我用的linux系统是ubuntu14.04,windows系统是windows 10,两个电脑之间通过网线连接.
连接的时候最好关闭系统的防火墙,否则会出现问题,两个系统都要关闭防火墙.
ubuntu关闭防火墙的方法是,在命令行输入 : sudo ufw disable
接着输入密码就可以.
windows关闭防火墙的方法是,在控制面板找到系统和安全,然后再找到windows防火墙,在左侧找到启用或关闭windows防火墙 ,全部关闭即可.
运行的时候,在ubuntu系统上,先编译gcc server.c -o server
,然后运行./server
,然后在windows系统运行代码,windows端我用的是vs2017,接下来windows这边输入什么,ubuntu那边就会输出什么.
注意:一定要先运行ubuntu的代码,然后再运行winodws的代码.
linux端的代码:
#include <netinet/in.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#define HELLO_WORLD_SERVER_PORT 4000
#define LENGTH_OF_LISTEN_QUEUE 20
#define BUFFER_SIZE 1024
int main(int argc, char **argv)
{
struct sockaddr_in server_addr;
int server_socket;
int opt = 1;
bzero(&server_addr,sizeof(server_addr));
server_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = htons(INADDR_ANY);
server_addr.sin_port = htons(HELLO_WORLD_SERVER_PORT);
/* create a socket */
server_socket = socket(PF_INET,SOCK_STREAM,0);
if( server_socket < 0)
{
printf("Create Failed!");
exit(1);
}
/* bind socket to a specified address*/
setsockopt(server_socket, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
if( bind(server_socket,(struct sockaddr*)&server_addr,sizeof(server_addr)))
{
printf("Server Bind Port : %d Failed!", HELLO_WORLD_SERVER_PORT);
exit(1);
}
/* listen a socket */
if(listen(server_socket, LENGTH_OF_LISTEN_QUEUE))
{
printf("Server Listen Failed!");
exit(1);
}
/* run server */
while (1)
{
struct sockaddr_in client_addr;
int client_socket;
socklen_t length;
char buffer[BUFFER_SIZE];
/* accept socket from client */
length = sizeof(client_addr);
client_socket = accept(server_socket, (struct sockaddr*)&client_addr, &length);
if( client_socket < 0)
{
printf("Server Accept Failed!\n");
break;
}
/* receive data from client */
while(1)
{
bzero(buffer, BUFFER_SIZE);
length = recv(client_socket, buffer, BUFFER_SIZE, 0);
if (length < 0)
{
printf("Server Recieve Data Failed!\n");
break;
}
if('q' == buffer[0])
{
printf("Quit from client!\n");
break;
}
printf("%s\n", buffer);
}
close(client_socket);
}
close(server_socket);
return 0;
}
windows端的代码:
#include <iostream>
#include <Windows.h>
using namespace std;
#pragma comment(lib,"ws2_32.lib")
#define PORT 4000
#define IP_ADDRESS "166.111.138.13"
int main(int argc, char* argv[])
{
WSADATA Ws;
SOCKET ClientSocket;
struct sockaddr_in ClientAddr;
int Ret = 0;
//char SendBuffer[MAX_PATH];
char SendBuffer[MAX_PATH] = "abcd";
char c[1];
/* Init Windows Socket */
if (WSAStartup(MAKEWORD(2, 2), &Ws) != 0)
{
printf("Init Windows Socket Failed::%d\n", GetLastError());
return -1;
}
/* Create Socket */
ClientSocket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
if (ClientSocket == INVALID_SOCKET)
{
printf("Create Socket Failed::%d\n", GetLastError());
return -1;
}
ClientAddr.sin_family = AF_INET;
ClientAddr.sin_addr.s_addr = inet_addr(IP_ADDRESS);
ClientAddr.sin_port = htons(PORT);
memset(ClientAddr.sin_zero, 0x00, 8);
/* connect socket */
Ret = connect(ClientSocket, (struct sockaddr*)&ClientAddr, sizeof(ClientAddr));
if (Ret == SOCKET_ERROR)
{
printf("Connect Error::%d\n", GetLastError());
return -1;
}
else
{
printf("Connect succedded!\n");
}
while (1)
{
cin >> SendBuffer ;
/* send data to server */
Ret = send(ClientSocket, SendBuffer, (int)strlen(SendBuffer), 0);
if (Ret == SOCKET_ERROR)
{
printf("Send Info Error::%d\n", GetLastError());
break;
}
if ('q' == SendBuffer[0])
{
break;
}
}
/* close socket */
closesocket(ClientSocket);
WSACleanup();
return 0;
}
附:ROS下使用的代码,将接收到的数据,以topic的形式发出去,注意运行的时候,要先运行roscore,再运行代码,我创建了一个ros包,创建过程看ros官网教程就好.
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <iostream>
#include <netinet/in.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#define HELLO_WORLD_SERVER_PORT 4000
#define LENGTH_OF_LISTEN_QUEUE 20
#define BUFFER_SIZE 1024
using namespace std;
int main(int argc, char **argv)
{
ros::init(argc,argv,"server");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("server",1000);
//ros::Rate loop_rate(20);
struct sockaddr_in server_addr;
int server_socket;
int opt = 1;
bzero(&server_addr,sizeof(server_addr));
server_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = htons(INADDR_ANY);
server_addr.sin_port = htons(HELLO_WORLD_SERVER_PORT);
/* create a socket */
server_socket = socket(PF_INET,SOCK_STREAM,0);
if( server_socket < 0)
{
printf("Create Failed!");
exit(1);
}
/* bind socket to a specified address*/
setsockopt(server_socket, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
if( bind(server_socket,(struct sockaddr*)&server_addr,sizeof(server_addr)))
{
printf("Server Bind Port : %d Failed!", HELLO_WORLD_SERVER_PORT);
exit(1);
}
/* listen a socket */
if(listen(server_socket, LENGTH_OF_LISTEN_QUEUE))
{
printf("Server Listen Failed!");
exit(1);
}
/* run server */
//while (ros::ok())
//{
struct sockaddr_in client_addr;
int client_socket;
socklen_t length;
char buffer[BUFFER_SIZE];
/* accept socket from client */
length = sizeof(client_addr);
client_socket = accept(server_socket, (struct sockaddr*)&client_addr, &length);
if( client_socket < 0)
{
printf("Server Accept Failed!\n");
//break;
}
/* receive data from client */
while(ros::ok())
{
std_msgs::String msg;
bzero(buffer, BUFFER_SIZE);
length = recv(client_socket, buffer, BUFFER_SIZE, 0);
if (length < 0)
{
printf("Server Recieve Data Failed!\n");
break;
}
if('q' == buffer[0])
{
printf("Quit from client!\n");
break;
}
msg.data = buffer;
printf("%s\n", buffer);
chatter_pub.publish(msg);
}
//loop_rate.sleep();
close(client_socket);
//}
close(server_socket);
return 0;
}
声明:我的代码是拷贝的别人的,不是我自己写的,我只是稍加修改,如果有不满意,请联系我.