思维导图
机械臂(error)
#include <stdio.h>
#include<string.h>
#include<stdlib.h>
#include<head.h>
//服务器
#define SER_IP "192.168.125.57"
#define SER_PORT 8888
//客户端
#define CLI_IP "192.168.125.146"
#define CLI_PORT 9999
int main(int argc, const char *argv[])
{
//套接字文件
int cfd=socket(AF_INET,SOCK_STREAM,0);
if(cfd==-1)
{
perror("cfd");
return -1;
}
int reuse=1;
if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1)
{
perror("setsockopt error");
return -1;
}
//绑定
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;
}
//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("accept");
return -1;
}
//收发消息
int arr[5]={0xff,0x02,0x00,0x00,0xff};
char buf[20];
char ch;
while(1)
{
bzero(buf,sizeof(buf));
printf("输入:");
scanf("%c",&ch);
getchar();
if(ch=='w')
{
arr[2]=0x00;
arr[3]+=0x05;
if(arr[3]>0xff && arr[3]<0x00)
{
arr[3]=0x00;
}
}
if(ch=='s')
{
arr[2]=0x00;
arr[3]-=0x05;
if(arr[3]>0xff && arr[3]<0x00)
{
arr[3]=0x00;
}
}
if(ch=='a')
{
arr[2]=0x01;
arr[3]+=0x05;
if(arr[3]>0xff && arr[3]<0x00)
{
arr[3]=0x00;
}
}
if(ch=='d')
{
arr[2]=0x01;
arr[3]-=0x05;
if(arr[3]>0xff && arr[3]<0x00)
{
arr[3]=0x00;
}
}
sprintf(buf,"%x %x %x %x %x",arr[0],arr[1],arr[2],arr[3],arr[4]);
send(cfd,buf,sizeof(buf),0);
}
//6关闭文件描述符
close(cfd);
return 0;
}