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#define WIN32_LEAN_AND_MEAN
#include <WinSock2.h>
#include <WS2tcpip.h>
#include <iostream>
#include <string>
// link with Ws2_32.lib
#pragma comment(lib, "Ws2_32.lib")
#define DEFAULT_PORT "30003"
#define DEFAULT_BUFFER_LENGTH 812
using namespace std;
class Client {
public:
Client(char* servername)
{
szServerName = "192.168.0.10";
ConnectSocket = INVALID_SOCKET;
}
bool Start() {
WSADATA wsaData;
// Initialize Winsock
int iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
if (iResult != 0)
{
printf("WSAStartup failed: %d\n", iResult);
return false;
}
struct addrinfo *result = NULL,
*ptr = NULL,
hints;
ZeroMemory(&hints, sizeof(hints));
hints.ai_family = AF_UNSPEC;
hints.ai_socktype = SOCK_STREAM;
hints.ai_protocol = IPPROTO_TCP;
// Resolve the server address and port
iResult = getaddrinfo(szServerName, DEFAULT_PORT, &hints, &result);
if (iResult != 0)
{
printf("getaddrinfo failed: %d\n", iResult);
WSACleanup();
return false;
}
ptr = result;
// Create a SOCKET for connecting to server
ConnectSocket = socket(ptr->ai_family, ptr->ai_socktype, ptr->ai_protocol);
if (ConnectSocket == INVALID_SOCKET)
{
printf("Error at socket(): %d\n", WSAGetLastError());
freeaddrinfo(result);
WSACleanup();
return false;
}
// Connect to server
iResult = connect(ConnectSocket, ptr->ai_addr, (int)ptr->ai_addrlen);
if (iResult == SOCKET_ERROR)
{
closesocket(ConnectSocket);
ConnectSocket = INVALID_SOCKET;
}
freeaddrinfo(result);
if (ConnectSocket == INVALID_SOCKET)
{
printf("Unable to connect to server!\n");
WSACleanup();
return false;
}
return true;
};
// Free the resouces
void Stop() {
int iResult = shutdown(ConnectSocket, SD_SEND);
if (iResult == SOCKET_ERROR)
{
printf("shutdown failed: %d\n", WSAGetLastError());
}
closesocket(ConnectSocket);
WSACleanup();
};
// Send message to server
bool Send(char* szMsg)
{
int iResult = send(ConnectSocket, szMsg, strlen(szMsg), 0);
if (iResult == SOCKET_ERROR)
{
printf("send failed: %d\n", WSAGetLastError());
Stop();
return false;
}
return true;
};
// Receive message from server
bool Recv()
{
char recvbuf[DEFAULT_BUFFER_LENGTH];
int iResult = recv(ConnectSocket, recvbuf, DEFAULT_BUFFER_LENGTH, 0);
if (iResult > 0)
{
char msg[DEFAULT_BUFFER_LENGTH];
memset(&msg, 0, sizeof(msg));
strncpy_s(msg, recvbuf, iResult);
printf("Received: %s\n", msg);
cout << recvbuf[0] << "\n";
return true;
}
return false;
}
private:
char* szServerName;
SOCKET ConnectSocket;
};
// KOD
int main(int argc, CHAR* argv[])
{
string msg, msg1, msg2;
int i=0;
char recvbuf;
Client client("192.168.0.100");
if (!client.Start())
return 1;
msg = "set_digital_out(2, True)\n";
msg1 = "movel([-0.4235449070518674, ], a=1.2, v=0.25)\n";
msg2 = "movel([-0.4235449070518674, ], a=1.2, v=0.25)\n";
while (true)
{
Sleep(2500);
client.Send((char*)msg1.c_str());
Sleep(2500);
client.Send((char*)msg2.c_str());
cout << i << "\n";
i++;
client.Recv()recvbuf; ?????? HELP HERE PLS
cout << recvbuf[0] << "\n";
}
client.Stop();
getchar();
return 0;
}
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