控制机械臂

#include<stdio.h>
#include<string.h>
#include<stdlib.h>
#include<unistd.h>
#include<sys/stat.h>
#include<sys/types.h>
#include<fcntl.h>
#include<pthread.h>
#include<sys/wait.h>
#include<signal.h>
#include<sys/socket.h>
#include<arpa/inet.h>
#include<netinet/in.h>
#include <termios.h>
#include <assert.h>

#define RED 0x00
#define BLUE 0x01
#define ERR_MSG(msg) do{\
	fprintf(stderr,"error in line:%d\n",__LINE__);\
	perror(msg);\
}while(0)
#define SER_IP "192.168.116.201"
#define SER_PORT 8888
#define CLI_IP SER_IP
int getch(){
    int c=0;
    struct termios org_opts, new_opts;
    int res=0;
    res=tcgetattr(STDIN_FILENO, &org_opts);
    assert(res==0);

    new_opts = org_opts;

    new_opts.c_lflag &= ~(ICANON | ECHO | ECHOE | ECHOK | ECHONL | ECHOPRT | ECHOKE | ICRNL);
    tcsetattr(STDIN_FILENO, TCSANOW, &new_opts);

    c=getchar();

    res=tcsetattr(STDIN_FILENO, TCSANOW, &org_opts);
    assert(res==0);
    return c;
}
int main(int argc, const char *argv[])
{
	int cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd<0){
		ERR_MSG("socket");
		return -1;
	}
	//connect 
	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=ntohs(SER_PORT);
	sin.sin_addr.s_addr=inet_addr(SER_IP);
	if(connect(cfd,(struct sockaddr*)&sin,sizeof(sin))<0){
		ERR_MSG("connect");
		return -1;
	}
	char buf_red[5]={0};
	unsigned char buf_blue[5]={0};
	buf_red[0]=0xff;
	buf_red[1]=0x02;
	buf_red[2]=RED;
	buf_red[3]=0;
	buf_red[4]=0xff;
	buf_blue[0]=0xff;
	buf_blue[1]=0x02;
	buf_blue[2]=BLUE;
	buf_blue[3]=90;
	buf_blue[4]=0xff;
	int flag=0;
	char ctrl;
	while(1){
		flag=0;
		ctrl=getch();
		if('w'==ctrl){
			flag=1;
			if(buf_red[3]<90){
				buf_red[3]++;
			}
			else continue;
		}else if('s'==ctrl){
			flag=1;
			if(buf_red[3]>-90)
				buf_red[3]--;
			else continue;
		}else if('a'==ctrl){
			flag=2;
			if(buf_blue[3]<180)
				buf_blue[3]++;
			else continue;
		}else if('d'==ctrl){
			flag=2;
			if(buf_blue[3]>0)
				buf_blue[3]--;
			else continue;
		}else {
			if('q'==ctrl)break;
			else{
				putchar(10);
				printf("input invild\n");
				continue;
			}
		}
		if(1==flag){
		if(send(cfd,buf_red,sizeof(buf_red),0)<0){
			ERR_MSG("send");
			break;
		}}else if(2==flag){
		if(send(cfd,buf_blue,sizeof(buf_blue),0)<0){
			ERR_MSG("send");
			break;
		}}
		printf("ctrl success\n");
		usleep(100);
	}
	close(cfd);
	return 0;
}