5.18 TCP机械臂模拟

#include <netinet/tcp.h>//包含TCP选项的头文件
#include <arpa/inet.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <linux/input.h>//读取输入事件
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>#define SER_PORT 8888
#define SER_IP "192.168.125.75"
#define CLI_PORT 6666
#define CLI_IP "192.168.125.114"int main(int argc, const char *argv[])
{int cfd = socket(AF_INET, SOCK_STREAM, 0);if(-1 == cfd){perror("socket");return 1;}printf("cfd = %d\n", cfd);struct sockaddr_in cin = {.sin_family = AF_INET,//注释下行启用动态端口号.sin_port = htons(CLI_PORT),.sin_addr = { inet_addr(CLI_IP) },};if(-1 == bind(cfd, (struct sockaddr*)&cin, sizeof(cin))){perror("bind");return 1;}puts("bind success");struct sockaddr_in sin = {.sin_family = AF_INET,.sin_port = htons(SER_PORT),.sin_addr = { .s_addr = inet_addr(SER_IP) },};	if(-1 == connect(cfd, (struct sockaddr*)&sin, sizeof(sin))){perror("connect");return 1;}puts("connect success");//设置TCP push位int val = 1;//TCP_NODELAY表示Nagle算法(导致粘包现象)，默认置0（不关闭），置1即可关闭if(-1 == setsockopt(cfd, IPPROTO_TCP, TCP_NODELAY, &val, sizeof(val))){perror("setsockopt");return 1;}/*val = 0;if(-1 == setsockopt(cfd, IPPROTO_TCP, TCP_CORK, &val, sizeof(val))){perror("setsockopt");return 1;}*///设置端口快速重用printf("val = %d\n", val);if(-1 == setsockopt(cfd, SOL_SOCKET, SO_REUSEADDR, &val, sizeof(val))){perror("setsockopt");return 1;}//定义指令格式结构体//注意字节对齐填充导致的问题，且大于1B的数据类型会自动补0//均会导致协议解析失败struct {//5Bchar c1[3];//3Bunion{char arm_red;unsigned char arm_blue;}c2;//1Bchar c3;//1B}cmd = { 0xff, 0x02, 0x00, 0x00, 0xff };//机械臂初始化send(cfd, &cmd, sizeof(cmd), 0);cmd.c1[2] = 0x01;usleep(50000);send(cfd, &cmd, sizeof(cmd), 0);char ang_r = 0x00;unsigned char ang_b = 0x00;//打开/dev/input/event1int fd = open("/dev/input/event1", O_RDONLY);if(-1 == fd){perror("open");return 1;}//准备读取数据的结构体变量struct input_event input;
#include <linux/input.h>
/* 结构体形式如下：* struct input_event {struct timeval time;__u16 type;__u16 code;__s32 value;};
*/// system("stty raw -echo");while(1){//char ch = getchar();read(fd, &input, sizeof(input));//switch(ch){switch(input.value * input.code){//code按下为0，弹起为1，长按为2//case 'w'://红增 				 //w:17 a:30 s:31 d:32case 17*2:if(ang_r < 0x5A)//最大90度ang_r += 0x02;cmd.c2.arm_red = ang_r;cmd.c1[2] = 0x00;break;//case 's'://红减case 31*2:if(ang_r > -0x5A)ang_r -= 0x02;cmd.c2.arm_red = ang_r;cmd.c1[2] = 0x00;break;//case 'd'://蓝增case 32*2:if(ang_b < 0xB4)ang_b += 0x02;cmd.c2.arm_blue = ang_b;cmd.c1[2] = 0x01;break;//case 'a'://蓝减case 30*2:if(ang_b > 0x00)ang_b -= 0x02;cmd.c2.arm_blue = ang_b;cmd.c1[2] = 0x01;break;default:continue;break;}send(cfd, &cmd, sizeof(cmd), 0);}// system("stty -raw echo");close(cfd);close(fd);return 0;
}