[라즈베리파이]term project(텀프로젝트) wiringpi를 이용한 바이킹제어

먼저 사용한 부품은 간단합니다.

서보모터 1개

led 2개(빨강,초록)

라즈베리파이 1개

 

소켓통신을 통해서 서버는 응답을 대기하고, 클라이언트로부터 1이라는 값이 도착하면 바이킹이 5회반복하게 코딩을 하였습니다.

 

먼저 서버코드입니다.

server.c

#include <wiringPi.h>
#include <softPwm.h>

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>

#define SERVO 2
#define led_R 0
#define led_G 1
#define MYPORT 3490
#define BACKLOG 10

#define MAXDATASIZE 256 

int main(void){

if(wiringPiSetup() == -1)
	{
		return -1;
	}
    int sockfd, new_fd;  			// listen on sock_fd, new connection on new_fd
    struct sockaddr_in server_addr; // server address information
    struct sockaddr_in client_addr; // connector's address information
    socklen_t sin_size;
    
    // ---------------
    char bufRx[MAXDATASIZE];
    char bufTx[MAXDATASIZE];
    char bufAppMsg[MAXDATASIZE];
    int numbytes;
    // ---------------
    pinMode(led_R,OUTPUT);
    pinMode(led_G,OUTPUT);
    softPwmCreate(SERVO ,0, 200);
    int yes=1;

    if ((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1) {
        perror("socket");
        exit(1);
    }

    if (setsockopt(sockfd, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(int)) == -1) {
        perror("setsockopt");
        exit(1);
    }

    server_addr.sin_family = AF_INET;			// host byte order
    server_addr.sin_port = htons(MYPORT);     // short, network byte order
    server_addr.sin_addr.s_addr = INADDR_ANY; // automatically fill with my IP
    memset(&(server_addr.sin_zero), '\0', 8); // zero the rest of the struct

    if (bind(sockfd, (struct sockaddr *)&server_addr, sizeof(struct sockaddr)) == -1) {
        perror("bind");
        exit(1);
    }

    if (listen(sockfd, BACKLOG) == -1) {
        perror("listen");
        exit(1);
    }
    digitalWrite(led_R, 0);
    digitalWrite(led_G, 1);

    while(1) {  // main accept() loop

        sin_size = sizeof(struct sockaddr_in);
        if ((new_fd = accept(sockfd, (struct sockaddr *)&client_addr, &sin_size)) == -1) {
            perror("accept");
            continue;
        }

        // printf("server: got connection from %s\n",inet_ntoa(client_addr.sin_addr));

        // recv() ----
         if ((numbytes=recv(new_fd, bufRx, MAXDATASIZE-1, 0)) == -1) {
             perror("recv");
             exit(1);
         }

         printf ("\n[Recv Signal to client] = %s\n", bufRx);
	// received data

        if(bufRx[0] == '1')
        {
            printf ("\n[Viking] = ON \n");
            //softPwmCreate(SERVO ,0, 200);
                        
            digitalWrite(led_R, 1);
            digitalWrite(led_G, 0);
            for(int i=0; i<5; i++)
            {    
                softPwmWrite(SERVO ,15);
                delay(500);
                softPwmWrite(SERVO ,35);
                delay(500);
            }
            for(int j=0; j<1; j++)
            {
                softPwmWrite(SERVO ,20);
                delay(500);
            }
            digitalWrite(led_R, 0);
            digitalWrite(led_G, 1);

        }
        else
        {
            digitalWrite(led_R, 0);
            digitalWrite(led_G, 0);
           
        }


         // ------------
        if (send(new_fd, bufTx, strlen(bufTx), 0) == -1)
        	perror("send");
       
        close(new_fd);
    }

}

클라이언트 코드입니다.

client.c

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <wiringPi.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <arpa/inet.h>

#include <string.h>


#define PORT 3490 				// the port client will be connecting to
#define MAXDATASIZE 100 			// max number of bytes we can get at once

int main(int argc, char *argv[])
{
    int sockfd, numbytes;
    char bufRx[MAXDATASIZE];
    char bufTx[128];
    struct sockaddr_in server_addr; // server address information


    if (argc != 3) {
        fprintf(stderr,"usage: client IP_address_of_the_server num : 1\n");
        exit(1);
    }
    
    if ((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1) {
        perror("socket");
        exit(1);
    }

    server_addr.sin_family = AF_INET;    // host byte order
    server_addr.sin_port = htons(PORT);  // short, network byte order
    server_addr.sin_addr.s_addr = inet_addr(argv[1]); // unsign000000000ed 4-byte (32-bit) binary address of IP address string
    memset(&(server_addr.sin_zero), '\0', 8);  // zero the rest of the struct

    if (connect(sockfd, (struct sockaddr *)&server_addr, sizeof(struct sockaddr)) == -1) {
        perror("connect");
        exit(1);
    }


    //--- build my protocol data unit

        if (strcmp(argv[2],"1") == 0)	// check LED ID
            strcpy (bufTx, "1");// LED ID code : "LED0" => "0", "LED1" => "1"
        else{
            printf("ERROR : Please enter it number 1 !!\n");                            // ',' : comma-separated field
            strcpy (bufTx, "0");
        }

    
        printf ("[Send signal to Viking] = %s\n", bufTx);
        //--- send ()
        if (send(sockfd, bufTx, strlen(bufTx)+1, 0) == -1)
            perror("send");

        // ---- recv () : waiting for the processing result from the server

        if ((numbytes=recv(sockfd, bufRx, MAXDATASIZE-1, 0)) == -1) {
            perror("recv");
            exit(1);
        

        //buf[numbytes] = '\0';
        printf("%s",bufRx);
        printf("\n");
    }
    
    close(sockfd);

    return 0;
}

 

코드는 기본적인 소켓통신코드로 작성을 하였으며 클라이언트의 인자는 'ip' '값' 순으로 입력을 하시면 됩니다.

 

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