网络编程作业3

1、机械臂控制

#include <allhead.h>
#define SER_IP "192.168.125.62"
#define SER_PORT 8888
#define CLI_IP "192.168.125.153"
#define CLI_PORT 9999

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\n");
		return -1;
	}

	int reuse = 1;
	if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1)
	{
		perror("setsocket\n");
		return -1;
	}

	//2、绑定IP和端口号
	//2.1填充地址信息结构体
	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绑定工作
	if(bind(cfd,(struct sockaddr*)&cin,sizeof(cin)) == -1)
	{
		perror("bind");
		return -1;
	}
	printf("bind success\n");


	//3、连接服务器
	//3.1填充要连接的服务器地址信息结构体
	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");
		return -1;
	}
	printf("服务器连接成功\n");

	char rbuf[5]={0xff,0x02,0x00,0x00,0xff};
	unsigned char bbuf[5]={0xff,0x02,0x01,0x00,0xff};
	int key = open("/dev/input/event1",O_RDONLY);
	if(key == -1)
	{
		perror("open");
		return -1;
	}
	//4、数据收发
	while(1)
	{
		struct input_event kb;
		read(key,&kb,sizeof(struct input_event));
		printf("type =%d code=%d value =%d\n",kb.type,kb.code,kb.value);
		switch(kb.value*kb.code)
		{
		case 30://a  蓝减

			{if(bbuf[3]>0)
				{
					bbuf[3]-=3;
					send(cfd,bbuf,sizeof(bbuf),0);
				}
				break;
			}
		case 31://s 红减
			{if(rbuf[3]>-90)
				{
					rbuf[3]-=3;
					send(cfd,rbuf,sizeof(rbuf),0);
				}
				break;
			}
		case 32://d 蓝加
			{if(bbuf[3]<180)
				{
					bbuf[3]+=3;
					send(cfd,bbuf,sizeof(bbuf),0);
				}
				break;
			}
		case 17://w  红加
			{if(rbuf[3]<=90)
				{
					rbuf[3]+=3;
					send(cfd,rbuf,sizeof(rbuf),0);
				}
				break;
			}
		}
	}
	close(key);
	close(cfd);
	return 0;
}