1、服务端
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include<sys/types.h>
#include<sys/socket.h>
#include<netinet/in.h>
#include<netinet/ip.h>
#include<arpa/inet.h>
#include<unistd.h>
#define ERR_MSG(msg) do{\
fprintf(stderr,"_%d_:",__LINE__);\
perror(msg);\
}while(0)
#define IP "192.168.31.48"
int main(int argc, const char *argv[])
{
//创建流式套接字
int sfd = socket(AF_INET,SOCK_STREAM,0);
if(sfd<0)
{
ERR_MSG("socket");
return -1;
}
//允许端口快速重用
int reuse = 1;
if(setsockopt(sfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))<0)
{
ERR_MSG("setsockopt");
return -1;
}
//绑定服务器的IP和端口
struct sockaddr_in sin;
sin.sin_family=AF_INET;
sin.sin_port=htons(8888);
sin.sin_addr.s_addr=inet_addr(IP);
if(bind(sfd,(struct sockaddr*)&sin,sizeof(sin))<0)
{
ERR_MSG("bind");
return -1;
}
printf("bind success\n");
//设置为被动监听状态
if(listen(sfd,128)<0)
{
ERR_MSG("listen");
return -1;
}
struct sockaddr_in cin;
//获取新的文件描述符
socklen_t addrlen=sizeof(cin);
int newfd = accept (sfd,(struct sockaddr*)&cin,&addrlen);
if(newfd <0)
{
ERR_MSG("accept");
return -1;
}
printf("newfd = %d\n",newfd);
char buf[128] = "";
ssize_t res = 0;
while(1)
{
bzero(buf,sizeof(buf));
//接收
res = recv(newfd,buf,sizeof(buf),0);
if(res < 0)
{
ERR_MSG("recv");
return -1;
}
else if(0 == res)
{
fprintf(stderr,"%d客户端关闭\n",newfd);
break;
}
else
{
printf("%s",buf);
}
//发送
strcat(buf,"*****");
if(send(newfd,buf,sizeof(buf),0)<0)
{
ERR_MSG("send");
return -1;
}
}
close(newfd);
close(sfd);
return 0;
}
2、客户端
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include<sys/types.h>
#include<sys/socket.h>
#include<netinet/in.h>
#include<netinet/ip.h>
#include<arpa/inet.h>
#include<unistd.h>
#define ERR_MSG(msg) do{\
fprintf(stderr,"_%d_:",__LINE__);\
perror(msg);\
}while(0)
#define IP "192.168.31.48"
int main(int argc, const char *argv[])
{
//创建流式套接字
int sfd = socket(AF_INET,SOCK_STREAM,0);
if(sfd<0)
{
ERR_MSG("socket");
return -1;
}
//绑定客户端的IP和端口
struct sockaddr_in sin;
sin.sin_family=AF_INET;
sin.sin_port=htons(8888);
sin.sin_addr.s_addr=inet_addr(IP);
//连接服务器
if(connect(sfd,(struct sockaddr*)&sin,sizeof(sin))<0)
{
ERR_MSG("connect");
return -1;
}
char buf[128] = "";
ssize_t res = 0;
while(1)
{
bzero(buf,sizeof(buf));
//发送
printf("请输入要发送的内容:");
fgets(buf,sizeof(buf),stdin);
if(send(sfd,buf,sizeof(buf),0)<0)
{
ERR_MSG("send");
return -1;
}
//接收
res = recv(sfd,buf,sizeof(buf),0);
if(res < 0)
{
ERR_MSG("recv");
return -1;
}
else if(0 == res)
{
fprintf(stderr,"%d客户端关闭\n",sfd);
break;
}
printf("%s\n",buf);
}
close(sfd);
return 0;
}
3、机械臂的操控
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include<sys/types.h>
#include<sys/socket.h>
#include<netinet/in.h>
#include<netinet/ip.h>
#include<arpa/inet.h>
#include<unistd.h>
#include<sys/stat.h>
#include<fcntl.h>
#include<linux/input.h>
#define ERR_MSG(msg) do{\
fprintf(stderr,"_%d_:",__LINE__);\
perror(msg);\
}while(0)
#define IP "192.168.31.89"
int main(int argc, const char *argv[])
{
//创建流式套接字
int sfd = socket(AF_INET,SOCK_STREAM,0);
if(sfd<0)
{
ERR_MSG("socket");
return -1;
}
//绑定IP和端口
struct sockaddr_in sin;
sin.sin_family=AF_INET;
sin.sin_port=htons(8888);
sin.sin_addr.s_addr=inet_addr(IP);
//连接服务器
if(connect(sfd,(struct sockaddr*)&sin,sizeof(sin))<0)
{
ERR_MSG("connect");
return -1;
}
printf("connect success\n");
//测试,读取键盘驱动文件
int fd = open("/dev/input/event1",O_RDONLY);
if(fd<0)
{
ERR_MSG("open");
return -1;
}
struct input_event ev;
/* while(1)
{
if(read(fd,&ev,sizeof(ev))<=0)
{
ERR_MSG("read");
return -1;
}
printf("type = %-4d code = %-4d value=%-4d\n",ev.type,ev.code,ev.value);
}*/
char buf[5] = {0xff,0x02,0x01,90,0xff};
unsigned char buf1[5] = {0xff,0x02,0x00,60,0xff};
while(1)
{
if(read(fd,&ev,sizeof(ev))<=0)
{
ERR_MSG("read");
return -1;
}
switch(ev.code*ev.value)
{
case 17://w
{
buf[3]=buf[3]+5;
if(buf[3]>180)
{
buf[3]=180;
}
if(send(sfd,buf,sizeof(buf),0)<0)
{
ERR_MSG("send");
return -1;
}
break;
}
case 31://s
{
buf[3]=buf[3]-5;
if(buf[3]<0)
{
buf[3]=0;
}
if(send(sfd,buf,sizeof(buf),0)<0)
{
ERR_MSG("send");
return -1;
}
break;
}
case 32://d
{
buf1[3]=buf1[3]+5;
if(buf1[3]>90)
{
buf[3]=90;
}
if(send(sfd,buf1,sizeof(buf1),0)<0)
{
ERR_MSG("send");
return -1;
}
break;
}
case 30://a
{
buf1[3]=buf1[3]-5;
if(buf[3]<-90)
{
buf[3]=-90;
}
if(send(sfd,buf1,sizeof(buf1),0)<0)
{
ERR_MSG("send");
return -1;
}
break;
}
}
}
close(sfd);
return 0;
}