无需输出.无线电控制程序

Question

     #include <stdlib.h> // for exit() //
     #include <netdb.h>
     #include <stdio.h>
     #include <string.h>   // memset() //
     #define DRONE_COMMAND_PORT 5556
     #define MAX_MSG 2048
     int main(int argc, char *argv[]) {
          // declare variables
          int    sd, rc, flags, nd;
          char   command[MAX_MSG];  
          struct sockaddr_in clientAddr;
          struct sockaddr_in droneAddr;
          struct hostent     *h;
          struct timespec    wait_command;
          int seq=0;
          char msg[MAX_MSG];
          // initialize variables
          flags = 0;
          wait_command.tv_sec  = 0;
          wait_command.tv_nsec = 5000000;
          // check command line args //
         if(argc<2) {
         printf("usage : %s <server name/IP>n", argv[0]);
         exit(EXIT_FAILURE);
         }
         // get server IP address (no check if input is IP address or DNS name)
         h = gethostbyname(argv[1]);
         if(h==NULL) {
         printf("%s: unknown host '%s' n", argv[0], argv[1]);
         exit(EXIT_FAILURE);
         }
         // create structure for ardrone address & port
         droneAddr.sin_family = h->h_addrtype;
         droneAddr.sin_port   = htons(DRONE_COMMAND_PORT);
         memcpy((char *) &droneAddr.sin_addr.s_addr, h->h_addr_list[0], h->h_length);
         // create structure for this client
         clientAddr.sin_family = AF_INET;
         clientAddr.sin_addr.s_addr = htonl(INADDR_ANY);
         clientAddr.sin_port = htons(0);
         // socket creation
         sd = socket(AF_INET,SOCK_DGRAM,0);
         if(sd<0) {
         printf("%s: cannot open socket n",argv[0]);
         exit(EXIT_FAILURE);
         }
         // bind client's the port and address
         rc = bind(sd, (struct sockaddr *) &clientAddr, sizeof(clientAddr));
         if(rc<0) {
         printf("%s: cannot bind portn", argv[0]);
         exit(EXIT_FAILURE);
         }
        // send commands
        char cmd[MAX_MSG],cmd2[MAX_MSG],cmd3[MAX_MSG],cmd4[MAX_MSG];
         int i;
        snprintf(cmd,MAX_MSG,"AT*CONFIG= %u,"general:navdata_demo","TRUE"",seq);
        printf("%s: %sn",argv[0],cmd);
        sendto(sd, cmd, MAX_MSG , flags, (struct sockaddr *) &droneAddr, sizeof(droneAddr));
        seq++;
        snprintf(cmd2,MAX_MSG,"AT*FTRIM=%u",seq);
        printf("%s: %sn",argv[0],cmd2);
        sendto(sd, cmd2, MAX_MSG , flags, (struct sockaddr *) &droneAddr, sizeof(droneAddr));
        seq++;
        snprintf(cmd3,MAX_MSG,"AT*PMODE= %u,2",seq);
        printf("%s: %sn",argv[0],cmd3);
        sendto(sd, cmd3, MAX_MSG , flags, (struct sockaddr *) &droneAddr, sizeof(droneAddr));
        seq++;
        char cmd1[MAX_MSG];
        printf("%s: sending commands to  %dn", argv[0], inet_ntoa(*(struct in_addr *)h->h_addr_list[0]));
        for(i=0;i<10;i++)
        { 
    cmd1[strlen(cmd1)-1] = 0x0d;  // change last character from new line to carriage return
        snprintf(cmd1,MAX_MSG,"AT*REF=%u,290718208",seq);
        printf("%s: %sn",argv[0],cmd1);
        snprintf(cmd1,MAX_MSG,"AT*REF=%u,290718208",seq+1);
        printf("%s: %sn",argv[0],cmd1);
        snprintf(cmd1,MAX_MSG,"AT*REF=%u,290718208",seq+2);
        printf("%s: %sn",argv[0],cmd1);
        snprintf(cmd1,MAX_MSG,"AT*REF=%u,290718208",seq+3);
        printf("%s: %sn",argv[0],cmd1);
        snprintf(cmd4,MAX_MSG,"AT*COMWDG=%u",seq+4);
        printf("%s :%sn",argv[0],cmd4);
        rc = sendto(sd, cmd1, MAX_MSG , flags,  (struct sockaddr *) &droneAddr, sizeof(droneAddr));
        if(rc<0) {
        printf("%s: can not send datan",argv[0]);
        close(sd);
        exit(EXIT_FAILURE);
        }
        seq=seq+5;
        nanosleep(&wait_command , NULL);
        }
        return 1;
        }

嗨，这是我起飞Ar.drone的程序。编译时，我不会遇到任何错误。但是无人机没有撤离。printf语句中的AT命令正在打印。也没有错误。谁能告诉我我程序中是否有任何错误或为什么我的程序不起作用？

预先感谢。

关于Shiksha

Answer 1

我总是发送以下序列：

" at*config = 1，"常规：navdata_demo "，" true " r"

" at*ctrl = 0 r"

然后，您想要的任何内容以1。

开始。

我认为您缺少AT*ctrl = 0/r

Answer 2

尝试使用

连接（）

而不是绑定端口。