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基于BBB的4轮移动轮式机器人系统设计与实现(六)--网络通信类的开发

热度:63   发布时间:2024-01-21 06:49:44.0

这个类专门用于数据的通信 :控制命令   、  图像视频等


TCP类定义

#ifndef QTCP_H
#define QTCP_H#include <netdb.h>
/**********Tcp client*****************/
class MyTcpClient
{public:MyTcpClient();~MyTcpClient();public:void ClientCloseSockfd();int  GetClientFd()const;void ClientControl(const char *cpHostName,const unsigned short int &iPort);int  ClientSend(unsigned const char *buffer	,const int &iSize);int  ClientReceive(char *pBuffer,const int &iBufferSize,const int &iWantByte);private:void ClientGetHostByName(const char *cpHostName);void ClientSocket();void ClientSocketAddresInit(const unsigned short int &iPort);void ClientConnect();private:unsigned  int                 m_iMaxQueConnNum;       //表示最大连接数int 								m_iSockfd;int 								m_iSendbytes;int 								m_iRecvbytes;private:typedef  struct{struct hostent 	    *	  host;struct sockaddr_in 		  serv_addr;}MyClientStruct;MyClientStruct  *           m_stpMyClientControl;
};
/*****************tcp server****************/
class  MyTcpServer
{public:MyTcpServer();~MyTcpServer();public:void ServerSocket();void ServerSocketAddresInit(const unsigned short int &iPort);void ServerSetSocketOpt();void ServerBindListen();void ServerAccept();void ServerDisplay();void ServerCloseSockfd();public:void ServerControl(const unsigned short int &iPort);public:// int  ServerReceive(unsigned char *buffer);int  ServerSend(const char *buffer, const int &iSize);private:typedef  struct{struct sockaddr_in                  server_sockaddr;struct sockaddr_in			        client_sockaddr;}MyServerStruct;MyServerStruct  *                  m_stpMyServerControl;private://unsigned short int               PORT;                     //端口号unsigned  int                    m_iMaxQueConnNum;           //表示最大连接数int                              m_iSinSize;int 								 m_iRecvbytes;int 							     m_iSendbytes;int                               m_iSockfd;//int                               m_iClientFd;
};
#endif // QTCP_H

TCP类实现


#include"Tcp.h"
#include <iostream>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
/*****************tcp client*************************/
MyTcpClient::MyTcpClient()
{//this->PORT=4322;                     //另一端的server port 端口号this->m_iMaxQueConnNum=5;         //表示最大连接数this->m_iSockfd=0;this->m_iSendbytes=0;this->m_iRecvbytes=0;this->m_stpMyClientControl =new MyClientStruct;::memset(m_stpMyClientControl,0,sizeof(MyClientStruct));std::cout<<"Create MyTcpClient Class finished !"<<std::endl;}
MyTcpClient::~MyTcpClient()
{if(!m_stpMyClientControl){delete m_stpMyClientControl;m_stpMyClientControl=NULL;std::cout<<"Delete m_stpMyClientControl !!!"<<std::endl;}}
void MyTcpClient::ClientGetHostByName(const char *cpHostName)
{/*地址解析函数*/if ((m_stpMyClientControl->host = gethostbyname(cpHostName)) == NULL){perror("gethostbyname");exit(1);}std::cout<<"The Client Host Name:"<<cpHostName<<std::endl;
}
void MyTcpClient::ClientSocket()
{/*创建socket*/if ((m_iSockfd = socket(AF_INET,SOCK_STREAM,0)) == -1){perror("socket");exit(1);}std::cout<<"The Client Create The Socket !!"<<std::endl;}
void MyTcpClient::ClientSocketAddresInit(const unsigned short int &iPort)
{/*设置sockaddr_in 结构体中相关参数*/m_stpMyClientControl->serv_addr.sin_family = AF_INET;m_stpMyClientControl->serv_addr.sin_port = htons(iPort);m_stpMyClientControl->serv_addr.sin_addr = *((struct in_addr *)m_stpMyClientControl->host->h_addr);bzero(&(m_stpMyClientControl->serv_addr.sin_zero), 8);std::cout<<"The client_sockaddr_init OK! The PORT:"<<iPort<<std::endl;}
void MyTcpClient::ClientConnect()
{/*调用connect函数主动发起对服务器端的连接*/int  my_true=1;while(my_true){if(connect(m_iSockfd,(struct sockaddr *)&m_stpMyClientControl->serv_addr, sizeof(struct sockaddr))== -1){std::cout<<"Can not connect,I  will try"<<std::endl;}elsemy_true=0;}std::cout<<"The Client Connect OK !!"<<std::endl;
}
int MyTcpClient::ClientSend(unsigned const char *buffer,const int &iSize)//这里必须要用size,因为传过来的buffer只是一个地址。
{int m_iSendbytes_ok=0;while(m_iSendbytes_ok<iSize){if ((m_iSendbytes = send(m_iSockfd, buffer+m_iSendbytes_ok,iSize-m_iSendbytes_ok, 0)) == -1){perror("send");exit(1);}m_iSendbytes_ok+=m_iSendbytes;}std::cout<<"Send OK!!"<<std::endl;return  m_iSendbytes;
}
int MyTcpClient::ClientReceive(char*pBuffer,const int &iBufferSize,const int &iWantByte)
{memset(pBuffer , 0, iBufferSize);int iGet = recv(m_iSockfd,pBuffer,iWantByte,0);if(iGet < iWantByte){std::cout<<"Socket Get Not Equle to WantByte"<<std::endl;}if(iGet < iBufferSize){pBuffer[iGet] = '\0';}return iGet;
}
void MyTcpClient::ClientCloseSockfd(){close(m_iSockfd);
}
void MyTcpClient::ClientControl(const char *cpHostName,const unsigned short int &iPort){ClientGetHostByName(cpHostName);ClientSocket();ClientSocketAddresInit(iPort);// 接收缓冲区int nRecvBufLen = 32 * 1024; //设置为32Ksetsockopt(m_iSockfd,SOL_SOCKET, SO_RCVBUF, (const char*)&nRecvBufLen, sizeof(int));ClientConnect();}
int MyTcpClient::GetClientFd()const
{return m_iSockfd;
}
/*****************************tcp_server***************************************/
MyTcpServer::MyTcpServer()
{//this->PORT=4321;       //这个是服务端专属端口号this->m_iMaxQueConnNum=5;this->m_iSinSize=0;this->m_iRecvbytes=0;this->m_iSendbytes=0;this->m_iSockfd=0;this->m_iSockfd=0;this->m_stpMyServerControl =new MyServerStruct;::memset(m_stpMyServerControl,0,sizeof(MyServerStruct));std::cout<<"Create MyTcpServer Class finished !"<<std::endl;
}
MyTcpServer::~MyTcpServer()
{if(m_stpMyServerControl)delete m_stpMyServerControl;m_stpMyServerControl=NULL;std::cout<<"Delete MyTcpServer Class finished !"<<std::endl;
}
void  MyTcpServer::ServerSocket()
{/*建立socket连接*/if ((m_iSockfd = socket(AF_INET,SOCK_STREAM,0))== -1){perror("socket");exit(1);}std::cout<<"Server Socket Id ="<<m_iSockfd<<std::endl;}
void MyTcpServer::ServerSocketAddresInit(const unsigned short int &iPort)
{/*设置sockaddr_in 结构体中相关参数*/m_stpMyServerControl->server_sockaddr.sin_family = AF_INET;m_stpMyServerControl->server_sockaddr.sin_port = htons(iPort);m_stpMyServerControl->server_sockaddr.sin_addr.s_addr = INADDR_ANY;bzero(&(m_stpMyServerControl->server_sockaddr.sin_zero), 8);}
void MyTcpServer::ServerSetSocketOpt()
{bool Reused=true;/*使得重复使用本地地址与套接字进行绑定 设置调用closesocket()后,仍可继续重用该socket*/setsockopt(m_iSockfd, SOL_SOCKET, SO_REUSEADDR,( const char* )&Reused,sizeof(bool));int nSendBufLen = 32*1024;  //设置为32K   //发送缓冲区setsockopt( m_iSockfd, SOL_SOCKET, SO_SNDBUF, ( const char* )&nSendBufLen, sizeof(int));int nZero = 0;setsockopt(m_iSockfd, SOL_SOCKET, SO_SNDBUF, ( char * )&nZero, sizeof( nZero ) );
}void MyTcpServer::ServerBindListen()
{/*绑定函数bind*/if (bind(m_iSockfd, (struct sockaddr *)&m_stpMyServerControl->server_sockaddr, sizeof(struct sockaddr))== -1){perror("bind");exit(1);}std::cout<<"Server Bind success!"<<std::endl;/*调用listen函数*/if (listen(m_iSockfd, m_iMaxQueConnNum) == -1){perror("listen");exit(1);}std::cout<<"server listening ............."<<std::endl;//std::cout<<"Server is  Listening.... In IP:"<<inet_ntoa(m_stpMyServerControl->server_sockaddr.sin_addr)<<std::endl;
}
void MyTcpServer::ServerAccept()
{/*调用accept函数,等待客户端的连接*/if ((m_iSockfd = accept(m_iSockfd, (struct sockaddr *)&m_stpMyServerControl->client_sockaddr,(socklen_t*)&m_iSinSize)) == -1){perror("accept");exit(1);}std::cout<<"server accept"<<std::endl;//std::cout<<"server: got connection from"<<inet_ntoa(m_stpMyServerControl->client_sockaddr.sin_addr)<<std::endl;
}
//int  MyTcpServer::ServerReceive(unsigned char *buffer)
//{
//        /*调用recv函数接收客户端的请求*/
//        memset(buffer , 0, sizeof(buffer));
//        if ((m_iRecvbytes =recv(m_iSockfd, buffer,sizeof(buffer), 0)) == -1)
//        {
//            perror("recv");
//            exit(1);
//        }
//      return m_iRecvbytes;
//    }
/*
int MyTcpServer::server_send(void *buffer,int size)//这里必须要用size,因为传过来的buffer只是一个地址。
{if ((m_im_iSockfd = send(m_iSockfd, buffer,size, 0)) == -1){perror("send");exit(1);}return  m_isockfd;}*/
int MyTcpServer::ServerSend(const char *buffer,const int &iSize)//这里必须要用size,因为传过来的buffer只是一个地址。
{int sendbytes_ok=0;while(sendbytes_ok<iSize){if ((m_iSendbytes = send(m_iSockfd, buffer+sendbytes_ok,iSize-sendbytes_ok, 0)) == -1){perror("send");exit(1);}sendbytes_ok+=m_iSendbytes;}std::cout<<"Send OK!!"<<std::endl;return  m_iSendbytes;
}
void MyTcpServer::ServerCloseSockfd()
{close(m_iSockfd);std::cout<<"Server Close The Sockfd !!!"<<std::endl;
}
void MyTcpServer::ServerControl(const unsigned short int &iPort)
{ServerSocket();ServerSocketAddresInit(iPort);ServerSetSocketOpt();ServerBindListen();ServerAccept();
}