65 lines
1.6 KiB
C++
65 lines
1.6 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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int main()
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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 startup\n";
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exit(1);
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}
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SOCKADDR_IN addr;
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int sizeofaddr = sizeof(addr);
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inet_pton(AF_INET, "127.0.0.1", &addr.sin_addr);
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addr.sin_port = htons(1001);
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addr.sin_family = AF_INET;
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SOCKET Connection = socket(AF_INET, SOCK_STREAM, NULL);
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if (connect(Connection, (SOCKADDR*)&addr, sizeof(addr)) != 0)
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{
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std::cout << "Error: failed connect to server \n";
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return 1;
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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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while (1)
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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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system("pause");
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}
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