网络编程-project1

通过w(红色臂角度增大)s（红色臂角度减小）d（蓝色臂角度增大）a（蓝色臂角度减小）按键控制机械臂
注意：关闭计算机的杀毒软件，电脑管家，防火墙
1）基于TCP服务器的机械臂，端口号是8888， ip是Windows的ip；
查看Windows的IP：按住Windows+r 按键，输入cmd , 输入ipconfig
2）点击软件中的开启监听；
3）机械臂需要发送16进制数，共5个字节，协议如下
0xff 0x02 x y 0xff
0xff：起始结束协议，固定的；
0x02：控制机械手臂协议，固定的；
x：指定要操作的机械臂
0x00 红色摆臂
0x01 蓝色摆臂
y：指定角度

#include <myhead.h>
#include <linux/input.h>
#define S_IP "192.168.125.195"
#define S_PORT 8888
#define C_IP "192.168.125.105"
#define C_PORT 7777
int main(int argc, const char *argv[])
{
    int cfd = socket(AF_INET, SOCK_STREAM, 0);
    if(cfd == -1){
        perror("socket");
        return -1;
    }

    //调用端口号快速重用函数
    int reuse = 1;
    if(setsockopt(cfd, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse)) == -1){
        perror("setsockopt");
        return -1;
    }

    struct sockaddr_in cin;
    cin.sin_family = AF_INET;
    cin.sin_port = htons(C_PORT);
    cin.sin_addr.s_addr = inet_addr(C_IP);
    socklen_t cinlen = sizeof(cin);
    if(bind(cfd, (struct sockaddr *)&cin, cinlen) == -1){
        perror("bind");
        return -1;
    }

    struct sockaddr_in sin;
    sin.sin_family = AF_INET;
    sin.sin_port = htons(S_PORT);
    sin.sin_addr.s_addr = inet_addr(S_IP);
    socklen_t sinlen = sizeof(sin);
    if(connect(cfd, (struct sockaddr *)&sin, sinlen) == -1){
        perror("connect");
        return -1;
    }
    printf("connect success\n");

    char rbuf[5] = {0xff, 0x02, 0x00, 0x00, 0xff};
    unsigned char bbuf[5] = {0xff, 0x02, 0x01, 0x00, 0xff};
    send(cfd, rbuf, sizeof(rbuf), 0);
    send(cfd, bbuf, sizeof(bbuf), 0);
    int fd = open("/dev/input/event1", O_RDONLY);
    if(fd == -1){
        perror("open");
        return -1;
    }
    struct input_event input;
    while(1){
        read(fd, &input, sizeof(input));
        switch(input.value * input.code){
        case 17:
            rbuf[3] += 2;
            if(rbuf[3] >= 90){rbuf[3] = 90;}
            send(cfd, rbuf, sizeof(rbuf), 0);
            break;
        case 31:
            rbuf[3] -= 2;
            if(rbuf[3] <= -90){rbuf[3] = -90;}
            send(cfd, rbuf, sizeof(rbuf), 0);
            break;
        case 30:
            bbuf[3] -= 2;                                                            
            if(bbuf[3] >180 && bbuf[3] <= 255){bbuf[3] = 0;}
            send(cfd, bbuf, sizeof(bbuf), 0);
            break;
        case 32:
            bbuf[3] += 2;
            if(bbuf[3] >= 180){bbuf[3] = 180;}
            send(cfd, bbuf, sizeof(bbuf), 0);
            break;
        default:break;
        }
    }
    close(fd);
    close(cfd);
    return 0;
}