This article records an industrial robot two-machine collaboration project that the author participated in (details are not listed). In the project, the stability and security of data transmission are considered, TCP/IP communication is used, and the upper computer software is developed using C++/Qt (based on WINDOWS environment Bottom), transmit instruction data to control the industrial robot of the lower computer, and at the same time feed back the signal of the lower computer for overall assembly cycle planning.
This article is included in the network programming column, so this article only records and analyzes some codes of network communication. This article is also a summary and verification of the knowledge learned in this column. Since the project is based on the WINDOWS environment, it will be different from Socket programming in the Linux environment.
Not much to say, first paste the code.
Server-side code Server.h
#pragma once
#include <stdio.h>
#include <winsock2.h>
#include <iostream>
#include <qobject.h>
#include <QTextStream>
#include<QtCore/qdebug.h>
#pragma comment (lib, "ws2_32.lib") //加载 ws2_32.dll
const char ip_abb[] = "192.168.125.6"; //ABB IP地址
const char ip_ur[] = "192.168.125.130";//UR IP地址
const char ip_ca[] = "192.168.125.200";
class Server : public QObject {
Q_OBJECT
private:
WSADATA wsaData;
SOCKET serverSock;
sockaddr_in sockAddr;
SOCKET clntSock;
SOCKET abb_clnt;
SOCKET ur_clnt;
SOCKET ca_clnt;
const char *address;
public:
bool statue; //0表示未连接，1表示已连接
bool ca_statue;
bool ur_statue;
bool abb_statue;
int N = 20;
int port;
Server(const char *add,int po)
{
// 初始化DLL
statue = 0;
WSAStartup(MAKEWORD(2, 2), &wsaData);
//创建套接字
serverSock = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
clntSock = NULL;
address = add;
port = po;
}
bool opentolisten()
{
int net = 0;
memset(&sockAddr, 0, sizeof(sockAddr)); //每个字节都用0填充
sockAddr.sin_family = PF_INET; //使用IPv4地址
sockAddr.sin_addr.s_addr = inet_addr(address); //具体的IP地址
sockAddr.sin_port = htons(port); //端口设置 htons为宏定义，主要的作用在于为了避免大小端的问题，
net = ::bind(serverSock, (SOCKADDR*)&sockAddr, sizeof(SOCKADDR));
if (net == SOCKET_ERROR)
{
qDebug() << "Error #" << WSAGetLastError();
closesocket(serverSock);
return false;
}
//进入监听状态
net = listen(serverSock, 20);
if (net == SOCKET_ERROR)
{
qDebug() << "Error #" << WSAGetLastError();
closesocket(serverSock);
return false;
}
return true;
}
bool opentoconect()
{
int timeout = 1000000;
//接收客户端请求
SOCKADDR clntAddr;
int nSize = sizeof(SOCKADDR);
clntSock = accept(serverSock, (SOCKADDR*)&clntAddr, &nSize);
if (clntSock != -1)
{
statue = 1;
qDebug() << "服务器接收到一个客户端的连接" ;
//发送时限
//setsockopt(clntSock, SOL_SOCKET, SO_SNDTIMEO, (char *)&timeout, sizeof(int));
//接收时限
//setsockopt(clntSock, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(int));
//获取地址
sockaddr_in sin;
memcpy(&sin, &clntAddr, sizeof(sin));
const char*p = inet_ntoa(sin.sin_addr);
QString str = QString(QLatin1String(p));
qDebug() << str;
if (!strcmp(p, ip_ca))
{
qDebug() << "ca is connected";
ca_clnt = clntSock;
ca_statue = 1;
}
else if (!strcmp(p, ip_abb))
{
qDebug() << "abb is connected";
abb_clnt = clntSock;
abb_statue = 1;
}
else if (!strcmp(p, ip_ur))
{
qDebug() << "ur is connected";
ur_clnt = clntSock;
ur_statue = 1;
}
return true;
}
else
{
statue = 0;
return false;
}
}
void calver(char * inmsg)
{
char ver = 0;
for (int i = 1; i < N - 2; i++)
{
ver = ver + inmsg[i];
}
inmsg[N - 2] = ver;
inmsg[N - 1] = 0xCC;
}
bool sendmes(char *message, int nlen)
{
//计算验证位
calver(message);
int sendnum = 0;
if (statue)
{
sendnum = send(clntSock, message, nlen, 0);
return true;
}
else
{
return false;
}
}
bool readmes(char * message, int nlen)
{
int readnum = 0;
if (statue)
{
readnum = recv(clntSock, message, nlen, 0);
if (readnum > 0)
return true;
else
return false;
}
else
{
return false;
}
}
bool closetcp()
{
if(clntSock!=NULL)
closesocket(clntSock);
return true;
}
bool ca_sendmes(char *message, int nlen)
{
int sendnum = 0;
if (ca_statue)
{
sendnum = send(ca_clnt, message, nlen, 0);
return true;
}
else
{
return false;
}
}
bool abb_sendmes(char *message, int nlen)
{
int sendnum = 0;
if (abb_statue)
{
sendnum = send(abb_clnt, message, nlen, 0);
return true;
}
else
{
return false;
}
}
bool ur_sendmes(char *message, int nlen)
{
int sendnum = 0;
if (ur_statue)
{
sendnum = send(ur_clnt, message, nlen, 0);
return true;
}
else
{
return false;
}
}
bool ca_readmes(char * message, int nlen)
{
int readnum = 0;
if (ca_statue)
{
readnum = recv(ca_clnt, message, nlen, 0);
if (readnum > 0)
return true;
else
return false;
}
else
{
return false;
}
}
bool ur_readmes(char * message, int nlen)
{
int readnum = 0;
if (ur_statue)
{
readnum = recv(ur_clnt, message, nlen, 0);
if (readnum > 0)
return true;
else
return false;
}
else
{
return false;
}
}
bool abb_readmes(char * message, int nlen)
{
int readnum = 0;
if (abb_statue)
{
readnum = recv(abb_clnt, message, nlen, 0);
if (readnum > 0)
return true;
else
return false;
}
else
{
return false;
}
}
};The two member functions of opentolisten() and opentoconect() mainly realize the communication function , and their functions are respectively to create a server and make the server enter the listening state and wait for the client to connect .
bool opentolisten()
bool opentolisten()
{
int net = 0;
memset(&sockAddr, 0, sizeof(sockAddr)); //每个字节都用0填充
sockAddr.sin_family = PF_INET; //使用IPv4地址
sockAddr.sin_addr.s_addr = inet_addr(address); //具体的IP地址
sockAddr.sin_port = htons(port); //端口设置 htons为宏定义，主要的作用在于为了避免大小端的问题，
net = ::bind(serverSock, (SOCKADDR*)&sockAddr, sizeof(SOCKADDR));
if (net == SOCKET_ERROR)
{
qDebug() << "Error #" << WSAGetLastError();
closesocket(serverSock);
return false;
}
//进入监听状态
net = listen(serverSock, 20);
if (net == SOCKET_ERROR)
{
qDebug() << "Error #" << WSAGetLastError();
closesocket(serverSock);
return false;
}
return true;
}bool opentoconect()
bool opentoconect()
{
int timeout = 1000000;
//接收客户端请求
SOCKADDR clntAddr;
int nSize = sizeof(SOCKADDR);
clntSock = accept(serverSock, (SOCKADDR*)&clntAddr, &nSize);
if (clntSock != -1)
{
statue = 1;
qDebug() << "服务器接收到一个客户端的连接" ;
//发送时限
//setsockopt(clntSock, SOL_SOCKET, SO_SNDTIMEO, (char *)&timeout, sizeof(int));
//接收时限
//setsockopt(clntSock, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(int));
//获取地址
sockaddr_in sin;
memcpy(&sin, &clntAddr, sizeof(sin));
const char*p = inet_ntoa(sin.sin_addr);
QString str = QString(QLatin1String(p));
qDebug() << str;
if (!strcmp(p, ip_ca))
{
qDebug() << "ca is connected";
ca_clnt = clntSock;
ca_statue = 1;
}
else if (!strcmp(p, ip_abb))
{
qDebug() << "abb is connected";
abb_clnt = clntSock;
abb_statue = 1;
}
else if (!strcmp(p, ip_ur))
{
qDebug() << "ur is connected";
ur_clnt = clntSock;
ur_statue = 1;
}
return true;
}
else
{
statue = 0;
return false;
}
}