#include<stdio.h>
#include<string.h>
int main()
{
int count = 4123131;
char countBuff[1];
memset( countBuff, 0, 1 );
memcpy( countBuff, &count, sizeof(count) );
int recvCount;
memcpy( &recvCount, countBuff, sizeof(recvCount) );
printf("%d", recvCount);
}
另一个版本
#include<stdio.h>
#include<string.h>
int main()
{
int count = 4123131;
char countBuff;
memset( &countBuff, 0, 1 );
memcpy( &countBuff, &count, sizeof(count) );
int recvCount;
memcpy( &recvCount, &countBuff, sizeof(recvCount) );
printf("%d", recvCount);
}
在自己的项目中使用如下:
server:
#include<stdio.h>
#include<stdlib.h>
#include<string.h>
#include<sys/socket.h>
#include<netinet/in.h>
#include<arpa/inet.h>
#include<unistd.h>
#include<iostream>
using namespace std;
char buffer[10];
int person_number;
int main()
{
//1.socket()获得一个sockfd。注意第二个参数必须SOCK_STREAM.
//第一个参数是地址描述符,常用AF_INET(表示IPV4)
//第三个参数是套接口所用的协议,不想调用就用0
int socket_fd = socket(AF_INET,SOCK_STREAM,0);
if(socket_fd == -1)
{
cout<<"socket 创建失败:"<<endl;
exit(-1);
}
//2.准备通讯地址(必须是服务器的)
//sin_family:协议簇一般用AF_INET(表示IPV4)
//sin_port: 端口,一般用htons(填端口:数字随便要和服务器的一样)将十进制转为网络进制
//sin_addr.s_addr:一般用inet_addr(" "填IP地址)
struct sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_port = htons(8888);
addr.sin_addr.s_addr = inet_addr("192.168.2.70");
int reuseaddr = 1;//解决地址已被占用问题
setsockopt(socket_fd,SOL_SOCKET,SO_REUSEADDR,&reuseaddr,sizeof(reuseaddr));
//3.bind() 绑定。(开发了端口,允许客服端链接)
//参数一:0的返回值(socket_fd)
//参数二:(struct sockaddr*)&addr 前面结构体,即地址
//参数三: addr结构体的长度
int res = bind(socket_fd,(struct sockaddr*)&addr,sizeof(addr));
if(res == -1)
{
cout<<"bind 创建失败:"<<endl;
exit(-1);
}
cout<<"bind ok 等待客户端的连接"<<endl;
while(1)
{
//4.监听客户端 listen()函数
//参数二:进程上限,一般小于30
listen(socket_fd,30);
//5.等待客户端的连接 accept(),返回用于交互的socket描述符
struct sockaddr_in client;
socklen_t len = sizeof(client);
int fd = accept(socket_fd,(struct sockaddr*)&client,&len);//阻塞函数
if(fd == -1)
{
printf("accept 错误\n");
exit(-1);
}
//6.使用第5步返回sockt描述符,进行读写通信。
char *ip = inet_ntoa(client.sin_addr);
cout<<"客户:【"<<ip<<"】链接成功"<<endl;
int size = read(fd, buffer, sizeof(buffer));
//第一个参数:accept 返回的文件描述符
//第二个参数:存放读取的内容
//第三个参数:内容的大小
memcpy(&person_number, buffer, sizeof(person_number));
cout<<"接收到字节数为:"<<size<<endl;
cout<<"number:"<<person_number<<endl;
//写给服务器的回应
//write(fd,"欢迎来到李超的服务器",100);
//7.关闭sockfd。
close(fd);
}
close(socket_fd);
return 0;
}
client:
#include "ros/ros.h"
#include <visualization_msgs/Marker.h>
#include <cmath>
#include <unistd.h>
#include <iostream>
#include <sys/types.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <std_msgs/Bool.h>
#include <stdio.h>
using namespace std;
int person_number=0;
int flag = 0;
char buffer[10];
void Callback(const visualization_msgs::Marker::ConstPtr& marker)
{
//如果数据发送变化就发送数据
if(person_number != marker->points.size())
{
cout<<"detect_person_number:"<<marker->points.size()<<endl;
person_number = marker->points.size();
flag = marker->points.size();
memset(buffer, 0, 1);
memcpy(buffer, &flag, sizeof(flag));
int socket_fd = socket(AF_INET, SOCK_STREAM,0);
if(socket_fd == -1)
{
cout<<"socket 创建失败:"<<endl;
exit(-1);
}
struct sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_port = htons(8888);
addr.sin_addr.s_addr = inet_addr("192.168.2.70");
int res = connect(socket_fd,(struct sockaddr*)&addr,sizeof(addr));
if(res == -1)
{
cout<<"bind 链接失败:"<<endl;
exit(-1);
}
cout<<"bind 链接成功:"<<endl;
write(socket_fd, (const void*)&flag, sizeof(flag));
cout<<"发送数据:"<<flag<<endl;
//read(socket_fd, buffer, sizeof(buffer)-1);
close(socket_fd);
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "send_person_info");
ros::NodeHandle n;
cout<<"开始获取行人数量!!"<<endl;
ros::Subscriber sub = n.subscribe("/people_points_viz",100, Callback);
ros::spin();
return 0;
}