华清远见上海中心22071班

创建服务器测试

#include <stdio.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <sys/types.h>
#include <string.h>
#include <unistd.h>
#define IP "192.168.31.187"
#define ERR_MSG(msg) do{\
	fprintf(stderr, "__%d__", __LINE__);\
	perror(msg);\
}while(0)

int main(int argc, const char *argv[])
{
	//创建流式套接字
	int sfd = socket(AF_INET,SOCK_STREAM, 0);
	if(sfd<0)
	{
		ERR_MSG("socket");
		return -1;
	}
	//允许端口快速重用
	int reuse=1;
	if(setsockopt(sfd, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse))<0)
	{
		ERR_MSG("setsockopt");
		return -1;
	}
	printf("允许端口快速重用设置成功\n");
	//填充ip和端口到地址信息集团构体中
	struct sockaddr_in sin;
	sin.sin_family       =AF_INET;
	sin.sin_port         =htons(8888);
	sin.sin_addr.s_addr  =inet_addr(IP);


	//绑定服务器的ip端口和地址，必须绑定
	if(bind(sfd, (struct sockaddr*)&sin, sizeof(sin))<0)
	{
		ERR_MSG("bind");
		return -1;
	}
	//将套接字设置为被动监听状态
	if(listen(sfd, 10)<0)
	{
		ERR_MSG("listen");
		return -1;
	}
	printf("listen succes\n");

	//获取新的文件描述符，该文件描述符用于通信，交互的文件
	struct sockaddr_in sed;
	int a=sizeof(sed);
	int newfd=accept(sfd, (struct sockaddr*)&sed, &a);
	if(newfd<0)
	{
		ERR_MSG("accept");
		return -1;
	}
	printf("%#x\n", sed.sin_port);
	printf("%#x\n", sed.sin_addr.s_addr);
	printf("%d\n", newfd);

	char buf[128]="";
	ssize_t res=0;
	while(1)
	{
		bzero(buf, sizeof(buf));

		//接受
		res=recv(newfd, buf, sizeof(buf), 0);
		if(res<0)
		{
			ERR_MSG("recv");
			return -1;
		}
		else if(0==res)
		{
			fprintf(stderr, "newfd=%d客户端关闭\n", newfd);
			break;
		}
		printf("newfd=%d : %s\n", newfd, buf);

		//发送
		strcat(buf, "*_*");
		if(send(newfd,buf, sizeof(buf),0)<0 )
		{
			ERR_MSG("send");
			return -1;
		}
		printf("发送成功\n");
		
	}

	close(newfd);
	close(sfd);


	

	
	return 0;
}

创建客户端

#include <stdio.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <sys/types.h>
#include <string.h>
#include <unistd.h>
#define IP "192.168.31.187"
#define ERR_MSG(msg) do{\
	fprintf(stderr, "__%d__", __LINE__);\
	perror(msg);\
}while(0)

int main(int argc, const char *argv[])
{
	//创建流式套接字
	int sfd = socket(AF_INET,SOCK_STREAM, 0);
	if(sfd<0)
	{
		ERR_MSG("socket");
		return -1;
	}
	//填充要来链接的服务器的窗口和ip
	
	struct sockaddr_in sin;
	sin.sin_family       =AF_INET;
	sin.sin_port         =htons(8888);
	sin.sin_addr.s_addr  =inet_addr(IP);
	
	if(connect(sfd, (struct sockaddr*)&sin, sizeof(sin))<0)
	{
		ERR_MSG("connect");
		return -1;
	}
	printf("connect success");
	
	char buf[128]="";
	ssize_t res;
	while(1)
	{
		bzero(buf, sizeof(buf));
		printf("请输入》》");
		fgets(buf, sizeof(buf), stdin);
		buf[strlen(buf)-1]=0;
		//发送
		if(send(sfd, buf, sizeof(buf), 0)<0)
		{
			ERR_MSG("send");
			return -1;
		}
		printf("send success\n");

		//接收
		bzero(buf, sizeof(buf));

		res=recv(sfd, buf, sizeof(buf), 0);
		if(res<0)
		{
			ERR_MSG("recv");
			return -1;
		}
		else if(0==res)
		{
			printf("服务器关闭\n");
			break;
		}
		printf(":%s\n", buf);
	}

	close(sfd);


	

	
	return 0;
}

通过wasd按键控制机械臂

#include <stdio.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <sys/types.h>
#include <string.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <linux/input.h>
#define IP "192.168.31.145"
#define ERR_MSG(msg) do{\
	fprintf(stderr, "__%d__", __LINE__);\
	perror(msg);\
}while(0)

int main(int argc, const char *argv[])
{
	//创建流式套接字
	int sfd = socket(AF_INET,SOCK_STREAM, 0);
	if(sfd<0)
	{
		ERR_MSG("socket");
		return -1;
	}
	//测试，读取键盘驱动文件，
	int fd =open("/dev/input/event1", O_RDONLY);
	if(fd<0)
	{
		ERR_MSG("open");
		return -1;
	}
	struct input_event ev;
/*
	while(1)
	{
		if(read(fd, &ev, sizeof(ev))<0)
		{
			perror("read");
			return -1;
		}
		printf("type=%-4d code=%-4d value=%-4d\n", ev.type, ev.code, ev.value);
	}*/
	//填充要来链接的服务器的窗口和ip
		
	struct sockaddr_in sin;
	sin.sin_family       =AF_INET;
	sin.sin_port         =htons(8888);
	sin.sin_addr.s_addr  =inet_addr(IP);
	
	if(connect(sfd, (struct sockaddr*)&sin, sizeof(sin))<0)
	{
		ERR_MSG("connect");
		return -1;
	}
	printf("connect success\n");
	char buf[5]={0xff, 0x02, 0x00, -90, 0xff};
	unsigned char str[5]={0xff, 0x02, 0x01, 90, 0xff};
	if(send(sfd, buf, sizeof(buf), 0)<0)
	{
		ERR_MSG("send");
		return -1;
	}
	printf("send success\n");
	if(send(sfd, str, sizeof(str), 0)<0)
	{
		ERR_MSG("send");
		return -1;
	}

	while(1)
	{
		if(read(fd, &ev, sizeof(ev))<0)
		{
			perror("read");
			return -1;
		}
		switch(ev.code*ev.value)
		{
		case 17:             //红色摆臂++'w'
			buf[3]+=2;
			if(buf[3]>90)
			{
				buf[3]=90;
				continue;
			}
			break;
		case 31:           //红色摆臂--'s'
			buf[3]-=2;
			if(buf[3]<-90)
			{
				buf[3]=-90;
				continue;
			}
			break;
		case 32:           //蓝色摆臂++'a'
			str[3]+=2;
			if(str[3]>180)
			{
				str[3]=180;
				continue;
			}
			break;
		case 30:
			str[3]-=2;
			if(str[3]==0)
			{
				str[3]=0;
				continue;
			}
			break;
    	default:
			continue;
		}
		if(send(sfd, buf, sizeof(buf), 0)<0)
		{
			ERR_MSG("send");
			return -1;
		}
		if(send(sfd, str, sizeof(str), 0)<0)
		{
			ERR_MSG("send");
			return -1;
		}
		printf("send success\n");
	}

	
	close(sfd);


	

	
	return 0;
}