TCP机械臂测试

#define SER_PORT 8888
#define SER_IP "192.168.31.154"
#define CLI_PORT 6666
#define CLI_IP "192.168.31.154"
 
#include <header.h>

 
int main(int argc, const char *argv[])
{
	//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 err");
		return -1;
	}
	printf("cfd = %d\n", cfd);
	//绑定IP地址和端口号
	//填充客户端地址信息结构体
	struct sockaddr_in cin;
	cin.sin_family = AF_INET;
	cin.sin_port = htons(CLI_PORT);
	cin.sin_addr.s_addr = inet_addr(CLI_IP);
	//绑定IP地址和端口号
	if( bind( cfd, (struct sockaddr*)&cin, sizeof(cin)) == -1 ){
		perror("bind-error");
		return -1;
	}
	printf("bind-success\n");
 
	//连接服务器
	//准备对端地址信息结构体
	struct sockaddr_in sin;
	sin.sin_family = AF_INET;
	sin.sin_port = htons(SER_PORT);
	sin.sin_addr.s_addr = inet_addr(SER_IP);
	//连接服务器
	if( connect(cfd, (struct sockaddr*)&sin, sizeof(sin)) == -1 ){
		perror("connect error");
		return -1;
	}
	printf("connect sccess\n");
    char red_rot[5]={0xff,0x02,0x00,0x00,0xff};
    unsigned char blue_rot[5]={0xff,0x02,0x01,0x00,0xff}; 
	//初始化红色机械臂
    if( send(cfd,red_rot,strlen(red_rot),0) == -1 ){
       perror("red-send-error");
       return -1;
    }
        //初始化蓝色机械臂
	if( send(cfd,blue_rot,strlen(blue_rot),0) == -1 ){
        perror("blue-send-error");
        return -1;
     }
	printf("初始化成功\n");

    //打开键盘事件所在文件
    int fd = open("/dev/input/event1", O_RDONLY);
    if(fd == -1){
        perror("open error");
        return -1
    }
    //准备读取数据的结构体变量
    struct input_event input;
    
	//数据收发
	while(1){
      //从键盘文件中读取数据
      read(fd, &input,sizeof(input));
      //输出读取出来的数据
     
      printf("type:%hd, code, value:%d", input.type, input.code, input.value);
      switch(input.value*input.code){
            case17:
            {
                rbuf[3] += 2; 
                if(rbuf[3] >= 90)
                {
                    rbuf[3] = 90;
                }

                //将数据发送给服务器
                send(cfd, rbuf, sizeof(rbuf), 0);
           }
           break;
        }

	}
	//关闭套接字
	close(cfd);
	return 0;
}