Winsock UDP server
Winsock UDP server
嗨，我目前正在做一个项目，我们正在创建一个UDP服务器与库卡机器人通信。我们能够与机器人建立连接并来回交换数据，但是当事件发生时，例如由于电机扭矩过大而导致机器人故障或其他原因，我们无法跳出服务器循环，因为recvfrom函数仍然坐在那里等待回复。你们有什么建议可以解决这个问题吗?
#include "stdafx.h"
#include "HapticRobot.h"
#include "CMaths.h"
using namespace chai3d;
#include <winsock.h>
using namespace std;
#pragma comment(lib, "Ws2.lib")
#include <fstream>
#include <string>
#include <sstream>
#define REFRESH_INTERVAL 0 // sec
const int kBufferSize = 1024;
extern HapticDevice hd;
extern HWND g_hWndHapticBox;
extern bool bRobotInMotion, bRobotConnectInit, bRobotConnected;
extern Handles hc;
bool err;
std::string stSend, stSendXML, stLine;
std::string stRobotStatus , stAppend;
TCHAR *chRobotStatus;
//// Prototypes ////////////////////////////////////////////////////////
SOCKET SetUpListener(const char* pcAddress, int nPort);
void AcceptConnections(SOCKET ListeningSocket);
bool EchoIncomingPackets(SOCKET sd);
DWORD WINAPI EchoHandler(void* sd_);
//// DoWinsock /////////////////////////////////////////////////////////
// The module's driver function -- we just call other functions and
// interpret their results.
int DoWinsock(const char* pcAddress, int nPort)
{
int nRetval = 0;
ifstream inFile("HardDisk/ExternalData.xml");
if (inFile.is_open())
{
while ( inFile.good() )
{
getline ( inFile, stLine);
stSendXML.append(stLine);
}
inFile.close();
}
else
{
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Unable to open XML file");
}
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Establishing the listener...");
SOCKET ListeningSocket = SetUpListener(pcAddress, htons(nPort));
if (ListeningSocket == INVALID_SOCKET)
{
stRobotStatus = WSAGetLastErrorMessage("establish listener");
chRobotStatus = GetStatus(stRobotStatus);
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)chRobotStatus);
return 3;
}
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Waiting for connections...");
bRobotConnectInit = true;
SetDlgItemText(g_hWndHapticBox, IDC_STATIC_RobotStatus, _T("Waiting for robot"));
while (1)
{
if (!EchoIncomingPackets(ListeningSocket))
{
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)WSAGetLastErrorMessage("Echo incoming packets failed"));
nRetval = 3;
}
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Shutting connection down...");
if (ShutdownConnection(ListeningSocket))
{
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Connection is down.");
}
else
{
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)WSAGetLastErrorMessage("Connection shutdown failed"));
nRetval = 3;
}
bRobotConnected = false;
bRobotConnectInit = true;
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Acceptor restarting...");
}
#if defined(_MSC_VER)
return 0; // warning eater
#endif
}
//// SetUpListener /////////////////////////////////////////////////////
// Sets up a listener on the given interface and port, returning the
// listening socket if successful; if not, returns INVALID_SOCKET.
SOCKET SetUpListener(const char* pcAddress, int nPort)
{
u_long nInterfaceAddr = inet_addr(pcAddress);
if (nInterfaceAddr != INADDR_NONE)
{
SOCKET sd = socket(AF_INET, SOCK_DGRAM, 0);
if (sd != INVALID_SOCKET)
{
sockaddr_in sinInterface;
sinInterface.sin_family = AF_INET;
sinInterface.sin_addr.s_addr = nInterfaceAddr;
sinInterface.sin_port = nPort;
if (bind(sd, (sockaddr*)&sinInterface,
sizeof(sockaddr_in)) != SOCKET_ERROR)
{
//listen(sd, SOMAXCONN);
//DWORD nThreadID;
//CreateThread(0, 0, EchoHandler, (void*)sd, 0, &nThreadID);
return sd;
}
else
{
stRobotStatus = WSAGetLastErrorMessage("bind() failed");
chRobotStatus = GetStatus(stRobotStatus);
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)chRobotStatus);
//cerr << WSAGetLastErrorMessage("bind() failed") <<
// endl;
}
}
}
return INVALID_SOCKET;
}
//// EchoHandler ///////////////////////////////////////////////////////
// Handles the incoming data by reflecting it back to the sender.
DWORD WINAPI EchoHandler(void* sd_)
{
DWORD Priority = CeGetThreadPriority(GetCurrentThread());
CeSetThreadPriority(GetCurrentThread(),Priority - 2);
//Below is scan time in ms
CeSetThreadQuantum(GetCurrentThread(),10);
int nRetval = 0;
SOCKET sd = (SOCKET)sd_;
if (!EchoIncomingPackets(sd))
{
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)WSAGetLastErrorMessage("Echo incoming packets failed"));
nRetval = 3;
}
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Shutting connection down...");
if (ShutdownConnection(sd))
{
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Connection is down.");
}
else
{
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)WSAGetLastErrorMessage("Connection shutdown failed"));
nRetval = 3;
}
bRobotConnected = false;
bRobotConnectInit = true;
return nRetval;
}
//// AcceptConnections /////////////////////////////////////////////////
// Spins forever waiting for connections. For each one that comes in,
// we create a thread to handle it and go back to waiting for
// connections. If an error occurs, we return.
void AcceptConnections(SOCKET ListeningSocket)
{
sockaddr_in sinRemote;
int nAddrSize = sizeof(sinRemote);
while (1)
{
SOCKET sd = accept(ListeningSocket, (sockaddr*)&sinRemote,
&nAddrSize);
if (sd != INVALID_SOCKET)
{
stRobotStatus = inet_ntoa(sinRemote.sin_addr);
stAppend = "Accepted connection from ";
stAppend.append(stRobotStatus);
chRobotStatus = GetStatus(stAppend);
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)chRobotStatus);
//chRobotStatus = GetStatus(stRobotStatus);
//SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)chRobotStatus);
//stRobotStatus = ntohs(sinRemote.sin_port);
//chRobotStatus = GetStatus(stRobotStatus);
//SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)chRobotStatus);
bRobotConnectInit = false;
bRobotConnected = true;
SetDlgItemText(g_hWndHapticBox, IDC_STATIC_RobotStatus, _T("Connected to Robot"));
//SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_ADDSTRING, 0, (LPARAM)inet_ntoa(sinRemote.sin_addr));
//SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_ADDSTRING, 0, (LPARAM)ntohs(sinRemote.sin_port));
DWORD nThreadID;
CreateThread(0, 0, EchoHandler, (void*)sd, 0, &nThreadID);
}
else
{
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)WSAGetLastErrorMessage("accept() failed"));
return;
}
}
}
//// EchoIncomingPackets ///////////////////////////////////////////////
// Bounces any incoming packets back to the client. We return false
// on errors, or true if the client closed the socket normally.
bool EchoIncomingPackets(SOCKET sd)
{
// Read data from client
std::string stReceive;
std::string stIPOC;
std::wstring stTime;
int nStartPos, nEndPos;
char acReadBuffer[kBufferSize], acWriteBuffer[512];
int nReadBytes;
struct sockaddr_in clientAddr;
int sockAddrSize = sizeof(struct sockaddr_in);
//declarations for the low pass filter
int CURRENT_VALUE = 2;
double T = .004, w_co, OMEGA_co, f_co;
do
{
nReadBytes = recvfrom(sd, acReadBuffer, sizeof(acReadBuffer), 0, (struct sockaddr*)&clientAddr, &sockAddrSize);
if (nReadBytes > 0)
{
if (bRobotConnectInit)
{
bRobotConnectInit = false;
bRobotConnected = true;
SetDlgItemText(g_hWndHapticBox, IDC_STATIC_RobotStatus, _T("Connected to Robot"));
}
bRobotConnectInit = false;
bRobotConnected = true;
}
stSend = stSendXML;
stReceive = acReadBuffer;
nStartPos = stReceive.find ("<IPOC>") + 6;
nEndPos = stReceive.find ("</IPOC>");
stIPOC = stReceive.substr (nStartPos, nEndPos - nStartPos);
nStartPos = stSend.find ("<IPOC>") + 6;
nEndPos = stSend.find ("</IPOC>");
stSend.replace(nStartPos, nEndPos - nStartPos, stIPOC);
//Raw sensor data
nStartPos = stReceive.find ("RFx=") + 5;
nEndPos = stReceive.find ("RFy=") - 2;
hd.stRFx = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szRFx = hd.stRFx.c_str();
hd.RFx = strtod(hd.szRFx, NULL);
hd.RFx = hd.RFx * 0.22;
nStartPos = stReceive.find ("RFy=") + 5;
nEndPos = stReceive.find ("RFz=") - 2;
hd.stRFy = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szRFy = hd.stRFy.c_str();
hd.RFy = strtod(hd.szRFy, NULL);
hd.RFy = hd.RFy * 0.22;
nStartPos = stReceive.find ("RFz=") + 5;
nEndPos = stReceive.find ("Fx") - 2;
hd.stRFz = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szRFz = hd.stRFz.c_str();
hd.RFz = strtod(hd.szRFz, NULL);
hd.RFz = hd.RFz * 0.22;
//Sensor data to be filtered
nStartPos = stReceive.find ("Fx=") + 4;
nEndPos = stReceive.find ("Fy=") - 2;
hd.stFx = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szFx = hd.stFx.c_str();
hd.Fx = strtod(hd.szFx, NULL);
hd.Fx = hd.Fx * 0.22;
nStartPos = stReceive.find ("Fy=") + 4;
nEndPos = stReceive.find ("Fz=") - 2;
hd.stFy = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szFy = hd.stFy.c_str();
hd.Fy = strtod(hd.szFy, NULL);
hd.Fy = hd.Fy * 0.22;
nStartPos = stReceive.find ("Fz=") + 4;
nEndPos = stReceive.find ("<IPOC>") - 3;
hd.stFz = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szFz = hd.stFz.c_str();
hd.Fz = strtod(hd.szFz, NULL);
hd.Fz = hd.Fz * 0.22;
//*Added by JMM for reading start cartesian position
nStartPos = stReceive.find ("X=") + 3;
nEndPos = stReceive.find ("Y=") - 2;
hd.stRobotXPosition = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szRobotXPosition = hd.stRobotXPosition.c_str();
hd.RobotXPosition = strtod(hd.szRobotXPosition, NULL);
nStartPos = stReceive.find ("Y=") + 3;
nEndPos = stReceive.find ("Z=") - 2;
hd.stRobotYPosition = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szRobotYPosition = hd.stRobotYPosition.c_str();
hd.RobotYPosition = strtod(hd.szRobotYPosition, NULL);
nStartPos = stReceive.find ("Z=") + 3;
nEndPos = stReceive.find ("A=") - 2;
hd.stRobotZPosition = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szRobotZPosition = hd.stRobotZPosition.c_str();
hd.RobotZPosition = strtod(hd.szRobotZPosition, NULL);
//Data to be passed from the HMI
nStartPos = stReceive.find ("ForThresh=") + 11;
nEndPos = stReceive.find ("StifFree=") - 2;
hd.stForThresh = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szForThresh = hd.stForThresh.c_str();
hd.ForThresh = strtod(hd.szForThresh, NULL);
hd.ForThresh = hd.ForThresh/100;
nStartPos = stReceive.find ("StifFree=") + 10;
nEndPos = stReceive.find ("StifStick=") - 2;
hd.stStifFree = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szStifFree = hd.stStifFree.c_str();
hd.StifFree = strtod(hd.szStifFree, NULL);
hd.StifFree = hd.StifFree/100;
nStartPos = stReceive.find ("StifStick=") + 11;
nEndPos = stReceive.find ("StifCont=") - 2;
hd.stStifStick = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szStifStick = hd.stStifStick.c_str();
hd.StifStick = strtod(hd.szStifStick, NULL);
hd.StifStick = hd.StifStick/100;
nStartPos = stReceive.find ("StifCont=") + 10;
nEndPos = stReceive.find ("KForce=") - 2;
hd.stStifCont = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szStifCont = hd.stStifCont.c_str();
hd.StifCont = strtod(hd.szStifCont, NULL);
hd.StifCont = hd.StifCont/100;
nStartPos = stReceive.find ("KForce=") + 8;
nEndPos = stReceive.find ("LScale=") - 2;
hd.stKForce = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szKForce = hd.stKForce.c_str();
hd.KForce = strtod(hd.szKForce, NULL);
hd.KForce = hd.KForce/100;
nStartPos = stReceive.find ("LScale=") + 8;
nEndPos = stReceive.find ("<HMI") - 3;
hd.stLScale = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szLScale = hd.stLScale.c_str();
hd.LScale = strtod(hd.szLScale, NULL);
nStartPos = stReceive.find ("HapFeed=") + 9;
nEndPos = stReceive.find ("<IPOC>") - 3;
hd.stHapFeed = stReceive.substr (nStartPos, nEndPos - nStartPos);
hd.szHapFeed = hd.stHapFeed.c_str();
hd.HapFeed = atoi(hd.szHapFeed);
//data the is to be sent to the robot
if (hd.FirstTimePosition)
{
hd.RobotXStartPosition = hd.RobotXPosition;
hd.RobotYStartPosition = hd.RobotYPosition;
hd.RobotZStartPosition = hd.RobotZPosition;
hd.FirstTimePosition = false;
}
//tells the filter to turn on or off
if (hd.LinearScale == 0 || hd.LinearScale == 0.5 || hd.LinearScale == 1)
{
hd.NewScaletoRobot = 1;
hd.stScaletoRobot = dtostr(hd.NewScaletoRobot);
nStartPos = stSend.find ("SCX=") + 5;
stSend.replace(nStartPos, 1, hd.stScaletoRobot);
hd.stScaletoRobot = dtostr(hd.NewScaletoRobot);
nStartPos = stSend.find ("SCY=") + 5;
stSend.replace(nStartPos, 1, hd.stScaletoRobot);
hd.stScaletoRobot = dtostr(hd.NewScaletoRobot);
nStartPos = stSend.find ("SCZ=") + 5;
stSend.replace(nStartPos, 1, hd.stScaletoRobot);
}
else
{
hd.NewScaletoRobot = 0;
hd.stScaletoRobot = dtostr(hd.NewScaletoRobot);
nStartPos = stSend.find ("SCX=") + 5;
stSend.replace(nStartPos, 1, hd.stScaletoRobot);
hd.stScaletoRobot = dtostr(hd.NewScaletoRobot);
nStartPos = stSend.find ("SCY=") + 5;
stSend.replace(nStartPos, 1, hd.stScaletoRobot);
hd.stScaletoRobot = dtostr(hd.NewScaletoRobot);
nStartPos = stSend.find ("SCZ=") + 5;
stSend.replace(nStartPos, 1, hd.stScaletoRobot);
}
if(hd.LinearScale == 4)
{
f_co = 0.5;
}
else if (hd.LinearScale == 3)
{
f_co = 0.5;
}
else if (hd.LinearScale == 2)
{
f_co = 1;
}
else if (hd.LinearScale == 1)
{
f_co = 2;
}
else if (hd.LinearScale == 0.5)
{
f_co = 2;
}
else
{
f_co = 0.5;
}
w_co = f_co * C_TWO_PI;
OMEGA_co = (2/T) * cTanRad((w_co * T) / 2);
hd.raw_x[CURRENT_VALUE] = hd.XtoRobot;
hd.raw_y[CURRENT_VALUE] = hd.YtoRobot;
hd.raw_z[CURRENT_VALUE] = hd.ZtoRobot;
hd.filtered_x[CURRENT_VALUE] = (pow(((OMEGA_co) / ((2 / T) + OMEGA_co)), 2)) *
((hd.raw_x[CURRENT_VALUE]) + (2 * hd.raw_x[CURRENT_VALUE - 1] + hd.raw_x[CURRENT_VALUE - 2]))
- (((2 * (OMEGA_co - (2 / T))) / ((2 / T) + OMEGA_co)) * hd.filtered_x[CURRENT_VALUE - 1])
- ((pow(((OMEGA_co - (2 / T)) / ((2 / T) + OMEGA_co)),2)) * hd.filtered_x[CURRENT_VALUE - 2]);
hd.filtered_y[CURRENT_VALUE] = (pow(((OMEGA_co) / ((2 / T) + OMEGA_co)), 2)) *
((hd.raw_y[CURRENT_VALUE]) + (2 * hd.raw_y[CURRENT_VALUE - 1] + hd.raw_y[CURRENT_VALUE - 2]))
- (((2 * (OMEGA_co - (2 / T))) / ((2 / T) + OMEGA_co)) * hd.filtered_y[CURRENT_VALUE - 1])
- ((pow(((OMEGA_co - (2 / T)) / ((2 / T) + OMEGA_co)),2)) * hd.filtered_y[CURRENT_VALUE - 2]);
hd.filtered_z[CURRENT_VALUE] = (pow(((OMEGA_co) / ((2 / T) + OMEGA_co)), 2)) *
((hd.raw_z[CURRENT_VALUE]) + (2 * hd.raw_z[CURRENT_VALUE - 1] + hd.raw_z[CURRENT_VALUE - 2]))
- (((2 * (OMEGA_co - (2 / T))) / ((2 / T) + OMEGA_co)) * hd.filtered_z[CURRENT_VALUE - 1])
- ((pow(((OMEGA_co - (2 / T)) / ((2 / T) + OMEGA_co)),2)) * hd.filtered_z[CURRENT_VALUE - 2]);
hd.raw_x[CURRENT_VALUE - 2] = hd.raw_x[CURRENT_VALUE - 1];
hd.raw_y[CURRENT_VALUE - 2] = hd.raw_y[CURRENT_VALUE - 1];
hd.raw_z[CURRENT_VALUE - 2] = hd.raw_z[CURRENT_VALUE - 1];
hd.raw_x[CURRENT_VALUE - 1] = hd.raw_x[CURRENT_VALUE];
hd.raw_y[CURRENT_VALUE - 1] = hd.raw_y[CURRENT_VALUE];
hd.raw_z[CURRENT_VALUE - 1] = hd.raw_z[CURRENT_VALUE];
hd.filtered_x[CURRENT_VALUE - 2] = hd.filtered_x[CURRENT_VALUE - 1];
hd.filtered_y[CURRENT_VALUE - 2] = hd.filtered_y[CURRENT_VALUE - 1];
hd.filtered_z[CURRENT_VALUE - 2] = hd.filtered_z[CURRENT_VALUE - 1];
hd.filtered_x[CURRENT_VALUE - 1] = hd.filtered_x[CURRENT_VALUE];
hd.filtered_y[CURRENT_VALUE - 1] = hd.filtered_y[CURRENT_VALUE];
hd.filtered_z[CURRENT_VALUE - 1] = hd.filtered_z[CURRENT_VALUE];
//hd.CommGain = 0.001;
//hd.XtoRobot = hd.XtoRobot / (1+(hd.CommGain * abs(hd.Fx - hd.PreviousFx)));
//hd.YtoRobot = hd.YtoRobot / (1+(hd.CommGain * abs(hd.Fy - hd.PreviousFy)));
//hd.ZtoRobot = hd.ZtoRobot / (1+(hd.CommGain * abs(hd.Fz - hd.PreviousFz)));
//hd.CurrentXtoRobot = hd.XtoRobot - hd.PreviousXtoRobot;
hd.stXtoRobot = dtostr(hd.filtered_x[CURRENT_VALUE]);
nStartPos = stSend.find ("X=") + 3;
stSend.replace(nStartPos, 6, hd.stXtoRobot);
//hd.CurrentYtoRobot = hd.YtoRobot - hd.PreviousYtoRobot;
hd.stYtoRobot = dtostr(hd.filtered_y[CURRENT_VALUE]);
nStartPos = stSend.find ("Y=") + 3;
stSend.replace(nStartPos, 6, hd.stYtoRobot);
//hd.CurrentZtoRobot = hd.ZtoRobot - hd.PreviousZtoRobot;
hd.stZtoRobot = dtostr(hd.filtered_z[CURRENT_VALUE]);
nStartPos = stSend.find ("Z=") + 3;
stSend.replace(nStartPos, 6, hd.stZtoRobot);
//hd.CurrentGtoRobot = hd.GtoRobot - hd.PreviousGtoRobot;
//hd.stGtoRobot = dtostr(hd.GtoRobot);
//nStartPos = stSend.find ("A=") + 3;
//stSend.replace(nStartPos, 6, hd.stGtoRobot);
//hd.CurrentBtoRobot = hd.BtoRobot - hd.PreviousBtoRobot;
//hd.stBtoRobot = dtostr(hd.BtoRobot);
//nStartPos = stSend.find ("B=") + 3;
//stSend.replace(nStartPos, 6, hd.stBtoRobot);
//hd.CurrentAtoRobot = hd.AtoRobot - hd.PreviousAtoRobot;
//hd.stAtoRobot = dtostr(hd.AtoRobot);
//nStartPos = stSend.find ("C=") + 3;
//stSend.replace(nStartPos, 6, hd.stAtoRobot);
//hd.PreviousXtoRobot = hd.XtoRobot;
//hd.PreviousYtoRobot = hd.YtoRobot;
//hd.PreviousZtoRobot = hd.ZtoRobot;
//hd.PreviousAtoRobot = hd.AtoRobot;
//hd.PreviousBtoRobot = hd.BtoRobot;
//hd.PreviousGtoRobot = hd.GtoRobot;
strcpy( static_cast<char*>( &acWriteBuffer[0] ), stSend.c_str() );
if (nReadBytes > 0)
{
int nSentBytes = 0;
int SendLength = strlen(acWriteBuffer);
while (nSentBytes < SendLength)
{
int nTemp = sendto(sd, acWriteBuffer, SendLength, 0, (struct sockaddr*)&clientAddr, sockAddrSize);
if (nTemp > 0)
{
nSentBytes += nTemp;
}
else if (nTemp == SOCKET_ERROR)
{
return false;
}
else
{
// Client closed connection before we could reply to
// all the data it sent, so bomb out early.
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Peer unexpectedly dropped connection!");
return true;
}
}
}
else if (nReadBytes == SOCKET_ERROR)
{
return false;
}
} while (nReadBytes != 0);
SendDlgItemMessage(g_hWndHapticBox, IDC_LIST_Server, LB_INSERTSTRING, 0, (LPARAM)L"Connection closed by peer.");
bRobotConnected = false;
bRobotConnectInit = true;
SetDlgItemText(g_hWndHapticBox, IDC_STATIC_RobotStatus, _T("Waiting for robot"));
SetDlgItemText(g_hWndHapticBox, IDC_STATIC_RobotInMotion, _T("Robot not in motion"));
return true;
}
我认为您需要查看异步套接字，这里有一个URL，介绍如何使用它们:http://www.win32developer.com/tutorial/winsock/winsock_tutorial_7.shtm
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