如何在C语言Windows上通过Internet发送数据

Question

我对套接字编程和 C 语言非常陌生。我想通过互联网远程操作机器人，因为我必须向机器人计算机发送一些值。这是我的代码...

            x = state.position_val[0];
            y = state.position_val[1];
            z = state.position_val[2];
            Rx = state.gimbal_joints[0]*1000;
            Ry= state.gimbal_joints[1]*1000;
            Rz = state.gimbal_joints[2]*1000;
            double arr[7] = { x, y, z, Rx, Ry, Rz, btonn };
            SAFEARRAY* psa = SafeArrayCreateVector(VT_R8, 0, 7);
            void* data;
            SafeArrayAccessData(psa, &data);
            CopyMemory(data, arr, sizeof(arr));
            SafeArrayUnaccessData(psa);
            return psa; 

这些是每次循环的 while 循环下的代码片段，此代码获取机器人的状态值并创建一个进一步用于远程操作的数组。我需要通过互联网将该数组发送到另一台计算机。 请帮助我该怎么做？

Answer 1

我已经在 Windows 计算机上对此进行了测试

1. 转到 https://ngrok.com 创建一个帐户，
2. 您的机器人应运行 ngrok 客户端使用以下命令

ngrok authtoken xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
ngrok tcp 80 

3. 转发 tcp://3.tcp.ngrok.io:15842 ->本地主机:80
   这里ngrok将把本地端口分配给80，并将随机端口分配给外部网络，即内部暴露端口。您必须将 80 和该端口添加到机器人网络设备的防火墙规则中）。

4. 转到 https://whatismyipaddress.com/hostname-ip 此处放置3。 tcp.ngrok.io 从 ngrok 控制台查看 IP 地址框。您将获得您的机器人的全球IP。您可以从世界任何地方连接到您的机器人。

5. 以下是您可以编译和运行的客户端和服务器示例。

gcc .\Client.c -o Client
gcc .\Server.c -o Server

Client.c

#include<stdio.h>
#include<stdlib.h>
#include<string.h>
#include<sys/socket.h>
#include<arpa/inet.h>
#include<unistd.h>
//Create a Socket for server communication
short SocketCreate(void)
{
    short hSocket;
    printf("Create the socket\n");
    hSocket = socket(AF_INET, SOCK_STREAM, 0);
    return hSocket;
}
//try to connect with server
int SocketConnect(int hSocket)
{
    int iRetval=-1;
    int ServerPort = 15842;  // ngroks external tcp port
    struct sockaddr_in remote= {0};
    remote.sin_addr.s_addr = inet_addr("3.134.xxx.xxx"); //Robot IP
    remote.sin_family = AF_INET;
    remote.sin_port = htons(ServerPort);
    iRetval = connect(hSocket,(struct sockaddr *)&remote,sizeof(struct sockaddr_in));
    return iRetval;
}
// Send the data to the server and set the timeout of 20 seconds
int SocketSend(int hSocket,char* Rqst,short lenRqst)
{
    int shortRetval = -1;
    struct timeval tv;
    tv.tv_sec = 20;  /* 20 Secs Timeout */
    tv.tv_usec = 0;
    if(setsockopt(hSocket,SOL_SOCKET,SO_SNDTIMEO,(char *)&tv,sizeof(tv)) < 0)
    {
        printf("Time Out\n");
        return -1;
    }
    shortRetval = send(hSocket, Rqst, lenRqst, 0);
    return shortRetval;
}
//receive the data from the server
int SocketReceive(int hSocket,char* Rsp,short RvcSize)
{
    int shortRetval = -1;
    struct timeval tv;
    tv.tv_sec = 20;  /* 20 Secs Timeout */
    tv.tv_usec = 0;
    if(setsockopt(hSocket, SOL_SOCKET, SO_RCVTIMEO,(char *)&tv,sizeof(tv)) < 0)
    {
        printf("Time Out\n");
        return -1;
    }
    shortRetval = recv(hSocket, Rsp, RvcSize, 0);
    printf("Response %s\n",Rsp);
    return shortRetval;
}
//main driver program
int main(int argc, char *argv[])
{
    int hSocket, read_size;
    struct sockaddr_in server;
    char SendToServer[100] = {0};
    char server_reply[200] = {0};
    //Create socket
    hSocket = SocketCreate();
    if(hSocket == -1)
    {
        printf("Could not create socket\n");
        return 1;
    }
    printf("Socket is created\n");
    //Connect to remote server
    if (SocketConnect(hSocket) < 0)
    {
        perror("connect failed.\n");
        return 1;
    }
    printf("Sucessfully conected with server\n");
    printf("Enter the Message: ");
    gets(SendToServer);
    //Send data to the server
    SocketSend(hSocket, SendToServer, strlen(SendToServer));
    //Received the data from the server
    read_size = SocketReceive(hSocket, server_reply, 200);
    printf("Server Response : %s\n\n",server_reply);
    close(hSocket);
    shutdown(hSocket,0);
    shutdown(hSocket,1);
    shutdown(hSocket,2);
    return 0;
}

Server.c

#include<stdio.h>
#include<string.h>
#include<sys/socket.h>
#include<arpa/inet.h>
#include<unistd.h>
short SocketCreate(void)
{
    short hSocket;
    printf("Create the socket\n");
    hSocket = socket(AF_INET, SOCK_STREAM, 0);
    return hSocket;
}
int BindCreatedSocket(int hSocket)
{
    int iRetval=-1;
    int ClientPort = 80; //Robot local port
    struct sockaddr_in  remote= {0};
    /* Internet address family */
    remote.sin_family = AF_INET;
    /* Any incoming interface */
    remote.sin_addr.s_addr = htonl(INADDR_ANY);
    remote.sin_port = htons(ClientPort); /* Local port */
    iRetval = bind(hSocket,(struct sockaddr *)&remote,sizeof(remote));
    return iRetval;
}
int main(int argc, char *argv[])
{
    int socket_desc, sock, clientLen, read_size;
    struct sockaddr_in server, client;
    char client_message[200]= {0};
    char message[100] = {0};
    const char *pMessage = "hello aticleworld.com";
    //Create socket
    socket_desc = SocketCreate();
    if (socket_desc == -1)
    {
        printf("Could not create socket");
        return 1;
    }
    printf("Socket created\n");
    //Bind
    if( BindCreatedSocket(socket_desc) < 0)
    {
        //print the error message
        perror("bind failed.");
        return 1;
    }
    printf("bind done\n");
    //Listen
    listen(socket_desc, 3);
    //Accept and incoming connection
    while(1)
    {
        printf("Waiting for incoming connections...\n");
        clientLen = sizeof(struct sockaddr_in);
        //accept connection from an incoming client
        sock = accept(socket_desc,(struct sockaddr *)&client,(socklen_t*)&clientLen);
        if (sock < 0)
        {
            perror("accept failed");
            return 1;
        }
        printf("Connection accepted\n");
        memset(client_message, '\0', sizeof client_message);
        memset(message, '\0', sizeof message);
        //Receive a reply from the client
        if( recv(sock, client_message, 200, 0) < 0)
        {
            printf("recv failed");
            break;
        }
        printf("Client reply : %s\n",client_message);
        if(strcmp(pMessage,client_message)==0)
        {
            strcpy(message,"Hi there !");
        }
        else
        {
            strcpy(message,"Invalid Message !");
        }
        // Send some data
        if( send(sock, message, strlen(message), 0) < 0)
        {
            printf("Send failed");
            return 1;
        }
        close(sock);
        sleep(1);
    }
    return 0;
}

您现在可以在机器人和计算机之间发送接收数据