3/15作业-CSDN博客

本文链接：https://blog.csdn.net/hundunheimer/article/details/136731734

#include <myhead.h>
#define SER_PORT 8888
#define SER_IP "192.168.117.39"
//#define CLI_PORT 9999
//#define CLI_IP "192.168.117.39"
int main(int argc, const char *argv[])
{
   int cfd = socket(AF_INET,SOCK_STREAM,0);
   if(cfd == -1)
   {
       perror("socket");
       return -1;
   }
   printf("socket success cfd = %d\n",cfd);

   int reuse = 1;
   if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1)
   {
       perror("setsockopt");
       return -1;
   }
   printf("端口号快速重用成功\n");

   /*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");
   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");
       return -1;
   }
   printf("发送成功\n");
   //ff 02 00 B4 ff
   char rbuf[5]={0xff,0x02,0x00,0x00,0xff};
   unsigned char bbuf[5]={0xff,0x02,0x01,0x00,0xff};
   send(cfd,rbuf,sizeof(rbuf),0);//定义初始位置
   sleep(1);//防止粘包
   send(cfd,bbuf,sizeof(bbuf),0);
   char choose;
   int flag;//判断需要哪个机械臂动
   while(1)
   {

       printf("请输入:");
       scanf("%c",&choose);
       while(getchar()!=10);
       switch(choose)
       {
       case 'w'://蓝色机械臂角度增大
           if(rbuf[3]!=90)
           {
               rbuf[3]++;
           }
           flag=0;
           break;

       case 's'://蓝色机械臂角度减小
           if(rbuf[3]!=-90)
           {
               rbuf[3]--;
           }
           flag=0;
           break;
       case 'd'://红色机械臂增大
           if(bbuf[3]!=180)
           {
               bbuf[3]++;
           }
           flag=1;
           break;
       case 'a'://红色机械臂减小
           if(bbuf[3]!=0)
           {
               bbuf[3]--;
           }
           flag=1;
           break;
       case 'q':
           break;
       default:
           printf("输入错误请重新输入\n");
           break;
       }
       if(choose=='q')//退出循环
       {
           break;
       }
       if(flag==0)
       {
           send(cfd,rbuf,sizeof(rbuf),0);
       }
       else if(flag==1)
       {
           send(cfd,bbuf,sizeof(bbuf),0);
       }
       usleep(100);

   }
   close(cfd);
   return 0;
}