK_STREAM, 0);//套接字
    if(cfd == -1){
        perror("socket");
        return 1;
    }
    printf("cfd = %d\n",cfd);
        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 sockadrr*)&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");
    
    long int c=0;
    long int d=0;
     char buf[102] = {0xff,0x02,0x00,c,0xff};
    unsigned char str[102] = {0xff,0x02,0x01,d,0xff};
    while(1){
      printf("请输入w/s：\n");
      int key = getchar();
      if(key == 'w'){
        send(cfd,buf,sizeof(buf),0);
        printf("请输入角度，十六进制\n");
        scanf("%ld",&c);
        while(getchar() != '\n');
      }else if(key == 's'){
        send(cfd,str,sizeof(str),0);
        printf("请输入角度，十六进制\n");
        scanf("%ld",&d);
        while(getchar() != '\n');
        
      }
    }
    close(cfd);
    return 0;
}