TCP和UDP通信模型

思维导图

控制机械臂

#include<myhead.h>

#define SER_PORT 8888
#define SER_IP "192.168.125.93"
#define CLI_PORT 1314
#define CLI_IP "192.168.125.43"

int main(int argc, char const *argv[])
{
    int cfd =1;
    cfd=socket(AF_INET,SOCK_STREAM,0);    //创建通信套接字
    if(cfd==-1)
    {
        perror("socket error");
        return -1;
    }
    printf("cfd=%d\n",cfd);

    struct sockaddr_in cin;
    cin.sin_family=AF_INET;
    cin.sin_port=htons(CLI_PORT);
    cin.sin_addr.s_addr=inet_addr(CLI_IP);

    if(bind(cfd,(struct sockaddr*)&cin,sizeof(cin))==-1)
    {
        perror("bind error");
        return -1;
    }
    printf("bind success\n");

    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 error");
        return -1;
    }
    printf("connect success\n");

    unsigned char buf[5]={0xff,0x02,0x01,0x90,0xff};
    unsigned char buf1[5]={0xff,0x02,0x00,0x00,0xff};

        char order1='w';
    char order2='s';
        char order3='a';
        char order4='d';
    while (1)
    {
        //bzero(buf,sizeof(buf));
        printf("please enter:");
        char order=fgetc(stdin);
        if (order==order1)
        {
            buf[3]+=2;
                send(cfd,buf,sizeof(buf),0);
        }
        else if (order==order2)
        {
            buf[3]-=2;
                send(cfd,buf,sizeof(buf),0);
        }
                else if(order==order3)
                {
                        buf1[3]+=2;
                send(cfd,buf1,sizeof(buf1),0);
                }
                else if(order==order4)
                {
                        buf1[3]-=2;
                send(cfd,buf1,sizeof(buf1),0);
                }
                printf("角度：%02x ",buf[3]);
                printf("\n");

        // fgets(buf,sizeof(buf),stdin);
        //buf[strlen(buf)-1]=0;
        //send(cfd,buf,sizeof(buf),0);
        printf("发送成功!\n");

/*        if(strcmp(buf,"quit")==0)
        {
            break;
        }

        recv(cfd,buf,sizeof(buf),0);
        printf("[%s:%d]:%s\n",SER_IP,SER_PORT,buf);
        printf("DONE!!\n");
*/
    }

    close(cfd);

    return 0;
}