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SimpleRobot/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(simple_robot)
+
+include_directories(
+  include include
+)
+
+add_library(common STATIC
+    include/common.h
+    src/common.cpp
+)
+
+add_library(Protocol STATIC
+    include/Protocol.h
+    src/Protocol.cpp
+)
+
+add_library(Client STATIC
+    include/Client.h
+    src/Client.cpp
+)
+
+add_library(Server STATIC
+    include/Server.h
+    src/Server.cpp
+)
+
+
+add_executable(client
+    src/client_main.cpp
+    include/common.h
+    src/common.cpp
+    include/Protocol.h
+    src/Protocol.cpp
+    include/Client.h
+    src/Client.cpp
+)
+target_link_libraries(client common Protocol Client)
+
+add_executable (server
+    src/server_main.cpp
+    include/common.h
+    src/common.cpp
+    include/Protocol.h
+    src/Protocol.cpp
+    include/Server.h
+    src/Server.cpp
+)
+target_link_libraries(server common Protocol  Server)

SimpleRobot/README.md

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+# SimpleRobot
+机器人教学 第二讲
+
+在build文件夹下
+cmake ..
+make
+编译完成

SimpleRobot/include/Client.h

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+#ifndef CLIENT_H
+#define CLIENT_H
+
+#include "Protocol.h"
+
+class Client
+{
+private:
+    int client_fd;               //tcp对象实例
+    struct sockaddr_in serverAddr; //协议族
+    const int serverPort;          //服务程序端口号
+
+    bool isConnected;  //是否连接  true已连接  false未连接
+
+    const int bufferMaxSize; //缓存区大小设置
+    //char *buffer;         //tcp通讯缓存区
+
+
+    //timer
+    int period;
+    int count;
+
+    const int axies; //机械臂轴数
+
+public:
+    Client(const char * serverIP = "127.0.0.1", int serverPort_ = 8000, int axies_ = 6, int buffer_size_ = 0x2000); //默认8192
+
+    ~Client();
+
+    void listening(); //启动服务器，并接收数据
+
+    void timerRegister(int period = 100000); //定时器初始化 us
+
+    Trajectory goal;     //目标轨迹
+    ComplexPoint feedback; //反馈当前点
+};
+
+#endif //CLIENT_H

SimpleRobot/include/Protocol.h

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+#ifndef PROTOCOL_H
+#define PROTOCOL_H
+
+#include "common.h"
+
+//空间点
+struct Point
+{
+    int duration;              //运动的持续时间  单位us
+    int * postions;                     //位置，脉冲
+    //std::vector<int> postions;      //位置，脉冲
+    //std::vector<int> electric;      //电流，mA ，可选项
+};
+
+
+//轨迹
+struct Trajectory
+{
+    uint8_t state;             //状态值，执行或取消
+    int axies;                 //关节数
+
+    int pointSize;             //单点缓存所占长度
+
+    int pointsMaxCount;        //点的最大数量
+
+    int pointsCount;           //点的数量
+
+    int bufferMaxSize;         //流缓存区最大长度
+    int bufferSize;            //已使用的缓存区长度，用于通讯发送接收数据
+
+    //std::vector<Point> points; //路径点集合，用于对接应用程序
+    Point * points;
+    uint8_t * buffer;           //流缓存区，用于对接socket
+};
+
+//原本Trajectory就可以完成数据的反馈，但为了程序的可读性，添加并使用ComplexPoint
+//复合空间点
+struct ComplexPoint
+{
+    uint8_t state;             //状态值，执行或取消
+    int axies;                 //关节数
+
+    int pointSize;             //单点缓存所占长度
+
+    int bufferMaxSize;         //流缓存区最大长度
+    int bufferSize;            //已使用的缓存区长度，用于通讯发送接收数据
+
+    Point point;               //点
+    uint8_t * buffer;          //流缓存区，用于对接socket
+};
+
+
+
+
+//状态值
+enum STATE
+{
+    PENDING = (uint8_t)'?',   //挂起态
+    RUNING = (uint8_t)',',    //执行态
+    STOPPED = (uint8_t)'!'    //静止态
+};
+
+// 符号位  0xf0 : "+" , 0x0f :"-"
+
+// 单点数据结构 point
+// | duration | postion_0 | postion_1 |   ......  | postion_n |
+// |    2     |     3     |     3     |   ......  |     3     |
+//    无符号      符号 + 2     符号 + 2     ......     符号 + 2
+// 2 + (1+2) x axies = 2 + 3 x Axies
+// Axies = 6   2 + 3 x 6 = 20
+
+// 轨迹存储结构
+// |  state   |  point_0  |  point_1  |   ......  |  point_n  |
+// |    1     |    20     |    20     |   ......  |    20     |
+//    无符号
+// 1 + Points x ( 2 + 3 x Axies )
+// Axies = 6    1 + 20 x Points
+
+//应用数据结构转为流结构
+void trajectory2buffer(Trajectory &trajectory_);
+void point2buffer(ComplexPoint & point_);
+
+//流结构转为应用数据结构
+void buffer2trajectory(Trajectory &trajectory_);
+void buffer2point(ComplexPoint & point_);
+
+//初始化缓存区
+void initTrajectoryBuffer(Trajectory &trajectory_);
+void initComplexPointBuffer(ComplexPoint & point_);         
+
+//打印基本信息
+void printInfo(Trajectory &trajectory_);
+void printInfo(ComplexPoint &point_);
+
+//打印路径
+void printTrajectory(Trajectory &trajectory_);
+void printComplexPoint(ComplexPoint &point_);
+
+//打印缓存区
+void printBuffer(Trajectory &trajectory_);
+void printBuffer(ComplexPoint &point_);
+
+#endif //PROTOCOL_H

SimpleRobot/include/Server.h

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+#ifndef SERVER_H
+#define SERVER_H
+
+#include "Protocol.h"
+
+class Server
+{
+private:
+    int listenfd;               //tcp对象实例
+    int connection_fd;          //连接对象
+    bool isConnected;           //是否连接  true已连接  false未连接
+
+    const int port;             //本程序(服务端)端口号
+
+    char * serverIP;                 //本程序(服务端)IP
+    struct sockaddr_in serverAddr;  //协议族
+    socklen_t serverAddrLen;        //地址长度
+
+
+    char * clientIP;                //客户端IP
+    struct sockaddr_in clientAddr; //客户地址端口信息
+    socklen_t clientAddrLen;       //地址长度
+
+    const int bufferMaxSize; //缓存区大小设置
+    //char *buffer;            //tcp通讯缓存区
+
+    //timer
+    int period;
+    int count;
+
+    const int axies; //机械臂轴数
+
+public:
+    Server(int port_ = 8000, int bufferMaxSize_ = 0x2000, int axies_ = 6); //默认8192
+
+    ~Server();
+
+    void listening(); //启动服务器，并接收数据
+
+    Trajectory goal;           //目标轨迹
+    ComplexPoint feedback;     //反馈当前位置
+};
+
+#endif //SERVER_H

SimpleRobot/include/common.h

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+#ifndef COMMON_H
+#define COMMON_H
+
+//所以平时需要用到的头文件都放在这里
+#include <iostream>
+#include <stdio.h>
+#include <inttypes.h>
+#include <cstring>
+#include <cmath>
+#include <signal.h>
+#include <vector>
+
+//tcp
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <netinet/in.h>
+#include <unistd.h>
+#include <arpa/inet.h>
+
+using namespace std;
+
+namespace MyFunctions
+{
+    extern bool condition;      //循环判断条件   false为不符合条件   true为符合条件
+    extern void stop(int sign); //捕获信号量
+    extern const bool ok();     //反馈condition变量
+} // namespace MyFunctions
+
+#endif // COMMON_H

SimpleRobot/src/Client.cpp

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+#include "Client.h"
+
+Client::Client(const char *serverIP, int serverPort_, int axies_, int buffer_size_) : serverPort(serverPort_), axies(axies_), bufferMaxSize(buffer_size_)
+{
+
+    std::cout << "客户端启动，尝试连接服务端  " << serverIP << ":" << serverPort_ << std::endl;
+    // socket
+    client_fd = socket(AF_INET, SOCK_STREAM, 0);
+    if (client_fd == -1)
+    {
+        std::cout << "Error: socket" << std::endl;
+        exit(0);
+    }
+
+    //服务端 ip及程序端口号
+    serverAddr.sin_family = AF_INET; //tcp IPv4
+    serverAddr.sin_port = htons(serverPort);
+    serverAddr.sin_addr.s_addr = inet_addr(serverIP);
+
+    //尝试连接服务器
+    if (connect(client_fd, (struct sockaddr *)&serverAddr, sizeof(serverAddr)) < 0)
+    {
+        std::cout << "Error: connect" << std::endl;
+        exit(0);
+    }
+
+    //反馈数据结构
+    feedback.state = STATE::STOPPED;                     //静止态
+    feedback.axies = axies;
+    feedback.pointSize = 2 + axies * 3;
+    feedback.bufferMaxSize = 1 + feedback.pointSize;
+    initComplexPointBuffer(feedback);
+
+
+    //目标数据结构
+    goal.state = STATE::STOPPED;                        //静止态
+    goal.axies = axies;
+    goal.pointSize = 2 + axies * 3;
+    goal.pointsMaxCount = 400;
+    goal.bufferMaxSize = bufferMaxSize;
+    initTrajectoryBuffer(goal);
+}
+
+Client::~Client()
+{
+}
+
+void Client::listening()
+{
+    while (MyFunctions::ok())
+    {
+        //路径点赋值
+        goal.state = STATE::PENDING; //挂起态
+        std::cout << "\n\nduration : ";
+        cin >> goal.points[0].duration;
+        for (int i = 0; i < goal.axies; i ++)
+        {
+            std::cout << "postions[" << i <<"] ";
+            cin >> goal.points[0].postions[i];
+        }
+        goal.pointsCount = 1;
+        trajectory2buffer(goal);
+        printInfo(goal);
+        printBuffer(goal);
+
+        //发数据
+        send(client_fd, goal.buffer, goal.bufferSize, 0);
+        if (strcmp((char * )goal.buffer, "exit") == 0)
+        {
+            std::cout << "...disconnect" << std::endl;
+            break;
+        }
+        usleep(period);
+    }
+    close(client_fd);
+}
+
+void Client::timerRegister(int period) //定时器初始化 us
+{
+    count = 0;
+    this->period = period;
+}