2024/03/01

控制机械臂

#include<myhead.h>
#define SER_IP "192.168.126.2"
#define SER_PORT 8888
 
#define CLI_IP "192.168.252.165"
#define CLI_PORT 9999
 
int main(int argc, const char *argv[])
{
	int cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd==-1)
	{
		perror("socket error");
		return -1;
	}
	printf("cfd=%d\n",cfd);
 
	struct sockaddr_in cin;
	cin.sin_family=AF_INET;
	cin.sin_port=htons(CLI_PORT);
	cin.sin_addr.s_addr=inet_addr(CLI_IP);
 
	if(bind(cfd,(struct sockaddr*)&cin,sizeof(cin))==-1)
	{
		perror("bind error");
		return -1;
	}
	printf("connect success\n");
	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(SER_PORT);
	sin.sin_addr.s_addr=inet_addr(SER_IP);
	if(connect(cfd,(struct sockaddr*)&sin,sizeof(sin))==-1)
	{
		perror("connect error");
		return -1;
	}
 
	char rbuf[5]={0xff,0x02,0x00,0x00,0xff};
	unsigned char bbuf[5]={0xff,0x02,0x01,0x00,0xff};
 
	send(cfd,rbuf,sizeof(rbuf),0);
	sleep(1);
	send(cfd,bbuf,sizeof(bbuf),0);
 
	char key=0;
 
	while(1)
	{
		scanf("%c",&key);
		fflush;
 
		switch(key)
		{
		case'W':
		case'w':
			{
				rbuf[3]+=2;
				if(rbuf[3]>=90)
				{
					rbuf[3]=90;
				}
				send(cfd,rbuf,sizeof(rbuf),0);
			}
			break;
		case's':
		case'S':
			{
				rbuf[3]=rbuf[3]-2;
				if(rbuf[3]<=-90)
				{
					rbuf[3]=90;
				}
				send(cfd,rbuf,sizeof(rbuf),0);
			}
			break;
		case'd':
		case'D':
			{
				bbuf[3]+=2;
				if(bbuf[3]>=180)
				{
					bbuf[3]=180;
				}
				send(cfd,bbuf,sizeof(bbuf),0);
			}
			break;
		case'a':
		case'A':
			{
				bbuf[3]=bbuf[3]-2;
				if(bbuf[3]>=180)
				{
					bbuf[3]=0;
				}
			}
			break;
		}
	}
	close(cfd);
	 
	return 0;
}

tftp

#include <myhead.h>
#define IP "192.168.126.2"
#define PORT 69
 
//定义下载函数
int do_download(int sfd,struct sockaddr_in sin)
{
  	char pack[516]=""; 
	//组件协议包：下载请求
	short *p1=pack;
	*p1=htons(1);    //设置操作码
 
	char *p2=pack+2;
	char filename[40]="";
	printf("请输入要下载的文件名>>>");
	fgets(filename,sizeof(filename),stdin);
	filename[strlen(filename)-1]=0;
	strcpy(p2,filename);
 
	char *p4=p2+strlen(p2)+1;
	strcpy(p4,"octet");       //模式位
	int packlen=4+strlen(p2)+strlen(p4);   //请求包的大小
 
	//向服务器发送请求包
	if(sendto(sfd,pack,packlen,0,(struct sockaddr*)&sin,sizeof(sin))==-1)
	{
		perror("sendto error");
		return -1;
	}
	printf("请求成功\n");
 
 
	//收取服务器发来的数据包
	char rbuf[516]="";
	short *r1=rbuf;
	//创建一个文件
	int fd=-1;
	if((fd=open(filename,O_RDWR|O_CREAT|O_TRUNC,0664))==-1)
	{
		perror("open error");
		return -1;
	}
	printf("fd=%d\n",fd);
	socklen_t socklen=sizeof(sin);
	while(1)
	{
	//	printf("111\n");
		bzero(rbuf,sizeof(rbuf));
		int res=recvfrom(sfd,rbuf,sizeof(rbuf),0,(struct sockaddr*)&sin,&socklen);
		if(*r1==ntohs(3))
		{
			if(write(fd,rbuf+4,res-4)<0)
			{
				perror("write error");
				break;
			}
			*r1=htons(4);
			if(sendto(sfd,rbuf,4,0,(struct sockaddr*)&sin,sizeof(sin))==-1)
			{
				perror("sendto error");
				return -1;
			}
			if(res<516)
			{
			
				printf("下载完毕\n");
				break;
			}else if(rbuf[1]==5)
			{
				printf("download error:%s\n",rbuf+4);
			}
 
		}
			
	}
	close(fd);
	return 0;
	//如果为512，则读取后，回复一个应打包，继续接收下一个
	//如果小于512，则读取数据后，回复一个应打包，结束接收数据	
 
}
 
 
 
//定义上传函数
int do_upload(int sfd,struct sockaddr_in sin)
{
  	char pack[516]=""; 
	//组件协议包：上传请求
	short *p1=pack;
	*p1=htons(2);    //设置操作码
 
	char *p2=pack+2;
	char filename[40]="";
	printf("请输入要上传的文件名>>>");
	fgets(filename,sizeof(filename),stdin);
	filename[strlen(filename)-1]=0;
	strcpy(p2,filename);
 
	char *p4=p2+strlen(p2)+1;
	strcpy(p4,"octet");       //模式位
	int packlen=4+strlen(p2)+strlen(p4);   //请求包的大小
 
	//向服务器发送请求包
	if(sendto(sfd,pack,packlen,0,(struct sockaddr*)&sin,sizeof(sin))==-1)
	{
		perror("sendto error");
		return -1;
	}
	printf("请求成功\n");
	
	//从linux系统中读取文件，然后发送给服务器
	//以只读的形式打开上传的文件
	int fd1=-1;
	if((fd1=open(filename,O_RDWR))==-1)
	{
		perror("open error");
		return -1;
	}
	printf("fd1=%d\n",fd1);
	socklen_t socklen=sizeof(sin);
 
	//用来读取文件的容器
	char rbuf[516]="";
	short *r1=rbuf;      //操作码
	short *r2=rbuf+2;    //块编号
	int i=1;
	int len=0;         //读取文件的大小
	while(1)
	{
		bzero(rbuf,sizeof(rbuf));
		int res=recvfrom(sfd,rbuf,sizeof(rbuf),0,(struct sockaddr*)&sin,&socklen);
		if(*r1==ntohs(4))
		{
			bzero(rbuf,sizeof(rbuf));
			len=read(fd1,rbuf+4,512);	
			*r2=htons(i);    //给块编号赋值
			//把读取文件的内容发送给服务器
			*r1=htons(3);   //给操作码赋值
			if(sendto(sfd,rbuf,sizeof(rbuf),0,(struct sockaddr*)&sin,socklen)==-1)
			{
				perror("sendto error");
				return -1;
			}
			i++;
			if(len<512)
			{
				printf("上传完毕\n");
				break;
			}else if(rbuf[1]==5)
			{
				printf("upload error:%s\n",rbuf+4);
			}
 
		}
	}
	close(fd1);
	return 0;
 
}
 
 
 
int main(int argc, const char *argv[])
{
	int sfd=-1;
	if((sfd=socket(AF_INET,SOCK_DGRAM,0))==-1)
	{
		perror("socket error");
		return -1;
	}
	printf("sfd=%d\n",sfd);
 
	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(PORT);
	sin.sin_addr.s_addr=inet_addr(IP);
 
	socklen_t socklen=sizeof(sin);
 
	int menu=0;
	while(1)
	{	
		system("clear");
		printf("****************\n");
		printf("*****1.下载*****\n");
		printf("*****2.上传*****\n");
		printf("*****3.退出*****\n");
		printf("****************\n");
		printf("请输入选项：");
		scanf("%d",&menu);
		getchar();
 
		//对菜单多分支选择
		switch(menu)
		{
			case 1:
				{
					//下载功能
					do_download(sfd,sin);
				
				}
				break;
			case 2:
				{
					//上传功能
					do_upload(sfd,sin);
				}
				break;
			case 3:goto END;
				   break;
			default:printf("输入错误，请重新输入\n");
		}
		printf("请输入任意键按回车结束\n");
		while(getchar()!='\n');
	}
 
 
END:	
	close(sfd);
 
 
	return 0;
}