1 files changed, 167 insertions, 0 deletions

diff --git a/server.cpp b/server.cpp
new file mode 100644
index 0000000..5e41eb8
--- /dev/null
+++ b/server.cpp
@@ -0,0 +1,167 @@
+#include <arpa/inet.h>
+#include <chrono>
+#include <cmath>
+#include <condition_variable>
+#include <cstring>
+#include <iostream>
+#include <mutex>
+#include <netinet/in.h>
+#include <sstream>
+#include <string.h>
+#include <string>
+#include <sys/socket.h>
+#include <thread>
+#include <unistd.h>
+
+using namespace std;
+
+enum robotState { // 机器人状态枚举
+    beforeStart,
+    pending,
+    afterEnd, // 建好了图，接下来可选择重新建图或选终点开始路径
+    startRoute,
+};
+
+enum runState { stop, go, left, right };
+
+struct ReceiveDataStruct {
+    int robotId;
+    robotState state;
+    int x;
+    int y;
+    int r;
+};
+
+const int PORT = 5001;
+const char *SERVER_IP = "0.0.0.0";
+const int MAX_BUFFER_SIZE = 1024;
+
+struct ReceiveData {
+    int values[4];
+};
+
+bool newDataAvailable = false;
+string CLIENT_IP = "127.0.0.1";
+struct sockaddr_in clientAddr;
+ReceiveData receivedData = {{0, 1, 2, 3}};
+
+// UDP发送线程函数
+void udpSenderThread() {
+    char values[100] = {0};
+    struct sockaddr_in serverAddr;
+    int sockfd = -1;
+
+    // 创建UDP套接字
+    if ((sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_port = htons(PORT);
+    if (inet_aton(CLIENT_IP.c_str(), &serverAddr.sin_addr) == 0) {
+        fprintf(stderr, "Error: Failed to convert IP address\n");
+        close(sockfd);
+        return;
+    }
+
+    while (true) {
+        this_thread::sleep_for(chrono::seconds(1)); // 每1秒发送一次
+
+        // 更新发送的消息
+        memset(values, 0, 100);
+        for (int i = 0; i < 4; ++i) {
+            // values[i] = receivedData.values[i] + 1;
+            sprintf(values + strlen(values), "%d ", receivedData.values[i] + 1);
+        }
+        sprintf(values + strlen(values), "\n");
+        printf("Sending message to %s: %s\n", CLIENT_IP.c_str(), values);
+
+        // 发送消息
+        sendto(sockfd, (const char *)values, sizeof(int) * 4, 0,
+               (struct sockaddr *)&serverAddr, sizeof(serverAddr));
+    }
+
+    close(sockfd);
+}
+
+// 主线程接收UDP消息并打印
+void receiveAndPrintMessages() {
+    int sock;
+    struct sockaddr_in serverAddr;
+    socklen_t addrLen = sizeof(clientAddr);
+    char buffer[MAX_BUFFER_SIZE];
+    ReceiveData receivedData;
+    int pos, bytesReceived;
+
+    // 创建UDP套接字
+    if ((sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    memset(buffer, 0, sizeof(buffer));
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_port = htons(PORT);
+    serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+    // 绑定到端口
+    if (::bind(sock, (struct sockaddr *)&serverAddr, sizeof(serverAddr)) ==
+        -1) {
+        cerr << "Error: Bind failed" << endl;
+        close(sock);
+        return;
+    }
+
+    bytesReceived = recvfrom(sock, buffer, MAX_BUFFER_SIZE, 0,
+                             (struct sockaddr *)&clientAddr, &addrLen);
+    if (bytesReceived == -1) {
+        fprintf(stderr, "Error: Failed to receive data\n");
+        return;
+    }
+    printf("Received Message from %s: %s\n", inet_ntoa(clientAddr.sin_addr),
+           buffer);
+    CLIENT_IP = inet_ntoa(clientAddr.sin_addr);
+    thread senderThread2(udpSenderThread);
+    while (true) {
+        // 接收消息
+        bytesReceived = recvfrom(sock, buffer, MAX_BUFFER_SIZE, 0,
+                                 (struct sockaddr *)&clientAddr, &addrLen);
+        if (bytesReceived == -1) {
+            fprintf(stderr, "Error: Failed to receive data\n");
+            continue;
+        }
+
+        printf("Receive %d bytes from %s: \"%s\"\n", bytesReceived,
+               CLIENT_IP.c_str(), buffer);
+        pos = 0;
+        for (int i = 0; i < 4; ++i) {
+            receivedData.values[i] = atoi(strtok(buffer + pos, " "));
+            // pos += log10(receivedData.values[i]) + 2;
+            // pos需要递增，否则会一直解析第一个数，要求能处理数据为0或负数的情况
+            pos += strlen(strtok(buffer + pos, " ")) + 1;
+        }
+        newDataAvailable = true;
+
+        // 打印消息
+        // CLIENT_IP = inet_ntoa(clientAddr.sin_addr);
+        // cout << "Received Message from " << CLIENT_IP << ": ";
+        // printf("Received Message from %s: ", CLIENT_IP.c_str());
+        // for (int i = 0; i < 4; ++i) {
+        //     printf("%d ", receivedData.values[i]);
+        // }
+        printf("\n");
+    }
+
+    close(sock);
+    senderThread2.join();
+}
+
+int main() {
+    thread receiverThread(receiveAndPrintMessages);
+    receiverThread.join();
+
+    return 0;
+}