思维导图

作业

TCP机械臂测试
通过w(红色臂角度增大)s(红色臂角度减小)d(蓝色臂角度增大)a(蓝色臂角度减小)按键控制机械臂

代码

#include<myhead.h>

#define SER_PORT 8888
#define SER_IP "192.168.0.108"
#define CLI_PORT 6666
#define CLI_IP "192.168.190.128"

int main(int argc, char const *argv[])
{
    //创建
    int cfd = socket(AF_INET,SOCK_STREAM,0);
    if(cfd == -1)
    {
        perror("socket error");
        return -1;
    }
    printf("cfd = %d\n",cfd);

    
    //端口号快速重用
    int reuse = 1;
    if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse)) == -1)
    {
        perror("setsockopt error");
        return -1;
    }
    printf("端口号快速重启成功\n");

    //绑定
    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");

    //连接到服务器
    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("connect error");
        return -1;
    }
    printf("连接服务器成功\n");
    

    //初始化机械臂
    int a = 0x00;
    int b = 0x00;
    char rbuf[5] = {0xff,0x02,0x00,a,0xff};
    char bbuf[5] = {0xff,0x02,0x01,b,0xff};

    send(cfd,rbuf,sizeof(rbuf),0);
    sleep(1);
    send(cfd,bbuf,sizeof(bbuf),0);


    //读取并判断输入的指令
    while(1)
    {
        char dir = getchar();
        getchar();
        

        if(dir == 'w')
        {
            a += 5;
        }
        else if(dir == 'a')
        {
            b -= 5;
        }
        else if(dir == 's')
        {
            a -= 5;
        }
        else if(dir == 'd')
        {
            b += 5;
        }
        else
        {
            printf("error\n");
            continue;
        }
        

        char rbuf[5] = {0xff,0x02,0x00,a,0xff};
        char bbuf[5] = {0xff,0x02,0x01,b,0xff};

        //发送给服务器
        send(cfd,rbuf,sizeof(rbuf),0);
        sleep(1);
        send(cfd,bbuf,sizeof(bbuf),0);
    }

    close(cfd);

    return 0;
}