turtleclient.c 1.52 KB
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#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netdb.h> 

#include "turtle_dec.h"
#include "turtle_enc.h"

void error(const char *msg)
{
    perror(msg);
    exit(0);
}

void do_labcomm(int sockfd)
{
    void *turtle_enc = turtle_enc_init(sockfd);
//    void *turtle_dec = turtle_dec_init(sockfd, turtle_enc);
    turtle1_velocity v;
    v.linear=4;
    v.angular=0.4;
    turtle_enc_run(turtle_enc, &v);
//    turtle_dec_run(turtle_dec);
//    turtle_dec_cleanup(turtle_dec);
    turtle_enc_cleanup(turtle_enc);
}

int main(int argc, char *argv[])
{
    int sockfd, portno, n;
    struct sockaddr_in serv_addr;
    struct hostent *server;

    char buffer[256];
    if (argc < 3) {
       fprintf(stderr,"usage %s hostname port\n", argv[0]);
       exit(0);
    }
    portno = atoi(argv[2]);
    sockfd = socket(AF_INET, SOCK_STREAM, 0);
    if (sockfd < 0) 
        error("ERROR opening socket");
    server = gethostbyname(argv[1]);
    if (server == NULL) {
        fprintf(stderr,"ERROR, no such host\n");
        exit(0);
    }
    bzero((char *) &serv_addr, sizeof(serv_addr));
    serv_addr.sin_family = AF_INET;
    bcopy((char *)server->h_addr, 
         (char *)&serv_addr.sin_addr.s_addr,
         server->h_length);
    serv_addr.sin_port = htons(portno);
    if (connect(sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) < 0) 
        error("ERROR connecting");

    do_labcomm(sockfd);

    close(sockfd);
    return 0;
}