关于操作机械臂的简单TCP通信实操

#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <pthread.h>
#include <semaphore.h>
#include <wait.h>
#include <signal.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <sys/socket.h>
#include <sys/ipc.h>
#include <sys/sem.h>
#include <semaphore.h>
#include <sys/msg.h>
#include <sys/shm.h>
#include <sys/un.h>

#define SER_PORT 8888//服务器端口
#define SER_IP "192.168.125.120"//服务器ＩＰ
#define CLI_PORT 6666//客户端端口
#define CLI_IP "192.168.125.121"//客户端ＩＰ


int main(int argc, const char *argv[])
{
	int cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd==-1){
		perror("socket error\n");
		return -1;
	}
	printf("cfd=%d\n",cfd);

	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\n");
		return -1;
	}
	printf("bind success\n");

	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\n");
		return -1;
	}
	printf("connect success\n");
	
	char rbuf[128]={0xff,0x02,0x00,0x00,0xff};
	unsigned char bbuf[128]={0xff,0x02,0x01,0x00,0xff};
		
	send(cfd,rbuf,sizeof(rbuf),0);
	sleep(3);
	send(cfd,bbuf,sizeof(bbuf),0);
	char ctl=0;
	while(1){
		printf("input red arm operate:");
		scanf("%hhx",&rbuf[3]);
		getchar();
		
		printf("input blue arm operate:");
		scanf("%hhx",&bbuf[3]);
		getchar();
		send(cfd,rbuf,sizeof(rbuf),0);
		sleep(3);
		send(cfd,bbuf,sizeof(bbuf),0);
		printf("operate成功\n");
		

	}

	close(cfd);
	return 0;
}