linux下udp传输Vector3d向量的数组（vector）

一. sender

#include <iostream>
#include <sys/socket.h>
#include <netinet/in.h>
#include <cstring>
#include <vector>
#include <Eigen/Dense>
#include <unistd.h>
#include <arpa/inet.h>
#include <limits>
constexpr int MAX_BUFFER_SIZE = 4096;  // 设置每个数据包的最大缓冲区大小

void waitforenter() {
    std::cout << "Press Enter to continue...";
    std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n');
}
int main() {
    // 创建UDP套接字
    int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
    if (sockfd < 0) {
        std::cerr << "Failed to create socket" << std::endl;
        return 1;
    }

    // 设置接收方的地址和端口
    sockaddr_in receiverAddr{};
    receiverAddr.sin_family = AF_INET;
    receiverAddr.sin_port = htons(2453);  // 设置接收方的端口号
    inet_pton(AF_INET, "127.0.0.1", &(receiverAddr.sin_addr));  // 设置接收方的IP地址

    // 准备要发送的向量数组数据
    std::vector<Eigen::Vector3d> data;
    // data.push_back(Eigen::Vector3d(1.2, 3.4, 5.6));
    // data.push_back(Eigen::Vector3d(7.8, 9.0, 2.3));
    // data.push_back(Eigen::Vector3d(4.5, 6.7, 8.9));
    // data.push_back(Eigen::Vector3d(5, 6.7, 8.9));
       int iii=10;
    while (1)
{
    waitforenter();
    data.clear();
 
    for (size_t i = 0; i < iii; i++)
    {
        data.push_back(Eigen::Vector3d(i, i, i));
    }
    
    // 发送向量数组大小信息
    size_t vectorSize = data.size();
    ssize_t numBytesSent = sendto(sockfd, &vectorSize, sizeof(vectorSize), 0,
                                  reinterpret_cast<sockaddr*>(&receiverAddr),
                                  sizeof(receiverAddr));
    if (numBytesSent < 0) {
        std::cerr << "Failed to send vector size" << std::endl;
        return 1;
    }

    // 分块发送数据
    size_t dataSize = data.size() * sizeof(Eigen::Vector3d);
    size_t numChunks = dataSize / MAX_BUFFER_SIZE + 1;
    size_t lastChunkSize = dataSize % MAX_BUFFER_SIZE;


    for (size_t i = 0; i < numChunks; ++i) {
        size_t chunkSize = (i == numChunks - 1) ? lastChunkSize : MAX_BUFFER_SIZE;
        ssize_t numBytesSent = sendto(sockfd, data.data() + i * MAX_BUFFER_SIZE, chunkSize, 0,
                                      reinterpret_cast<sockaddr*>(&receiverAddr),
                                      sizeof(receiverAddr));
        if (numBytesSent < 0) {
            std::cerr << "Failed to send data" << std::endl;
            return 1;
        }
    }
    std::cout << "Data sent successfully" << std::endl;
    iii+=1;
}



    // 关闭套接字
    close(sockfd);

    return 0;
}

二.  receiver

#include <iostream>
#include <sys/socket.h>
#include <netinet/in.h>
#include <cstring>
#include <vector>
#include <Eigen/Dense>
#include <unistd.h>
#include <arpa/inet.h>
#include <limits>
constexpr int MAX_BUFFER_SIZE = 4096;  // 设置每个数据包的最大缓冲区大小
void waitforenter() {
    std::cout << "Press Enter to continue...";
    std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n');
}
int main() {
    // 创建UDP套接字
    int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
    if (sockfd < 0) {
        std::cerr << "Failed to create socket" << std::endl;
        return 1;
    }

    // 绑定接收方的地址和端口
    sockaddr_in receiverAddr{};
    receiverAddr.sin_family = AF_INET;
    receiverAddr.sin_port = htons(2453);  // 设置接收方的端口号
    receiverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
    if (bind(sockfd, reinterpret_cast<sockaddr*>(&receiverAddr), sizeof(receiverAddr)) < 0) {
        std::cerr << "Failed to bind socket" << std::endl;
        return 1;
    }

    // 接收向量数组大小信息
    size_t vectorSize = 0;
    while (1)
    {

        ssize_t numBytesReceived = recv(sockfd, &vectorSize, sizeof(vectorSize), 0);
    if (numBytesReceived < 0) {
        std::cerr << "Failed to receive vector size" << std::endl;
        return 1;
    }

    // 计算接收的数据大小
    size_t dataSize = vectorSize * sizeof(Eigen::Vector3d);
    size_t numChunks = dataSize / MAX_BUFFER_SIZE + 1;
    size_t lastChunkSize = dataSize % MAX_BUFFER_SIZE;

    // 动态分配内存来存储接收的数据
    std::vector<Eigen::Vector3d> receivedData(vectorSize);

    // 分块接收数据
    for (size_t i = 0; i < numChunks; ++i) {
        size_t chunkSize = (i == numChunks - 1) ? lastChunkSize : MAX_BUFFER_SIZE;
        ssize_t numBytesReceived = recv(sockfd, receivedData.data() + i * MAX_BUFFER_SIZE, chunkSize, 0);
        if (numBytesReceived < 0) {
            std::cerr << "Failed to receive data" << std::endl;
            return 1;
        }
    }

    // 输出接收到的向量数据
    for (size_t i = 0; i < receivedData.size(); ++i) {
        std::cout << "Vector at index " << i << ": " << receivedData[i].transpose() << std::endl;
    }

 }  

    // 关闭套接字
    close(sockfd);

    return 0;
}
  

三. CMakeList

cmake_minimum_required(VERSION 3.12)
project(SharedMemoryExample)

# 添加编译选项
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)

# 查找并包含Eigen库
find_package(Eigen3 REQUIRED)

# 添加sender可执行文件
add_executable(sender sender.cpp)
target_link_libraries(sender Eigen3::Eigen )

# 添加receiver可执行文件
add_executable(receiver receiver.cpp)
target_link_libraries(receiver Eigen3::Eigen )