一.使用代码控制机械臂
1.1协议要求以及操作
机械臂程序 使用 QT 写的一个windows下运行的 TCP 服务器
运行在哪个主机上 ip地址就是哪个主机的IP地址 端口号就是自己指定的 控制端口号
点击开启监听 就ok了 就开始等待客户端连接了
机械臂的协议:0xff 0x02 (1) (2) 0xff
(1) 要操作的摆臂 0x00 红色的摆臂 0x01 控制蓝色的摆臂
(2) 要偏移的角度
红 [-90, 90] char
蓝 [0, 180] unsigned char
1.2代码实现:
#include <stdio.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <stdlib.h>
#include <unistd.h>
#include <netinet/in.h>
#include <netinet/ip.h>
#include <arpa/inet.h>
#include <string.h>
#define ERRLOG(msg) do{\
printf("%s %s(%d):", __FILE__, __func__, __LINE__);\
perror(msg);\
exit(-1);\
}while(0)
int main(int argc, char const *argv[])
{
if(3 != argc){
printf("Usage: %s <IP> <port>\n", argv[0]);
return -1;
}
int socketfd;
if (-1 == (socketfd = socket(AF_INET, SOCK_STREAM, 0))){
ERRLOG("socket error");
}
struct sockaddr_in clientaddr;
clientaddr.sin_family = AF_INET;
clientaddr.sin_port = htons(atoi(argv[2]));
clientaddr.sin_addr.s_addr = inet_addr(argv[1]);
socklen_t clientaddr_len = sizeof(clientaddr);
if (-1 == connect(socketfd, (struct sockaddr*)&clientaddr, sizeof(clientaddr))){
ERRLOG("connect error");
}
printf("连接成功\n");
char red_buff[5] = {0xff, 0x02, 0x00, 0x00, 0xff};
unsigned char blue_buff[5] = {0xff, 0x02, 0x01, 0x00, 0xff};
if (-1 == send(socketfd, red_buff, 5, 0)){
ERRLOG("send red_buf error");
}
sleep(1);
if (-1 == send(socketfd, blue_buff, 5, 0)){
ERRLOG("send blue_buff error");
}
char choose;
while (1){
printf("请输入您的选择(red+/- w/s blue+/- a/d)");
scanf("%c", &choose);
getchar();
switch (choose){
case 'w':
if (red_buff[3] < 90){
red_buff[3] += 10;
if (-1 == send(socketfd, red_buff, 5, 0)){
ERRLOG("send red_buf error");
}
}
break;
case 's':
if (red_buff[3] > -90){
red_buff[3] -= 10;
if (-1 == send(socketfd, red_buff, 5, 0)){
ERRLOG("send red_buf error");
}
}
break;
case 'a':
if (blue_buff[3] < 180){
blue_buff[3] += 10;
if (-1 == send(socketfd, blue_buff, 5, 0)){
ERRLOG("send red_buf error");
}
}
break;
case 'd':
if (blue_buff[3] > 0){
blue_buff[3] -= 10;
if (-1 == send(socketfd, blue_buff, 5, 0)){
ERRLOG("send red_buf error");
}
}
break;
case 'q':
goto ret;
}
}
ret:
return 0;
}
二TFTP协议练习
2.1 TFTP简介、通信过程
2.1.1 TFTP概述
TFTP:简单文件传送协议
最初用于引导无盘系统,被设计用来传输小文件
2.1.2 特点:
基于UDP协议实现
不进行用户有效性认证
2.1.3 数据传输模式:
octet:二进制模式
netascii:文本模式
mail:已经不再支持
2.2 TFTP通信过程
2.3 TFTP通信过程总结(无选项)
1、服务器在69号端口等待客户端的请求
2、服务器若批准此请求,则使用临时端口与客户端进行通信
3、每个数据包的编号都有变化(从1开始)
4、每个数据包都要得到ACK的确认如果出现超时,则需要重新发送最后的包(数据或ACK)
5、数据的长度以512Byte传输
6、小于512Byte的数据意味着传输结束
2.4 TFTP协议分析
错误码:
0 未定义,参见错误信息
1 File not found.
2 Access violation.
3 Disk full or allocation exceeded.
4 illegal TFTP operation.
5 Unknown transfer ID.
6 File already exists.
7 No such user.
8 Unsupported option(s) requested.
2.5代码实现:
#include <stdio.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <stdlib.h>
#include <unistd.h>
#include <netinet/in.h>
#include <netinet/ip.h>
#include <arpa/inet.h>
#include <string.h>
#include <sys/stat.h>
#include <fcntl.h>
#define ERRLOG(msg) do{\
printf("%s %s(%d):", __FILE__, __func__, __LINE__);\
perror(msg);\
exit(-1);\
}while(0)
int main(int argc, char const *argv[])
{
if (argc != 3){
printf("输入的格式错误\n");
exit(-1);
}
int socketfd;
int nbytes;
int fd;
unsigned char buff[600] = {0};
char filename[32] = {0};
char text[512] = {0};
unsigned short code;
unsigned short number;
unsigned short block_number = 0;
if (-1 == (socketfd = socket(AF_INET, SOCK_DGRAM, 0))){
ERRLOG("socket error");
}
struct sockaddr_in serveraddr;
memset(&serveraddr, 0, sizeof(serveraddr));
serveraddr.sin_family = AF_INET;
rename:
serveraddr.sin_port = htons(atoi(argv[2]));
serveraddr.sin_addr.s_addr = inet_addr(argv[1]);
socklen_t serveraddr_len = sizeof(serveraddr);
printf("请输入您要传输的文件");
fgets(filename, sizeof(filename), stdin);
filename[strlen(filename) - 1] = '\0';
nbytes = sprintf(buff, "%c%c%s%c%s%c", 0, 1, filename, 0, "octet", 0);
if (-1 == sendto(socketfd, buff, nbytes, 0, (struct sockaddr*)&serveraddr, serveraddr_len)){
ERRLOG("sendto error");
}
while (1){
if (-1 == (nbytes = recvfrom(socketfd, buff, sizeof(buff), 0, (struct sockaddr*)&serveraddr, &serveraddr_len))){
ERRLOG("recvfrom error");
}
code = ntohs(*(unsigned short*)buff);
number = ntohs(*(unsigned short*)(buff+2));
strncpy(text, buff+4, nbytes-4);
if (code == 3 && number == block_number+1){
block_number++;
if (number == 1){
if (-1 == (fd = open(filename, O_RDWR | O_CREAT | O_TRUNC, 0666))){
ERRLOG("open error");
}
}
write(fd, text, nbytes - 4);
*(unsigned short*)buff = htons(4);
*(unsigned short*)(buff+2) = htons(number);
if (-1 == sendto(socketfd, buff, 4, 0, (struct sockaddr*)&serveraddr, serveraddr_len)){
ERRLOG("sendto error");
}
if (nbytes - 4< 512){
close(fd);
break;
}
}else if(code == 5){
printf("错误\n");
goto rename;
}
}
close(socketfd);
return 0;
}