2024.8.13

TCP机械臂测试

#include<myhead.h>

#define SER_PORT 8888             //与服务器保持一致
#define SER_IP  "192.168.0.147"    //服务器ip地址
#define CLI_PORT 6666               //客户端端口号
#define CLI_IP  "192.168.0.130"     //客户端ip地址


int main(int argc, const char *argv[])
{
    //1、创建用于通信的套接字文件描述符
    int cfd = socket(AF_INET, SOCK_STREAM, 0);
    if(cfd == -1)
    {
        perror("socket error");
        return -1;
    }
    printf("cfd = %d\n", cfd);             //3
    
    //3、连接到服务器
    //3.1 填充服务器地址信息结构体
    struct sockaddr_in sin;
    sin.sin_family = AF_INET;          //通信域
    sin.sin_port = htons(SER_PORT);      //服务器端口号
    sin.sin_addr.s_addr = inet_addr(SER_IP);     //服务器ip地址

    //3.2 连接服务器
    if(connect(cfd, (struct sockaddr*)&sin, sizeof(sin)) == -1)
    {
        perror("connect error");
        return -1;
    }
    printf("连接服务器成功\n");

    //准备数据
	char rbuf[5] = {0xff, 0x02, 0x00, 0x00, 0xff};
	char bbuf[5] = {0xff, 0x02, 0x01, 0x00, 0xff};
	char op; 
	//w红色增加 s红色减小 a蓝色增加 d蓝色减小	
	send(cfd, rbuf,sizeof(bbuf), 0);
	send(cfd, bbuf,sizeof(bbuf), 0);
	while(1)
	{
		scanf("%c",&op);
		getchar();
		if(op == 'w')
		{	
			rbuf[3] = rbuf[3] + 5;
			send(cfd, rbuf,sizeof(bbuf), 0);
		}
		else if(op == 's')
		{
			rbuf[3] = rbuf[3] - 5;
			send(cfd, rbuf,sizeof(bbuf), 0);
		}
		else if(op == 'a')
		{
			bbuf[3] = bbuf[3] + 5;
			send(cfd, bbuf,sizeof(bbuf), 0);
		}
		else if(op == 'd')
		{
			bbuf[3] = bbuf[3] - 5;
			send(cfd, bbuf,sizeof(bbuf), 0);
		}
		else
		{
			printf("input error\n");
			getchar();
		}
	}

    
    //5、关闭套接字
    close(cfd);

    return 0;
}