网络编程 4.15

机械臂操作

#include<myhead.h>
#define SER_IP "192.168.126.92"
#define SER_PORT 8888
#define CLI_IP "192.168.126.93"
#define CLI_PORT 9999
int main(int argc, const char *argv[])
{
    int cfd = socket(AF_INET, SOCK_STREAM, 0);
    if(cfd == -1)
    {
        perror("socket ");
        return -1;
    }
	int reuse = 1;
    if(setsockopt(cfd, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse))==-1)
    {
        perror("setsockopt err");
        return -1;
    }
    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 error");
        return -1;
    }
    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 error");
        return -1;
    }
  	
    char rbuf[5] = {0xff, 0x02, 0x00, 0x00, 0xff};
    unsigned char bbuf[5] = {0xff, 0x02, 0x01, 0x00, 0xff};
    send(cfd, rbuf, sizeof(rbuf), 0);         
	send(cfd, bbuf, sizeof(bbuf), 0);          
	while(1)
	{
		char w=getchar();
		switch(w)
		{
			case 'w':
				if(rbuf[3]<90)
					rbuf[3]+=1;
				send(cfd, rbuf, sizeof(rbuf), 0);
				break;
			case 's':
				if(rbuf[3]>-90)
					rbuf[3]-=1;
				send(cfd, rbuf, sizeof(rbuf), 0);
				break;
			case 'a':
				if(bbuf[3]>0)
					bbuf[3]-=1;
 				send(cfd, bbuf, sizeof(bbuf), 0);
				break;
			case 'd':
				if(bbuf[3]<180)
					bbuf[3]+=1;
				send(cfd, bbuf, sizeof(bbuf), 0);
				break;
			case 'q':
				break ;
			default:
				break;
		}
	}
	printf("退出\n");
    close(cfd);
    return 0;

}