0101 作业

思维导图

机械臂客户端

//机械臂客户端
#include <myhead.h>
#define PORT 8888
#define IP "192.168.124.46"
int main(int argc, const char *argv[])
{
	//创建套接字、
	int oldfd = socket(AF_INET,SOCK_STREAM,0);
	if(oldfd==-1)
	{
		perror("socket");
		return -1;
	}

	//绑定
	
	//填充客户端信息结构体
	struct sockaddr_in client = {
		.sin_family = AF_INET,
		.sin_port = htons(PORT),
		.sin_addr.s_addr = inet_addr(IP)
	};

	//连接服务器
	if(connect(oldfd,(struct sockaddr *)&client,sizeof(client))==-1)
	{
		perror("connect");
		return -1;
	}

	//向服务器发送消息
	char rbuff[5] = {0xff,0x02,0x00,-0x5A,0xff};  //红色臂
	unsigned char bbuff[5] = {0xff,0x02,0x01,0x00,0xff};  //蓝色臂

	//发送初始数据
	send(oldfd,rbuff,sizeof(rbuff),0);
	sleep(1);
	send(oldfd,bbuff,sizeof(bbuff),0);

	//通过键盘控制数据的收发
	char ch;
	while(1)
	{
		printf("请输入选项:\n");
		scanf("%c",&ch);
		getchar();
		switch(ch)
		{
			case 'e':
				{
					rbuff[3] = -90;
					bbuff[3] = 0;
					send(oldfd,rbuff,sizeof(rbuff),0);
					sleep(1);
					send(oldfd,bbuff,sizeof(bbuff),0);
				}
			case 'w':
				{
					if(rbuff[3] >= 90)
					{
						rbuff[3] = 90;
					}
					rbuff[3] += 5;
					send(oldfd,rbuff,sizeof(rbuff),0);
				}
				break;
			case 's':
				{
					if(rbuff[3] <= -90)
					{
						rbuff[3] = -90;
					}
					rbuff[3] -= 5;
					send(oldfd,rbuff,sizeof(rbuff),0);
				}
				break;
			case 'a':
				{
					if(bbuff[3] >= 180)
					{
						bbuff[3] = 180;
					}
					bbuff[3] += 5;
					send(oldfd,bbuff,sizeof(bbuff),0);
				}
				break;
			case 'd':
				{
					if(bbuff[3] <= 0)
					{
						bbuff[3] = 0;
					}
					bbuff[3] -= 5;
					send(oldfd,bbuff,sizeof(bbuff),0);
				}
				break;
			case 'q':
				{
					close(oldfd);
					exit(0);
				}
				break;
			default:printf("您的输入有误！！！,请重新输入:\n");break;
		}
	}
	return 0;
}