一、实现虚拟机械臂控制

#include<myhead.h>
#define SER_PORT 8888   //服务器端口号
#define SER_IP "192.168.0.126" //服务器ip地址
#define CLI_PORT 5555   //客户端端口号
#define CLI_IP "192.168.0.133" //客户端地址
int main(int argc, const char *argv[])
{
	//创建套接字文件
	int cfd = socket(AF_INET,SOCK_STREAM,0);
	if(cfd == -1)
	{
		perror("socket error");
		return -1;
	}
	printf("cfd = %d\n",cfd);   //3

	//绑定IP地址和端口号
	//填充地址信息结构体
	struct sockaddr_in cin;
	cin.sin_family = AF_INET;                    //通信域
	cin.sin_port = htons(CLI_PORT);              //端口号
	cin.sin_addr.s_addr = inet_addr(CLI_IP);     //ip地址
	//绑定工作
	if(bind(cfd,(struct sockaddr*)&cin,sizeof(cin))==-1)
	{
		perror("bind error");
		return -1;
	}
	printf("bind success\n");
	//连接到服务器
	//服务器端地址
	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;
	}
	printf("成功连接到服务端\n");
	//控制机械臂
	//初始化机械臂
	char redbuf[5] = {0xff,0x02,0x00,0x50,0xff};
	char bluebuf[5] = {0xff,0x02,0x01,0x00,0xff};
	send(cfd,redbuf,sizeof(redbuf),0);
	sleep(1);
	send(cfd,bluebuf,sizeof(redbuf),0);
	char buf = 0;
	//实现使用“wasd”操控机械臂
	while(1)
	{
		//先清空buf
		buf = 0;
		//输入
		scanf("%c",&buf);
		getchar();
		if(buf == 'W')
			{
				redbuf[3]++;
				if(redbuf[3]>90)
				{
					printf("请更换方向，该方向已移动到最值\n");
					redbuf[3]--;
				}else{
				send(cfd,redbuf,sizeof(redbuf),0);
				}
			}else if(buf == 'S')
			{
				redbuf[3]--;
				if(redbuf[3]<-90)
				{
					printf("请更换方向，该方向已移动到最值\n");
					redbuf[3]++;
				}else{
				send(cfd,redbuf,sizeof(redbuf),0);
				}
			}else if(buf =='A')
			{
				bluebuf[3]++;
				if(bluebuf[3]>180)
				{
					printf("请更换方向，该方向已移动到最值\n");
					bluebuf[3]--;
				}else{
					send(cfd,bluebuf,sizeof(bluebuf),0);
				}
			}else if(buf == 'D')
			{
				bluebuf[3]--;
				if(bluebuf[3]<0)
				{
					printf("请更换方向，该方向已移动到最值\n");
					bluebuf[3]++;
				}else{
				send(cfd,bluebuf,sizeof(bluebuf),0);
				}
			}else if(buf == 'q')
			{
				break;
			}

	}
	//关闭文件描述符
	close(cfd);
	return 0;
}

二、思维导图