2024.4.15

 

 广播网络

 组播网络

机械臂操作

#include <myinclude.h>
#define SER_IP "192.168.125.223"
#define SER_PORT 8888
int main(int argc, const char *argv[])
{
	//1.设置套接字
	int cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd==-1){
		perror("socket");
		return -1;
	}
	printf("socket success\n");
	//设置端口号快速重用
	int reuse=1;
	if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1){
		perror("setsockopt error");
		return -1;
	}
	//2.绑定IP端口号
	//3.申请连接
	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(SER_PORT);
	sin.sin_addr.s_addr=inet_addr(SER_IP);
	if(connect(cfd,(struct sockaddr*)&sin,sizeof(sin))==-1){
		perror("connect");
		return -1;
	}
	printf("connect success\n");
	//4.数据交互
	char rbuf[5]={0xff,0x02,0x00,0x00,0xff};
	unsigned char bbuf[5]={0xff,0x02,0x01,0x00,0xff};
	printf("使用 a w s d 操控机械臂移动\n");
	char ch;
	while(1){      
		scanf("%c",&ch);
		while(getchar()!=10);
		switch(ch){    //判断输入的字符做出相应的行为
		case 'w':if(rbuf[3]<(char)0x5A){
					 rbuf[3]++;
				 }
			break;
		case 's':if(rbuf[3]>(char)0xA6){
					 rbuf[3]--;
				 }
			break;
		case 'a':if(bbuf[3]>(unsigned char)0x00){
					 bbuf[3]--;
				 }
			break;
		case 'd':if(bbuf[3]<(unsigned char)0xB4){
					 bbuf[3]++;
				 }
			break;
		default:
			break;
		}    //将执行结果传输到机械臂内
		sendto(cfd,rbuf,sizeof(rbuf),0,(struct sockaddr*)&sin,sizeof(sin));
		sendto(cfd,bbuf,sizeof(bbuf),0,(struct sockaddr*)&sin,sizeof(sin));
	}
	//5.关闭客户端
	close(cfd);
	return 0;
}