我對套接字編程和 C 語言很陌生。我想通過互聯網遙控機器人，因為我必須向機器人計算機發送一些值。這是我的代碼...
x = state.position_val[0];
y = state.position_val[1];
z = state.position_val[2];
Rx = state.gimbal_joints[0]*1000;
Ry= state.gimbal_joints[1]*1000;
Rz = state.gimbal_joints[2]*1000;
double arr[7] = { x, y, z, Rx, Ry, Rz, btonn };
SAFEARRAY* psa = SafeArrayCreateVector(VT_R8, 0, 7);
void* data;
SafeArrayAccessData(psa, &data);
CopyMemory(data, arr, sizeof(arr));
SafeArrayUnaccessData(psa);
return psa;
這些是每個回圈的 while 回圈下的代碼片段，該代碼獲取機器人的狀態值并創建一個陣列，該陣列進一步用于遠程操作。我需要通過互聯網將此陣列發送到另一臺計算機。請幫助我如何做到這一點？
uj5u.com熱心網友回復：
我已經在 Windows 機器上測驗過了
- 轉到https://ngrok.com創建一個帳戶
- 您的機器人應該使用以下命令運行 ngrok 客戶端
ngrok authtoken xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
ngrok tcp 80
轉發 tcp://3.tcp.ngrok.io:15842 -> localhost:80
這里 ngrok 將分配一個本地埠到 80 和隨機埠到外部網路，即內部暴露埠。您必須將 80 和該埠添加到機器人網路設備的防火墻規則中）。轉到https://whatismyipaddress.com/hostname-ip這里放3.tcp.ngrok.io從 ngrok 控制臺中查看 IP 地址框。您將獲得機器人的全球 IP。您可以從世界任何地方連接到您的機器人。
以下是您可以編譯和運行的客戶端和服務器示例。
gcc .\Client.c -o Client
gcc .\Server.c -o Server
客戶端.c
#include<stdio.h>
#include<stdlib.h>
#include<string.h>
#include<sys/socket.h>
#include<arpa/inet.h>
#include<unistd.h>
//Create a Socket for server communication
short SocketCreate(void)
{
short hSocket;
printf("Create the socket\n");
hSocket = socket(AF_INET, SOCK_STREAM, 0);
return hSocket;
}
//try to connect with server
int SocketConnect(int hSocket)
{
int iRetval=-1;
int ServerPort = 15842; // ngroks external tcp port
struct sockaddr_in remote= {0};
remote.sin_addr.s_addr = inet_addr("3.134.xxx.xxx"); //Robot IP
remote.sin_family = AF_INET;
remote.sin_port = htons(ServerPort);
iRetval = connect(hSocket,(struct sockaddr *)&remote,sizeof(struct sockaddr_in));
return iRetval;
}
// Send the data to the server and set the timeout of 20 seconds
int SocketSend(int hSocket,char* Rqst,short lenRqst)
{
int shortRetval = -1;
struct timeval tv;
tv.tv_sec = 20; /* 20 Secs Timeout */
tv.tv_usec = 0;
if(setsockopt(hSocket,SOL_SOCKET,SO_SNDTIMEO,(char *)&tv,sizeof(tv)) < 0)
{
printf("Time Out\n");
return -1;
}
shortRetval = send(hSocket, Rqst, lenRqst, 0);
return shortRetval;
}
//receive the data from the server
int SocketReceive(int hSocket,char* Rsp,short RvcSize)
{
int shortRetval = -1;
struct timeval tv;
tv.tv_sec = 20; /* 20 Secs Timeout */
tv.tv_usec = 0;
if(setsockopt(hSocket, SOL_SOCKET, SO_RCVTIMEO,(char *)&tv,sizeof(tv)) < 0)
{
printf("Time Out\n");
return -1;
}
shortRetval = recv(hSocket, Rsp, RvcSize, 0);
printf("Response %s\n",Rsp);
return shortRetval;
}
//main driver program
int main(int argc, char *argv[])
{
int hSocket, read_size;
struct sockaddr_in server;
char SendToServer[100] = {0};
char server_reply[200] = {0};
//Create socket
hSocket = SocketCreate();
if(hSocket == -1)
{
printf("Could not create socket\n");
return 1;
}
printf("Socket is created\n");
//Connect to remote server
if (SocketConnect(hSocket) < 0)
{
perror("connect failed.\n");
return 1;
}
printf("Sucessfully conected with server\n");
printf("Enter the Message: ");
gets(SendToServer);
//Send data to the server
SocketSend(hSocket, SendToServer, strlen(SendToServer));
//Received the data from the server
read_size = SocketReceive(hSocket, server_reply, 200);
printf("Server Response : %s\n\n",server_reply);
close(hSocket);
shutdown(hSocket,0);
shutdown(hSocket,1);
shutdown(hSocket,2);
return 0;
}
服務器.c
#include<stdio.h>
#include<string.h>
#include<sys/socket.h>
#include<arpa/inet.h>
#include<unistd.h>
short SocketCreate(void)
{
short hSocket;
printf("Create the socket\n");
hSocket = socket(AF_INET, SOCK_STREAM, 0);
return hSocket;
}
int BindCreatedSocket(int hSocket)
{
int iRetval=-1;
int ClientPort = 80; //Robot local port
struct sockaddr_in remote= {0};
/* Internet address family */
remote.sin_family = AF_INET;
/* Any incoming interface */
remote.sin_addr.s_addr = htonl(INADDR_ANY);
remote.sin_port = htons(ClientPort); /* Local port */
iRetval = bind(hSocket,(struct sockaddr *)&remote,sizeof(remote));
return iRetval;
}
int main(int argc, char *argv[])
{
int socket_desc, sock, clientLen, read_size;
struct sockaddr_in server, client;
char client_message[200]= {0};
char message[100] = {0};
const char *pMessage = "hello aticleworld.com";
//Create socket
socket_desc = SocketCreate();
if (socket_desc == -1)
{
printf("Could not create socket");
return 1;
}
printf("Socket created\n");
//Bind
if( BindCreatedSocket(socket_desc) < 0)
{
//print the error message
perror("bind failed.");
return 1;
}
printf("bind done\n");
//Listen
listen(socket_desc, 3);
//Accept and incoming connection
while(1)
{
printf("Waiting for incoming connections...\n");
clientLen = sizeof(struct sockaddr_in);
//accept connection from an incoming client
sock = accept(socket_desc,(struct sockaddr *)&client,(socklen_t*)&clientLen);
if (sock < 0)
{
perror("accept failed");
return 1;
}
printf("Connection accepted\n");
memset(client_message, '\0', sizeof client_message);
memset(message, '\0', sizeof message);
//Receive a reply from the client
if( recv(sock, client_message, 200, 0) < 0)
{
printf("recv failed");
break;
}
printf("Client reply : %s\n",client_message);
if(strcmp(pMessage,client_message)==0)
{
strcpy(message,"Hi there !");
}
else
{
strcpy(message,"Invalid Message !");
}
// Send some data
if( send(sock, message, strlen(message), 0) < 0)
{
printf("Send failed");
return 1;
}
close(sock);
sleep(1);
}
return 0;
}
您現在可以在機器人和您的計算機之間發送接收資料
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