12.18

1

机械臂

#include "myhead.h"
#define SERPORT 8888
#define SERIP "192.168.125.162"

#define CLIPORT 2438
#define CLIIP "192.168.125.115"
int main(int argc, const char *argv[])
{
	//创建用于通信的套接字
	int cfd=-1;
	if((cfd=socket(AF_INET,SOCK_STREAM,0))==-1){
		perror("socket error");
		return -1;
	}
	printf("cfd=%d\n",cfd);
	//将端口号快速重用
	int reuse=1;
	if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1){
		
		perror("setsockopt error");
		return -1;
	}
	//可以绑定也可以不绑定
	//填充地址信息结构体
	struct sockaddr_in cin;
	cin.sin_family=AF_INET;
	cin.sin_port=htons(CLIPORT);
	cin.sin_addr.s_addr=inet_addr(CLIIP);
	//绑定
	if(bind(cfd,(struct sockaddr*)&cin,sizeof(cin))==-1){
		perror("bind error");
		return -1;
	}
	//链接服务器
	//填充服务器地址信息结构体
	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(SERPORT);
	sin.sin_addr.s_addr=inet_addr(SERIP);
	//链接服务器
	if(connect(cfd,(struct sockaddr*)&sin,sizeof(sin))==-1){
		perror("connect error");
		return -1;
	}
	printf("connect success\n");
	//数据收发
	char rbuf[5]={0xff,0x02,0x00,0x00,0xff};
	unsigned char rbuf2[5]={0xff,0x02,0x01,0x00,0xff};
	char value=0;
	while(1){
		value=getchar();
		switch(value){
			case 'W':
			case 'w':
			rbuf[3]+=2;
			if(rbuf[3]>=90){
				rbuf[3]=90;
			}
			//将数据发送给服务器
			send(cfd,rbuf,sizeof(rbuf),0);
			break;
			case 's':
			case 'S':
			rbuf[3]-=2;
			if(rbuf[3]<=-90){
				rbuf[3]=-90;
			}
			send(cfd,rbuf,sizeof(rbuf),0);
			break;
			case 'A':
			case 'a':
			rbuf2[3]-=2;
			if(rbuf2[3]<=0){
				rbuf2[3]=0;
			}
			send(cfd,rbuf2,sizeof(rbuf2),0);
			break;
			case 'd':
			case 'D':
			rbuf2[3]+=2;
			if(rbuf2[3]>=180){
				rbuf2[3]=180;
			}
			send(cfd,rbuf2,sizeof(rbuf2),0);
			break;

		}
	
	
	}
	//关闭
	close(cfd);
	return 0;
}