2024.8.13 作业

TCP机械臂测试

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

#include<myhead.h>

#define SER_PORT 8888             //与服务器保持一致
#define SER_IP  "192.168.0.149"    //服务器ip地址
#define CLI_PORT 6666               //客户端端口号
#define CLI_IP  "192.168.0.150"     //客户端ip地址


int main(int argc, const char *argv[])
{
    //1、创建用于通信的套接字文件描述符
    int cfd = socket(AF_INET, SOCK_STREAM, 0);
    if(cfd == -1)
    {
        perror("socket error");
        return -1;
    }
    printf("cfd = %d\n", cfd);   

    //3、连接到服务器
    //3.1 填充服务器地址信息结构体
    struct sockaddr_in sin;
    sin.sin_family = AF_INET;          //通信域
    sin.sin_port = htons(SER_PORT);      //服务器端口号
    sin.sin_addr.s_addr = inet_addr(SER_IP);     //服务器ip地址

    //3.2 连接服务器
    if(connect(cfd, (struct sockaddr*)&sin, sizeof(sin)) == -1)
    {
        perror("connect error");
        return -1;
    }
    printf("连接服务器成功\n");

    //准备数据
    char rbuf[5] = {0xff, 0x02, 0x00, 0x00, 0xff};
    char bbuf[5] = {0xff, 0x02, 0x01, 0x00, 0xff};

    //发送给服务器，以初始化机械臂
    send(cfd, rbuf,sizeof(rbuf), 0);
    sleep(1);
    send(cfd, bbuf,sizeof(bbuf), 0);

    char n ;
    while(1)
    {
        scanf("%c",&n);
        switch(n)
        {
            case 'a':
                {
                    bbuf[3]=bbuf[3]-1;
                    send(cfd, bbuf,sizeof(bbuf), 0);
                }
                break;
            case 'd':
                {
                    bbuf[3]=bbuf[3]+1;
                    send(cfd, bbuf,sizeof(bbuf), 0);
                }
                break;
            case 's':
                {
                    rbuf[3]=rbuf[3]-1;
                    send(cfd, rbuf,sizeof(rbuf), 0);
                }
                break;
            case 'w':
                {
                    rbuf[3]=rbuf[3]+1;
                    send(cfd, rbuf,sizeof(rbuf), 0);
                }
                break;
            default :
                break;
        }
    }

    //5、关闭套接字
    close(cfd);

    return 0;
}

广播的发送端流程

#include <myhead.h>
int main(int argc,const char *argv[])
{
    //1.创建用于通信的套接字
    int sfd = socket(AF_INET,SOCK_DGRAM,0);
    if(sfd==-1)
    {
        perror("socket error");
        return -1;
    }
    printf("sfd = %d\n",sfd);

    //2.绑定可选
    //3.设置允许消息广播
    int broad = 1;
    if(setsockopt(sfd,SOL_SOCKET,SO_BROADCAST,&broad,sizeof(broad))==-1)
    {
        perror("setsockopt error");
        return -1;
    }
    printf("设置广播成功\n");

    //4.向广播地址发送消息
    struct sockaddr_in bin;
    bin.sin_family = AF_INET;
    bin.sin_port = htons(5555);
    bin.sin_addr.s_addr = inet_addr("192.168.0.255");
    char wbuf[128]="";
    while(1)
    {
        printf("请输入>>>");
        fgets(wbuf,sizeof(wbuf),stdin);
        wbuf[strlen(wbuf)-1] = 0;
        sendto(sfd,wbuf,strlen(wbuf),0,(struct sockaddr *)&bin,sizeof(bin));
        printf("发送成功\n");
    }
    
    //5.关闭套接字 
    close(sfd);
    return 0;
}

广播的接收端流程

#include <myhead.h>
int main(int argc,const char *argv[])
{
    //1.创建用于通信的套接字文件描述符
    int rfd = socket(AF_INET,SOCK_DGRAM,0);
    if(rfd==-1)
    {
        perror("socket error");
        return -1;
    }
    printf("rfd = %d\n",rfd);

    //2.绑定广播地址和端口号
    struct sockaddr_in rin;
    rin.sin_family = AF_INET;
    rin.sin_port = htons(5555);
    rin.sin_addr.s_addr = inet_addr("192.168.0.255");
    if(bind(rfd,(struct sockaddr *)&rin,sizeof(rin))==-1)
    {
        perror("bind error");
        return -1;
    }
    printf("bind success\n");

    //3.接收数据
    char rbuf[128]="";
    while(1)
    {
        bzero(rbuf,sizeof(rbuf));
        recv(rfd,rbuf,sizeof(rbuf),0);
        printf("收到广播消息为:%s\n",rbuf);
    }

    //4.关闭套接字
    close(rfd);
    return 0;
}

组播发送端流程

#include <myhead.h>
int main(int argc,const char *argv[])
{
    //1.创建用于通信的套接字
    int sfd = socket(AF_INET,SOCK_DGRAM,0);
    if(sfd==-1)
    {
        perror("socket error");
        return -1;
    }
    printf("sfd = %d\n",sfd);

    //2.绑定可选


    //3.向多播组地址发送消息
    struct sockaddr_in min;
    min.sin_family = AF_INET;
    min.sin_port = htons(9999);
    min.sin_addr.s_addr = inet_addr("224.1.2.3");
    char wbuf[128]="";
    while(1)
    {
        printf("请输入>>>");
        fgets(wbuf,sizeof(wbuf),stdin);
        wbuf[strlen(wbuf)-1] = 0;
        sendto(sfd,wbuf,strlen(wbuf),0,(struct sockaddr *)&min,sizeof(min));
        printf("发送成功\n");
    }
    
    //4.关闭套接字 
    close(sfd);
    return 0;
}

组播的接收端流程

#include <myhead.h>
int main(int argc,const char *argv[])
{
    //1.创建用于通信的套接字文件描述符
    int rfd = socket(AF_INET,SOCK_DGRAM,0);
    if(rfd==-1)
    {
        perror("socket error");
        return -1;
    }
    printf("rfd = %d\n",rfd);

    //2.绑定组播地址和端口号
    struct sockaddr_in rin;
    rin.sin_family = AF_INET;
    rin.sin_port = htons(9999);
    rin.sin_addr.s_addr = inet_addr("224.1.2.3");
    if(bind(rfd,(struct sockaddr *)&rin,sizeof(rin))==-1)
    {
        perror("bind error");
        return -1;
    }
    printf("bind success\n");

    //3.加入多播组
    struct ip_mreqn imr;
    imr.imr_multiaddr.s_addr = inet_addr("224.1.2.3");
    imr.imr_address.s_addr = inet_addr("192.168.0.150");
    imr.imr_ifindex = 2;
    if(setsockopt(rfd,IPPROTO_IP,IP_ADD_MEMBERSHIP,&imr,sizeof(imr))==-1)
    {
        perror("setsockopt error");
        return -1;
    }
    printf("加入多播组成功\n");

    //4.接收数据
    char rbuf[128]="";
    while(1)
    {
        bzero(rbuf,sizeof(rbuf));
        recv(rfd,rbuf,sizeof(rbuf),0);
        printf("收到组播消息为:%s\n",rbuf);
    }

    //5.关闭套接字
    close(rfd);
    return 0;
}

思维导图