网络编程day2

控制机械臂项目

#include <myhead.h>
#include <linux/input.h>
#define SER_PORT 8888
#define SER_IP "192.168.117.86"
int main(int argc, const char *argv[])
{
	//创建套接字
	int cfd=-1;
	cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd==-1)
	{
		perror("socket error");
		return -1;
	}
	printf("cfd=%d\n",cfd);
	printf("%d socket success\n",__LINE__);
	//设置快速重用
	int reuse=1;
	if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1)
	{
		perror("setsockopt error");
		return -1;
	}
	printf("%d setsockopt success\n",__LINE__);
	//绑定
	
	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("%d connect success\n",__LINE__);
	//初始化机械臂
	char rbuf[5]={0xff,0x02,0x00,0x00,0xff};
	unsigned char bbuf[5]={0xff,0x02,0x01,0x00,0xff};
	send(cfd,rbuf,sizeof(rbuf),0);
	sleep(1);
	send(cfd,bbuf,sizeof(bbuf),0);
	struct input_event ie;
	int fd=open("/dev/input/event1",O_RDONLY);
	if(fd==-1)
	{
		perror("open error");
		return -1;
	}
	while(1)
	{
		read(fd,&ie,sizeof(ie));
		switch(ie.code*ie.value)
		{
		case 17:
			{
				rbuf[3]+=1;
				if(rbuf[3]>=90)
				{
					rbuf[3]=90;
				}
				send(cfd,rbuf,sizeof(rbuf),0);
			}
			break;
		case 31:
			{
				rbuf[3]-=1;
				if(rbuf[3]<=-90)
				{
					rbuf[3]=-90;
				}
				send(cfd,rbuf,sizeof(rbuf),0);
			}
			break;
		case 30:
			{
				bbuf[3]-=1;
				if(bbuf[3]<=0)
				{
					bbuf[3]=0;
				}
				send(cfd,bbuf,sizeof(bbuf),0);
			}
			break;
			case 32:
			{
				bbuf[3]+=1;
				if(bbuf[3]>=180)
				{
					bbuf[3]=180;
				}
				send(cfd,bbuf,sizeof(bbuf),0);
			}
			break;
			case 16:goto END;
		}
	}
END:
	close(cfd);
	return 0;
}