TCP客户端控制机械臂

最新推荐文章于 2024-09-26 15:00:08 发布

Wilion Frank

最新推荐文章于 2024-09-26 15:00:08 发布

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文章标签： tcp/ip 算法网络协议

本文链接：https://blog.csdn.net/qq_63481711/article/details/138136715

版权

#include <stdio.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <string.h>
#include <unistd.h>
#include <stdlib.h>
#include <linux/input.h>
#include <sys/stat.h>
#include <fcntl.h>

#define CL_IP "192.168.124.157"
#define CL_PORT 6666

int main(int argc, const char *argv[])
{
    //创建流式套接字文件
    int cfd = socket(AF_INET,SOCK_STREAM,0);
    if(cfd < 0)
    {
        fprintf(stderr,"line:%d ",__LINE__);
        perror("socket");
        return -1;
    }
    printf("创建流式套接字文件成功\n");

    /*//填充服务器的地址信息结构体
    struct sockaddr_in sin;
    sin.sin_family = AF_INET;
    sin.sin_port = htons(PORT);
    sin.sin_addr.s_addr = inet_addr(IP);*/

    //允许端口号被快速重复使用
    int reuse = 1;
    if(setsockopt(cfd, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse)) < 0)
    {
        fprintf(stderr, "line:%d  ", __LINE__);
        perror("setsockopt");
        return -1;
    }

    //填充服务器的地址信息，给ｃｏｎｎｅｃｔ函数连接服务器的时候使用
    struct sockaddr_in sin;
    sin.sin_family = AF_INET;

    sin.sin_port = htons(CL_PORT);
    sin.sin_addr.s_addr = inet_addr(CL_IP);

    //连接服务器
    if(connect(cfd,(struct sockaddr*)&sin,sizeof(sin)) < 0)
    {
        fprintf(stderr, "line:%d  ", __LINE__);
        perror("connect");
        return -1;
    }
    printf("connect success\n");

    //打开键盘驱动文件：/dev/input/event1
    int fd = open("/dev/input/event1",O_RDONLY);
    if(fd < 0)
    {
        perror("open");
        return -1;
    }
    struct input_event ev;

    char buf[5]={0xff,0x02,0x00,-90,0xff};
    unsigned char abuf[5]={0xff,0x02,0x01,45,0xff};
    //ssize_t res;
    /*  while(1)
        {
        printf("请输入数据\n");
        fgets(buf,sizeof(buf),stdin);
        buf[strlen(buf)-1] ='\0';
        */
    //发送
    char c;
    while(1)
    {
        if(read(fd,&ev,sizeof(ev)) < 0)
        {
            perror("read");
            return -1;
        }
        switch(ev.code*ev.value)
        {
        case 17:
            buf[3]+=5;
            if(buf[3] > 90)
                buf[3] = -90;
            break;
        case 31:
            buf[3]-=5;
            if(buf[3]<-90)
                buf[3]=90;
            break;
        case 30:
            abuf[3]-=5;                                                                                                            
            if(abuf[3]<-180)
                abuf[3]=180;
            break;
        case 32:
            abuf[3]+=5;
            if(abuf[3]<0)
                abuf[3]=180;
            break;
        default:
            continue;
        }
        if(send(cfd,buf,sizeof(buf),0) < 0)
        {
            fprintf(stderr,"line:%d ",__LINE__);
            perror("send");
            return -1;
        }
        printf("send success\n");
        if(send(cfd,abuf,sizeof(abuf),0) < 0)
        {
            fprintf(stderr,"line:%d ",__LINE__);
            perror("send");
            return -1;
        }
        printf("send success\n");
    }


    /*  //接受

        bzero(buf,sizeof(buf));
        res = recv(cfd,buf,sizeof(buf),0);
        if(res < 0)
        {
            fprintf(stderr,"line:%d ",__LINE__);
            perror("recv");
            return -1;  
        }
        else if(0 == res)
        {
            printf("服务器下线\n");
            break;
        }
        printf("cfd=%d : %s  __%d__\n",cfd,buf,__LINE__);
    }*/
    //关闭文件描述符
    close(cfd);
    return 0;
}