1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
| #include
#include
#include
#include
#include "udp_client_test.h"
#include "net_common.h"
static char response[128] = "";
void UdpClientTest(const char* host, unsigned short port)
{
ssize_t retval = 0;
int sockfd = socket(AF_INET, SOCK_DGRAM, 0); // UDP socket
struct sockaddr_in toAddr = {0};
toAddr.sin_family = AF_INET;
toAddr.sin_port = htons(port); // 端口号，从主机字节序转为网络字节序
if (inet_pton(AF_INET, host, &toAddr.sin_addr) <= 0) { // 将主机IP地址从“点分十进制”字符串 转化为 标准格式（32位整数）
printf("inet_pton failed!rn");
goto do_cleanup;
}
// UDP socket 是 “无连接的” ，因此每次发送都必须先指定目标主机和端口，主机可以是多播地址
//从这里开始给无人机发送SDK中的指令，控制无人机
retval = sendto(sockfd, "command", sizeof("command"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","command", retval);
osDelay(500);
retval = sendto(sockfd, "takeoff", sizeof("takeoff"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","takeoff", retval);
osDelay(800);
retval = sendto(sockfd, "up 50", sizeof("up 50"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","up 50", retval);
osDelay(500);
retval = sendto(sockfd, "flip r", sizeof("flip r"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","flip r", retval);
osDelay(800);
retval = sendto(sockfd, "cw 360", sizeof("cw 360"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","cw 360", retval);
osDelay(800);
retval = sendto(sockfd, "ccw 360", sizeof("ccw 360"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","ccw 360", retval);
osDelay(500);
retval = sendto(sockfd, "flip r", sizeof("flip l"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","flip r", retval);
osDelay(800);
retval = sendto(sockfd, "left 80", sizeof("left 80"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","left 80", retval);
osDelay(500);
retval = sendto(sockfd, "right 80", sizeof("right 80"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","right 80", retval);
osDelay(500);
retval = sendto(sockfd, "land", sizeof("land"), 0, (struct sockaddr *)&toAddr, sizeof(toAddr));
printf("send UDP message {%s} %ld done!rn","land", retval);
struct sockaddr_in fromAddr = {0};
socklen_t fromLen = sizeof(fromAddr);
// UDP socket 是 “无连接的” ，因此每次接收时前并不知道消息来自何处，通过 fromAddr 参数可以得到发送方的信息（主机、端口号）
retval = recvfrom(sockfd, &response, sizeof(response), 0, (struct sockaddr *)&fromAddr, &fromLen);
if (retval <= 0) {
printf("recvfrom failed or abort, %ld, %d!rn", retval, errno);
goto do_cleanup;
}
response[retval] = '\0';
printf("recv UDP message {%s} %ld done!rn", response, retval);
printf("peer info: ipaddr = %s, port = %drn", inet_ntoa(fromAddr.sin_addr), ntohs(fromAddr.sin_port));
do_cleanup:
printf("do_cleanup...rn");
close(sockfd);
}
|
0
/6 
工商网监
湘ICP备2023018690号
5066
淘帖
