计算机网络(五):ros下socket编程示例

ros下socket编程示例

服务器端

#include
#include
#include
#include
#include
#include
#include
#include
#include
#define PORT 8080 //端口号
#define LOG 1 //请求队列中最大连接数量using namespace std;int main (int argc, char** argv)
{ros::init(argc, argv, "server_node");ros::NodeHandle nh;/**&＃64;fuc: 监听套节字描述符和连接套节字描述符*&＃64;fuc; 服务器端和客户端IP4地址信息,struct关键字可不要*/int listenfd, connectfd;struct sockaddr_in sever;struct sockaddr_in client;socklen_t addrlen;/**&＃64;fuc: 使用socket()函数产生套节字描述符*/listenfd &＃61; socket(AF_INET, SOCK_STREAM, 0);if(listenfd &＃61;&＃61; -1){printf("socket() error\n");return -1;}/**&＃64;fuc: 初始化server套节字地址信息 */memset((void *)&sever,0,sizeof(sever));sever.sin_family &＃61; AF_INET;sever.sin_addr.s_addr &＃61; htonl(INADDR_ANY);sever.sin_port &＃61; htons(PORT);/**&＃64;fuc: 用bind()函数&＃xff0c;将套接字与指定的协议地址绑定 */if(bind(listenfd,(struct sockaddr *)&sever,sizeof(sever)) < 0){printf("bind() error\n");return -1;}/**&＃64;fuc: 使用listen()函数&＃xff0c;等待客户端的连接 */if(listen(listenfd, LOG) < 0){printf("listen() error.\n");return -1;}addrlen &＃61; sizeof(client);//不断监听客户端请求while(ros::ok){connectfd &＃61; accept(listenfd,(struct sockaddr *)&client,&addrlen);if(connectfd < 0){printf("connect() error \n");return -1;}printf("You got a connection from client&＃39;s IP is %s, port is %d\n",inet_ntoa(client.sin_addr), ntohs(client.sin_port));send(connectfd, "hello!",8,0);close(connectfd);}close(listenfd);return 0;
}


客户端

#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include #define MYPORT 8080 //端口号
#define BUF_SIZE 1024 //数据缓冲区最大长度char* SERVER_IP &＃61; "10.203.206.10";
int result &＃61; 0;using namespace std;int main(int argc, char **argv)
{ros::init(argc, argv, "client_node");ros::NodeHandle n;char recvbuf[BUF_SIZE];/**&＃64;fuc: socket()创建套节字**/int socket_cli &＃61; socket(AF_INET, SOCK_STREAM, 0);if(socket_cli < 0){std::cout << "socket() error\n";return -1;}/**&＃64;fuc: 服务器端IP4地址信息,struct关键字可不写*&＃64;fuc: 初始化sever地址信息 */struct sockaddr_in sev_addr; memset(&sev_addr, 0, sizeof(sev_addr));sev_addr.sin_family &＃61; AF_INET;sev_addr.sin_port &＃61; htons(MYPORT);sev_addr.sin_addr.s_addr &＃61; inet_addr(SERVER_IP);std::cout << "connecting..." << std::endl;/**&＃64;fuc: 使用connect()函数来配置套节字,建立一个与TCP服务器的连接*/if(connect(socket_cli, (struct sockaddr*) &sev_addr, sizeof(sev_addr)) < 0){ std::cout << "connect error" << std::endl;return -1;}elsestd::cout << "connected successfullly!" << std::endl;while(ros::ok){/**&＃64;fuc: 使用recv()函数来接收服务器发送的消息*/recv(socket_cli, recvbuf, sizeof(recvbuf), 0);printf("server message: %s\n", recvbuf);}/**&＃64;fuc: 关闭连接*/close(socket_cli);return 0;
}


启动说明

• 在ROS工作空间下建立名字为tcp功能包,并将服务器代码以及客户端代码复制到对应位置
• 先启动服务器节点,再启动客户端节点