ROS系统下完成TCP通信 C语言编程

ROS系统下完成TCP通信，服务端和客户端C语言编程
服务端（Server）：

#include <std_msgs/Bool.h>
#include "ros/ros.h"
#include<stdio.h>
#include<thread>
#include<stdlib.h>
#include<string.h>
#include<errno.h>
#include<sys/types.h>
#include<sys/socket.h>
#include<netinet/in.h>
#include <unistd.h>#define MAXLINE 4096
int    listenfd, connfd;
struct sockaddr_in     servaddr;
ros::Publisher robot_flag_publish ;void init()
{if( (listenfd = socket(AF_INET, SOCK_STREAM, 0)) == -1 ){printf("create socket error: %s(errno: %d)\n",strerror(errno),errno);exit(0);}memset(&servaddr, 0, sizeof(servaddr));servaddr.sin_family = AF_INET;servaddr.sin_addr.s_addr = htonl(INADDR_ANY);servaddr.sin_port = htons(8989);if( bind(listenfd, (struct sockaddr*)&servaddr, sizeof(servaddr)) == -1){printf("bind socket error: %s(errno: %d)\n",strerror(errno),errno);exit(0);}if( listen(listenfd, 10) == -1){printf("listen socket error: %s(errno: %d)\n",strerror(errno),errno);exit(0);}printf("======waiting for client's request======\n");while(1){if( (connfd = accept(listenfd, (struct sockaddr*)NULL, NULL)) == -1){printf("accept socket error: %s(errno: %d)",strerror(errno),errno);continue;}else{break;}}
}void receive()
{while(1){char    buff[4096];int n = recv(connfd, buff, MAXLINE, 0);if(n > 0){printf("recv msg from client: %s\n", buff);std_msgs::Bool data;data.data = true;robot_flag_publish.publish(data);}}
}void flag_message(const std_msgs::Bool &flag_data)
{if(flag_data.data==true){char buff_send[] = "success";send(connfd, buff_send, strlen(buff_send),0);printf("send msg\n");}
}int main(int argc, char** argv)
{ros::init(argc,argv,"server");ros::NodeHandle nh;ros::NodeHandle n("~");ros::Subscriber robot_flag_subScribe = n.subscribe("/robot1_flag",1,&flag_message);robot_flag_publish   = nh.advertise<std_msgs::Bool>("robot2_flag", 1);init();//std::thread recv_thread(receive);while(ros::ok){char    buff[4096];int n = recv(connfd, buff, MAXLINE, 0);if(n > 0){printf("recv msg from client: %s\n", buff);std_msgs::Bool data;data.data = true;robot_flag_publish.publish(data);}ros::spinOnce();}close(connfd);close(listenfd);//recv_thread.join();return 0;
}

客户端（Client）：

#include <std_msgs/Bool.h>
#include "ros/ros.h"
#include<stdio.h>
#include<thread>
#include<stdlib.h>
#include<string.h>
#include<errno.h>
#include<sys/types.h>
#include<sys/socket.h>
#include<netinet/in.h>
#include <unistd.h>
#include <arpa/inet.h>#define MAXLINE 4096
int    sockfd;
struct sockaddr_in     servaddr;
ros::Publisher robot_flag_publish ;void init()
{if( (sockfd = socket(AF_INET, SOCK_STREAM, 0)) < 0){printf("create socket error: %s(errno: %d)\n", strerror(errno),errno);exit(0);}memset(&servaddr, 0, sizeof(servaddr));servaddr.sin_family = AF_INET;servaddr.sin_addr.s_addr = inet_addr("127.0.0.1");servaddr.sin_port = htons(8989);if( connect(sockfd, (struct sockaddr*)&servaddr, sizeof(servaddr)) < 0){printf("connect error: %s(errno: %d)\n",strerror(errno),errno);exit(0);}
}void receive()
{while(1){char    buff[4096];int n = recv(sockfd, buff, MAXLINE, 0);if(n > 0){printf("recv msg from client: %s\n", buff);std_msgs::Bool data;data.data = true;robot_flag_publish.publish(data);}}
}void flag_message(const std_msgs::Bool &flag_data)
{if(flag_data.data==true){char buff_send[] = "success";send(sockfd, buff_send, strlen(buff_send),0);printf("send msg\n");}
}int main(int argc, char** argv)
{ros::init(argc,argv,"client");ros::NodeHandle nh;ros::NodeHandle n("~");ros::Subscriber robot_flag_subScribe = n.subscribe("/robot2_flag",1,&flag_message);robot_flag_publish   = nh.advertise<std_msgs::Bool>("robot1_flag", 1);init();//std::thread recv_thread(receive);while(ros::ok()){char    buff[4096];int n = recv(sockfd, buff, MAXLINE, 0);if(n > 0){printf("recv msg from client: %s\n", buff);std_msgs::Bool data;data.data = true;robot_flag_publish.publish(data);}ros::spinOnce();}printf("end\n");close(sockfd);//recv_thread.join();return 0;
}

关于CMakeLista.txt与package.xml的设置

关于CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(my_socket)set(CMAKE_CXX_FLAGS "-std=c++11 -Wall ${CMAKE_CXX_FLAGS}")find_package(catkin REQUIRED COMPONENTSstd_msgsroscpp
)catkin_package()include_directories(${catkin_INCLUDE_DIRS}
)add_executable(server src/server.cpp
)
target_link_libraries(server${catkin_LIBRARIES}
)add_executable(clientsrc/client.cpp
)
target_link_libraries(client${catkin_LIBRARIES}
)

关于package.xml

<package>
<name>my_socket</name>
<version>0.0.0</version>
<description>The socket package</description>
<maintainer email="flight1506263@126.com">flight</maintainer>
<license>TODO</license>
<author email="flight1506263@126.com">flight</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>std_msgs</build_depend>
<build_depend>roscpp</build_depend>
<run_depend>std_msgs</run_depend>
<run_depend>roscpp</run_depend>
<!--  The export tag contains other, unspecified, tags  -->
<export>
<!--  Other tools can request additional information be placed here  -->
</export>
</package>

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