思维导图

#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <pthread.h>
#include <semaphore.h>
#include <wait.h>
#include <signal.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <sys/socket.h>
#include <sys/ipc.h>
#include <sys/sem.h>
#include <semaphore.h>
#include <sys/msg.h>
#include <sys/shm.h>
#include <sys/un.h>
#define IP "192.168.125.26"
#define PORT 8888

int main(int argc, const char *argv[])
{
int cfd=socket(AF_INET,SOCK_STREAM,0);
    if(cfd==-1)
    {
        perror("socket error");
        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(connect(cfd, (struct sockaddr*)&sin, sizeof(sin))==-1)
    {
        perror("connect error");                                              
        return -1;
    }
    printf("connect success\n");

    char rbuf[5] = {0xff, 0x02, 0x00, 0x00, 0xff};
    unsigned char bbuf[5] = {0xff, 0x02, 0x01, 0x00, 0xff};
    send(cfd, rbuf, sizeof(rbuf), 0);          //初始化红色臂展
    send(cfd, bbuf, sizeof(bbuf), 0);          //初始化蓝色臂展

    while(1)
    {
        char ch;
        scanf("%c",&ch);
        while(getchar()!=10);
        switch(ch)
        {
            case 'w':
                if(rbuf[3]<=80&&rbuf[3]>=-90)
                {
                    rbuf[3]+=0x0A;
                    send(cfd, rbuf, sizeof(rbuf), 0);
                    break;
                }
                else if(rbuf[3]==90)
                {
                    printf("红色机械臂已到达正向最大扭矩\n");
                    break;
                }
            case 's':
                if(rbuf[3]>=-80&&rbuf[3]<=90)
                {
                    rbuf[3]-=0x0A;
                    send(cfd, rbuf, sizeof(rbuf), 0);
                    break;
                }
                else if(rbuf[3]==-90)
                {
                    printf("红色机械臂已到达反向最大扭矩\n");
                    break;
                }
            case 'd':
                if(bbuf[3]>=0&&bbuf[3]<=170)
                {
                    bbuf[3]+=0x0A;
                    send(cfd, bbuf, sizeof(bbuf), 0);
                    break;
                }
                else if(bbuf[3]==180)
                {
                    printf("蓝色机械臂已到达正向最大扭矩\n");
                    break;
                }
            case 'a':
                if(bbuf[3]>=10&&bbuf[3]<=180)
                {
                    bbuf[3]-=0x0A;
                    send(cfd, bbuf, sizeof(bbuf), 0);
                    break;
                }
                else if(bbuf[3]==0)
                {
                    printf("蓝色机械臂已到达反向最大扭矩\n");
                    break;
                }
            default:
                printf("输入有误\n");
                break;
        }
    }
    close(cfd);
    return 0;
}