12.18

有道云笔记

机械臂

#include 
#define SERPORT 8822
#define SERIP "192.168.125.61"
#define PORT 6666
#define IP "192.168.125.88"
int main(int argc, const char *argv[])
{
	int cfd=-1;
	if((cfd=socket(AF_INET,SOCK_STREAM,0))==-1)
	{
		perror("socket");
		return -1;
	}
#if 1
	int reuse=1;
	if(setsockopt(cfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1)
	{
		perror("setsocket");
		return -1;
	}
#endif
	struct sockaddr_in cin;
	cin.sin_family=AF_INET;
	cin.sin_port=htons(PORT);
	cin.sin_addr.s_addr=inet_addr(IP);
	if(bind(cfd,(struct sockaddr*)&cin,sizeof(cin))==-1)
	{
		perror("bind");
		return -1;
	}

	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(SERPORT);
	sin.sin_addr.s_addr=inet_addr(SERIP);
	if(connect(cfd,(struct sockaddr *)&sin,sizeof(sin))==-1)
	{
		perror("connect");
		return -1;
	}


	char buf[5]={0xff,0x02,0x00,0x00,0xff};
	char value=0;
	buf[3]=0;
	send(cfd,buf,sizeof(buf),0);
	buf[2]=0x01;
	send(cfd,buf,sizeof(buf),0);
	buf[2]=0x00;
	while(1)
	{
		value=getchar();
		getchar();
		switch(value)
		{
		case 'w':
		case 'W':{
					 buf[2]=0x00;
					 buf[3]+=2;
					 if(buf[3]>=90)
						 buf[3]=90;
					 send(cfd,buf,sizeof(buf),0);
				 }break;
		case 's':
		case 'S':{
					 buf[2]=0x00;
					 buf[3]-=2;
					 if(buf[3]<=-90)
						 buf[3]=-90;
					 send(cfd,buf,sizeof(buf),0);
				 }break;
		case 'd':
		case 'D':{
					 buf[2]=0x01;
					 buf[3]+=2;
					 if(buf[3]>=180)
						 buf[3]=180;
					 send(cfd,buf,sizeof(buf),0);
				 }break;
		case 'a':
		case 'A':{
					 buf[2]=0x01;
					 buf[3]-=2;
					 if(buf[3]<=0)
						 buf[3]=0;
					 send(cfd,buf,sizeof(buf),0);
				 }break;


		default :  {printf("error\n");break;}

		}

	}

	close(cfd);

	return 0;
}

2tcp多进程

#include 
#define IP "192.168.125.88"
#define PORT 8811
void handle(int signo)
{
	if(signo==SIGCHLD)
		while(waitpid(-1,NULL,WNOHANG)>0);
}
int deal_sc(int newfd,struct sockaddr_in cin)
{
	char buf[128];
	while(1)
	{
		bzero(buf,sizeof(buf));
		int res=recv(newfd,buf,sizeof(buf),0);
		if(res==0)
		{
			printf("退出\n");
			return -1;
		}
		printf("[%s:%d]:%s\n",inet_ntoa(cin.sin_addr),ntohs(cin.sin_port),buf);
		strcat(buf,"*_*");
		send(newfd,buf,sizeof(buf),0);
	}

	return 0;
}
int main(int argc, const char *argv[])
{
	if(signal(SIGCHLD,handle)==SIG_ERR)
	{
		perror("signal");
		return -1;
	}

	int sfd;
	if((sfd=socket(AF_INET,SOCK_STREAM,0))==-1)
	{
		perror("socket");
		return -1;
	}

	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(PORT);
	sin.sin_addr.s_addr=inet_addr(IP);
	if(bind(sfd,(struct sockaddr *)&sin,sizeof(sin))==-1)
	{
		perror("bind");
		return -1;
	}

	if(listen(sfd,128)==-1)
	{
		perror("listen");
		return -1;
	}

	struct sockaddr_in cin;
	socklen_t socklen=sizeof(cin);
	int newfd;
	int pid;

	while(1)
	{

		if((newfd=accept(sfd,(struct sockaddr *)&cin,&socklen))==-1)
		{
			perror("accept");
			return -1;
		}
		pid=fork();
		if(pid>0)
		{

			close(newfd);

		}
		else if(pid==0)
		{

			close(sfd);

			deal_sc(newfd,cin);

			close(newfd);

			exit(EXIT_SUCCESS);
		}
		else
		{
			printf("error\n");
			return -1;
		}
	}
	close(sfd);
	return 0;
}

3tcp多线程

#include 
#define PORT 8899
#define IP "192.168.125.88"
struct ds{
	int newfd;
	struct sockaddr_in cin;
};
void *task(void *arg)
{
	int newfd=((struct ds*)arg)->newfd;
	struct sockaddr_in cin=((struct ds*)arg)->cin;
	
	char buf[128];
	while(1)
	{
		bzero(buf,sizeof(buf));

		int res=recv(newfd,buf,sizeof(buf),0);
		if(res==0)
		{
			printf("结束\n");
			break;
		}

		printf("[%s:%d]:%s\n",inet_ntoa(cin.sin_addr),ntohs(cin.sin_port),buf);
		strcat(buf,"*_*");

		send(newfd,buf,sizeof(buf),0);

	}
	close(newfd);
	pthread_exit(NULL);
}
int main(int argc, const char *argv[])
{
	int sfd=-1;
	if((sfd=socket(AF_INET,SOCK_STREAM,0))==-1)
	{
		perror("socket");
		return -1;
	}
#if 1
	int reuse=1;
	if(setsockopt(sfd,SOL_SOCKET,SO_REUSEADDR,&reuse,sizeof(reuse))==-1)
	{
		perror("setsocket");
		return -1;
	}
#endif
	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(PORT);
	sin.sin_addr.s_addr=inet_addr(IP);
	if(bind(sfd,(struct sockaddr*)&sin,sizeof(sin))==-1)
	{
		perror("bind");
		return -1;
	}

	if(listen(sfd,128)==-1)
	{
		perror("listen");
		return -1;
	}

	struct sockaddr_in cin;
	socklen_t socklen=sizeof(cin);
	int newfd;
	pthread_t tid=-1;

	while(1)
	{
		if((newfd=accept(sfd,(struct sockaddr*)&cin,&socklen))==-1)
		{
			perror("accept");
			return -1;
		}

		struct ds info;
		info.newfd=newfd;
		info.cin=cin;
		if(pthread_create(&tid,NULL,task,&info)!=0)
		{
		printf(" pthread error\n");
		return -1;
		}
		printf("[%s:%d]:newfd=%d\n",inet_ntoa(cin.sin_addr),ntohs(cin.sin_port),newfd);
		
		pthread_detach(tid);
	}
	close(sfd);

	return 0;
}