4.23 作业

械臂机

 #include <unistd.h>
 #include <stdio.h>
 #include <netinet/in.h>
 #include <string.h>
 #include <stdlib.h>
 #include <sys/types.h>
 #include <sys/socket.h>
 #include <arpa/inet.h>
 #include <fcntl.h>
 #include <linux/input.h>
 #include <sys/stat.h>
 
#define CLI_PORT 8888
#define CLI_IP "192.168.0.103"
 int main(int argc, const char *argv[])   //argv[1]:端口号 argv[2]: IP
 {
     if(argc<3)
     {
         printf("请在命令行传入服务器的port 和 IP\n");
         return -1;                                                                                                                                                                                                                                                                                                                               
     }
 
     //创建流式套接字
     int cfd = socket(AF_INET,SOCK_STREAM,0);
     if(cfd<0)
     {
         fprintf(stderr,"line:%d",__LINE__);
         perror("socket");
         return -1;
     }
     printf("create socket success, cfd=%d __%d__\n",cfd,__LINE__);
 
 
     //AP_INET--->man 7 ip
     struct sockaddr_in sin;
     sin.sin_family         =AF_INET;
     sin.sin_port           =htons(atoi(argv[1]));
    sin.sin_addr.s_addr    =inet_addr(argv[2]);
 
     //
     if(connect(cfd,(struct sockaddr*)&sin,sizeof(sin))<0)
     {
         fprintf(stderr,"line:%d",__LINE__);
         perror("connect");
         return -1;
     }
     printf("connect server[%s:%s] success, __%d__\n",argv[1],argv[2],__LINE__);
 
     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 arr[5] = {0xff,0x02,0x01,90,0xff};
     if(send(cfd,buf,sizeof(buf),0)<0)
     {
         fprintf(stderr,"line:%d",__LINE__);
         perror("send");
         return -1;
     }
     printf("send success __%d__",__LINE__);
     if(send(cfd,arr,sizeof(arr),0)<0)
     {
         fprintf(stderr ,"line:%d",__LINE__);
         perror("send");
         return -1;
     }
     printf("send success __%d__",__LINE__);
     ssize_t res;
     char c;
     while(1)
     {
 
         res=read(fd,&ev,sizeof(ev));
         if(res<0)
         {
             fprintf(stderr,"line:%d",__LINE__);
             perror("recv");
             return -1;
 
         }
         else if(0==res)
         {
             printf("服务器下线 __%d__\n",__LINE__);
             break;
        }
         printf(":%s __%d__\n",buf,__LINE__);
 
         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 32:
                 arr[3]+=5;
                 if(arr[3]>180)
                     arr[3]=180;
                 break;
            case 30:
                 arr[3]-=5;
                 if(arr[3]<0)
                     arr[3]=0;
                 break;
             default:
                 continue;
         }
         if(send(cfd,buf,sizeof(buf),0)<0)
         {
             fprintf(stderr ,"line:%d",__LINE__);
             perror("send");
             return -1;
         }
 
         if(send(cfd,arr,sizeof(arr),0)<0)
         {
             fprintf(stderr ,"line:%d",__LINE__);
             perror("send");
             return -1;
         }
     }
    close(cfd);
 
     return 0;
 }