2023/12/18 work

1. 机械臂

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <myhead.h>

#define CLI_PORT 6667 				//本机的端口号
#define CLI_IP "192.168.125.79"	//本机的IP

#define SER_PORT 8888 				//服务器的端口号
#define SER_IP "192.168.125.202"		//服务器的IP
 
 
int main(int argc, const char *argv[])
{
 
	//创建套接字，用于通信
	int cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd<0)
	{
		perror("socket error");
		return -1;
	}
 
 

	int reuse = 1;
    if(setsockopt(cfd, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse)) == -1)
    {
        perror("setsockopt error");
        return -1;
    }
 
	//绑定IP地址和端口号
	struct sockaddr_in cinfo;
	cinfo.sin_family=AF_INET;
	cinfo.sin_port=htons(CLI_PORT);
	cinfo.sin_addr.s_addr=inet_addr(CLI_IP);
	if(bind(cfd,(struct sockaddr*)&cinfo,sizeof(cinfo))<0)
	{
		perror("bind error");
		return -1;
	}
	//连接到服务器
	struct sockaddr_in sinfo;
	sinfo.sin_family=AF_INET;
	sinfo.sin_port=htons(SER_PORT);
	sinfo.sin_addr.s_addr=inet_addr(SER_IP);
	if(connect(cfd,(struct sockaddr*)&sinfo,sizeof(sinfo))<0)
	{
		perror("connect error");
		return -1;
	}

	printf("connect success \n");

	//发送信息
	char str[5]={0xff,0x02,0x00,0x00,0xff};
	char c;
	char blue=0x00;
	char red=0x00;
	send(cfd,str,sizeof(str),0);
	while(1)
	{
		printf("please input a/w/s/d\n");
		scanf("%c",&c);
		getchar();
		switch(c)
		{
		case 'a' :
		case 'A' :
			str[2]=0x01;
			blue-=0x01;
			str[3]=blue;
			break;
		case 'd' :
		case 'D' :
			str[2]=0x01;
			blue+=0x01;
			str[3]=blue;
			break;
		case 's' :
		case 'S' :
			str[2]=0x00;
			red-=0x01;
			str[3]=red;
			break;
		case 'w' :
		case 'W' :
			str[2]=0x00;
			red+=0x01;
			str[3]=red;
			break;
		default: break;
		}
		ssize_t res=send(cfd,str,sizeof(str),0);
 
		if(res<0)
		{
			perror("while error");
			return -1;
		}
		if(res==0)
		{
			printf("serve off\n");
			break;
		}
	}
 
	//关闭套接字
	close(cfd);
 
	return 0;
}

本地不知道为啥，连接不上，防火墙的问题