94 lines
2.4 KiB
C++
94 lines
2.4 KiB
C++
#include <iostream>
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#include <WinSock2.h>
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#include <WS2tcpip.h>
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#include <thread>
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#pragma comment(lib, "Ws2_32.lib")
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struct DataIn
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{
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float AccX, AccY, AccZ;
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float GyrX, GyrY, GyrZ;
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float PosX, PosY, LaserRange;
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} dataIn;
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struct DataOut
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{
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float MotorUL, MotorUR, MotorDL, MotorDR;
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} dataOut;
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SOCKET ConnectToServer(const char* ip, int port)
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{
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WSAData wsaData;
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WORD DLLVersion = MAKEWORD(2, 1);
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if (WSAStartup(DLLVersion, &wsaData) != 0)
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{
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std::cout << "Error: WSAStartup failed\n";
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return INVALID_SOCKET;
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}
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SOCKADDR_IN addr;
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inet_pton(AF_INET, ip, &addr.sin_addr);
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addr.sin_port = htons(port);
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addr.sin_family = AF_INET;
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SOCKET Connection = socket(AF_INET, SOCK_STREAM, 0);
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if (Connection == INVALID_SOCKET)
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{
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std::cout << "Error: Failed to create socket\n";
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WSACleanup();
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return INVALID_SOCKET;
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}
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if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
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{
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std::cout << "Error: Failed to connect to server\n";
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closesocket(Connection);
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WSACleanup();
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return INVALID_SOCKET;
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}
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return Connection;
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}
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void CloseConnection(SOCKET& socket)
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{
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if (socket != INVALID_SOCKET)
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{
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closesocket(socket);
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WSACleanup();
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socket = INVALID_SOCKET; // Обнуляем сокет, чтобы избежать повторного использования
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}
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}
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int main()
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{
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SOCKET Connection = ConnectToServer("127.0.0.1", 1001);
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if (Connection == INVALID_SOCKET)
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{
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return 1; // Выход, если подключение не удалось
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}
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dataOut.MotorUL = 10;
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dataOut.MotorUR = 10;
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dataOut.MotorDL = 10;
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dataOut.MotorDR = 10;
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for (int i = 0; i < 1000000; i++)
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{
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send(Connection, (char*)&(dataOut), sizeof(dataOut), 0);
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recv(Connection, (char*)&(dataIn), sizeof(dataIn), 0);
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//std::cout << dataIn.GyrX << " " << dataIn.GyrY << " " << dataIn.GyrZ << std::endl;
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//std::cout << dataIn.PosX << " " << dataIn.PosY << " " << dataIn.LaserRange << std::endl;
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//std::cout << dataIn.AccX << " " << dataIn.AccY << " " << dataIn.AccZ << std::endl;
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std::cout << dataIn.LaserRange << std::endl;
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std::cout << "-----------------------------------------------------------" << std::endl;
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//std::this_thread::sleep_for(std::chrono::seconds(1));
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}
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CloseConnection(Connection);
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system("pause");
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}
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