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TCP机械臂的测试

#include<myhead.h>
#define SER_IP "192.168.126.23"//服务器IP
#define SER_PORT 8888
#define CLI_IP "192.168.242.130"//客户端IP
#define CLI_PORT 9999
int main(int argc, const char *argv[])
{
	//1、创建用于通信的套接子文件描述付
	int cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd==-1)
	{
		perror("sock error");
		return -1;
	}
	printf("cfd=%d\n",cfd);
	//2、绑定（非必须）
	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");
	//3、链接服务器
	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("const error");
		return -1;
	}
	printf("connect success\n");
	//4、数据收发
	char rbuf[5]={0xff,0x02,0x00,0x00,0xff};
	unsigned char bbuf[5]={0xff,0x02,0x01,0x00,0xff};

	//发送服务器初始值
	send(cfd,rbuf,sizeof(rbuf),0);
	sleep(1);
	send(cfd,bbuf,sizeof(bbuf),0);

	char key=0;//接收键盘输入的字符

	while(1)
	{
		scanf("%c",&key);
		getchar();

		switch(key)
		{
		case 'W':
		case 'w':
			{
				rbuf[3]+=5;
				if(rbuf[3]>=90)
				{
					rbuf[3]=90;
				}
				send(cfd,rbuf,sizeof(rbuf),0);
			}break;
		case 'S':
		case 's':
			{
				rbuf[3]-=5;
				if(rbuf[3]<=-90)
				{
					rbuf[3]=-90;
				}
				send(cfd,rbuf,sizeof(rbuf),0);
			}break;
		case 'A':
		case 'a':
			{
				bbuf[3]-=5;
				if(bbuf[3]<=0)
				{
					bbuf[3]=0;
				}
				send(cfd,bbuf,sizeof(bbuf),0);
			}break;
		case 'D':
		case 'd':
			{
				bbuf[3]+=5;
				if(bbuf[3]>=180)
				{
					bbuf[3]=180;
				}
				send(cfd,bbuf,sizeof(bbuf),0);
			}break;

		}
	}


	//5、关闭套接字
	
	close(cfd);
	return 0;
}