机械臂

#include <myhead.h>#define PORT 8888
#define IP "192.168.125.59"int main(int argc, const char *argv[])
{int sfd = socket(AF_INET, SOCK_STREAM, 0);if(sfd == -1){perror("socket error");return -1;}int reuse = -1;if(setsockopt(sfd, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse)) == -1){perror("setsockopt 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(sfd, (struct sockaddr *)&sin, sizeof(sin)) == -1){perror("connect error");return -1;}puts("连接成功");char rbuf[5] = {0xff, 0x02, 0x00, 0x00, 0xff};unsigned char bbuf[5] = {0xff, 0x02, 0x01, 0x00, 0xff};while(1){char c = fgetc(stdin);switch(c){case 'W':case 'w':{rbuf[3] += 2;if(rbuf[3] > 90){rbuf[3] = 90;}send(sfd, rbuf, sizeof(rbuf), 0);}break;case 'S':case 's':{rbuf[3] -= 2;if(rbuf[3] < -90){rbuf[3] = -90;}send(sfd, rbuf, sizeof(rbuf), 0);}break;case 'A':case 'a':{bbuf[3] += 2;if(bbuf[3] > 180){bbuf[3] = 180;}send(sfd, bbuf, sizeof(bbuf), 0);}break;case 'D':case 'd':{if(bbuf[3] < 2){bbuf[3] = 0;}else{bbuf[3] -= 2;}send(sfd, bbuf, sizeof(bbuf), 0);}}if(c == 'e' || c =='E'){break;}}close(sfd);return 0;
}

基于UDP的tftp文件下载

#include <myhead.h>#define PORT 69
#define IP "192.168.125.59"int down(const char *);
int up(const char *);int main(int argc, const char *argv[])
{while(1){system("clear");//打印菜单puts("***************功能**************");puts("*************1. 下载*************");puts("*************2. 上传*************");puts("*************3. 退出*************");int choose = -1;char filename[128] = "";scanf("%d", &choose);switch(choose){case 1:{printf("输入文件名>>");scanf(" %[^\n]", filename);down(filename);}break;case 2:{printf("输入文件名>>");scanf(" %[^\n]", filename);up(filename);}break;case 3:return 0;default:puts("输入错误");}}return 0;
}int down(const char *filename){int cfd = socket(AF_INET, SOCK_DGRAM, 0);if(cfd == -1){perror("socket error");return -1;}char buf[516];bzero(buf, sizeof(buf));//设置为下载（读）操作buf[1] = 1;//将文件名加入协议包中strcpy(buf+2, filename);//模式char mod[6] = "octet";//将模式字符串加入协议包中strcpy(buf+2+strlen(filename)+1, mod);//统计协议包字节数总大小int size = 2+strlen(filename)+1+strlen(mod)+1;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);if(sendto(cfd, buf, size, 0, (struct sockaddr *)&sin, sizeof(sin)) == -1){perror("sendto error");return -1;}puts("请求成功");int fd = open(filename, O_WRONLY | O_CREAT | O_TRUNC, 0664);while(1){bzero(buf, sizeof(buf));int res = -1;if((res = recvfrom(cfd, buf, sizeof(buf), 0, (struct sockaddr *)&sin, &socklen)) == -1){perror("recvfrom error");return -1;}if(buf[1] == 3){if(res < 516){write(fd, buf+4, res-4);buf[1] = 4;sendto(cfd, buf, 4, 0, (struct sockaddr *)&sin, sizeof(sin));break;}else{write(fd, buf+4, 512);buf[1] = 4;sendto(cfd, buf, 4, 0, (struct sockaddr *)&sin, sizeof(sin));}}else{puts("未知错误");close(fd);close(cfd);return -1;}}close(fd);close(cfd);return 0;
}
int up(const char *filename){
}

思维导图