TCP客户端设置控制机械臂

#include <head.h>
#define SER_PORT 8888 //服务器端口号
#define SER_IP "192.168.115.9"//服务器IP地址
#define CLI_PORT 9999
#define CLI_IP "192.168.115.10"
int main(int argc, const char *argv[])
{
	int cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd==-1)
	{
		perror("socket");
		return -1;
	}
	int reuse=1;
	if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1)
	{
		perror("setsockopt");
		return -1;
	}
	printf("端口快速重用\n");
	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(CLI_PORT);
	sin.sin_addr.s_addr=inet_addr(CLI_IP);
	if(bind(cfd,(struct sockaddr*)&sin,sizeof(sin))==-1)
	{
		perror("bind");
		return -1; 
	}
	struct sockaddr_in cin;
	cin.sin_family=AF_INET;
	cin.sin_port=htons(SER_PORT);
	cin.sin_addr.s_addr=inet_addr(SER_IP);
	if(connect(cfd,(struct sockaddr*)&cin,sizeof(cin))==-1)
	{
		perror("connect");
		return -1;
	}
	char buf;	
	char red[5]={0xff,0x02,0x00,0x00,0xff};
	char bul[5]={0xff,0x02,0x01,0x00,0xff};
	while(1)
	{
		printf("输入控制键：");
		scanf("%c",&buf);
		getchar();
			if(buf=='s')
		{
			red[3]-=0x01;
			send(cfd,red,sizeof(red),0);
		}else if(buf=='w')
		{
			red[3]+=0x01;
			send(cfd,red,sizeof(red),0);	
		}else if(buf=='d')
		{
			bul[3]+=0x01;
			send(cfd,bul,sizeof(bul),0);
		}else if(buf=='a')
		{
			bul[3]-=0x01;
			send(cfd,bul,sizeof(bul),0);
		}else{
				printf("退出\n");
				break;
		}
		}

	close(cfd);
	return 0;
}