网络编程机械臂练习（待修改）5.18

#include <myheader.h>
#include <linux/input.h>
#define SER_PORT 8888
#define SER_IP "192.168.111.25"
#define CLI_PORT 6666
#define CLI_IP "192.168.111.20"
int main(int argc, const char *argv[])
{
	//1、创建用于通信的套接字文件描述符
	int cfd = socket(AF_INET, SOCK_STREAM, 0);
	if(cfd == -1)
	{
		perror("socket error");
		return -1;
	}
	printf("cfd = %d\n", cfd);            //3
 
	//调用端口号快速重用函数
	int reuse = 1;
	if(setsockopt(cfd, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse)) == -1)
	{
		perror("setsockopt error");
		return -1;
	}
 
 
	//2、绑定IP地址和端口号 ?
	//2.1 填充客户端地址信息结构体
	struct sockaddr_in cin;
	cin.sin_family = AF_INET;
	cin.sin_port = htons(CLI_PORT);
	cin.sin_addr.s_addr = inet_addr(CLI_IP);
	//2.2 绑定
	if( bind(cfd, (struct sockaddr*)&cin, sizeof(cin)) ==-1)
	{
		perror("bind error");
		return -1;
	}
	printf("bind success\n");
	
	
	//3、连接服务器
	//3.1 准备对端地址信息结构体
	struct sockaddr_in sin;
	sin.sin_family = AF_INET;
	sin.sin_port = htons(SER_PORT);
	sin.sin_addr.s_addr = inet_addr(SER_IP);
	//3.2 连接服务器
	if(connect(cfd, (struct sockaddr*)&sin, sizeof(sin))==-1)
	{
		perror("connect 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};
 
	//将消息发送给服务器
	send(cfd, rbuf, sizeof(rbuf), 0);
	send(cfd, bbuf, sizeof(bbuf), 0);
 
	//控制机械臂
	char ctl = 0;
	//打开 /dev/input/event1
	int fd = open("/dev/input/event1", O_RDONLY);
	if(fd == -1)
	{
		perror("open error");
		return -1;
	}
 
	//准备读取数据的结构体变量
	struct input_event input;
 
 
	while(1)
	{
		//从键盘事件文件中读取数据
		read(fd, &input, sizeof(input));
 
		//输出读取出来的内容
		//printf("type:%hd, code:%hd, value:%d\n", \
				input.type, input.code, input.value);
 
		//对输入的数据多分支选择
		switch(input.value*input.code)
		{
		case 17:
			{
				rbuf[3] += 2;     //调大2度
				if(rbuf[3] >= 90)
				{
					rbuf[3] = 90;
				}

				//将数据发送给服务器
				send(cfd, rbuf, sizeof(rbuf), 0);
			}
			break;
		case 31:
			{
				rbuf[2] = 0x00;
				rbuf[3] -=2;
				if(rbuf[3]<-90)
				{
					rbuf[3] = -90;
					continue;
				}
				break;
			}
		}

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