main.cpp

#include <stdio.h>
#include <stdlib.h>
#include <winsock2.h>
//#include <sys/types.h>
//#include <sys/socket.h>
#include <string.h>
//#include <arpa/inet.h>
//#include <unistd.h>
#include <windows.h>
#include <dos.h>
#include <iostream>
#include <pthread.h>
#include "crc.h"
#include "cJSON.h"
#include "ftp_client.h"
#include "tcp_client.h"
#include <ws2tcpip.h>
#include "proto.h"
#include "udp.h"
#include "action.h"
#include<iostream>
#include<cstring>
#include<conio.h>
#define TIMEOUT_T 100              //每条命令执行时间
#pragma comment(lib,"ws2_32.lib")
using namespace std;

SOCKET fd;
pthread_mutex_t mutex;
pthread_cond_t update;
pthread_t action;
struct sockaddr_in addr;
int action_finsh = 0;

void usage_info()
{
	int cap;
	system("cls");
	cap = batt_get_cap();
	system("cls");
	cout << "----------------------------------------------------------------------------------";
	cout << "										无人机控制系统						" << endl;
	cout << " " << endl;
	cout << " * 0 :校准 1: 起飞 2: 降落 3: 前翻 4: 后翻 5: 左翻 6: 右翻 7: 向上 8: 向下 9: 向左  " << endl;
	cout << "                                                                                " << endl;
	cout << " * a :向右 b: 向前 c: 向后 d: 左转 e: 右转 f: 定高(cm) g: 拍照  h: 起飞高度(cm)" << endl;
	cout << "电量:" << cap << "%" << "  s:自定义动作组  q : 退出  k:射击 " << endl;
	if (cap < 20)
		cout << "W: 电量报警，过低！！！" << endl;

}

void event_init(void)
{
	pthread_mutex_init(&mutex, NULL);
	pthread_cond_init(&update, NULL);
}
void event_put()
{
	pthread_mutex_lock(&mutex);
	pthread_cond_signal(&update);
	pthread_mutex_unlock(&mutex);
}
void event_get()
{
	pthread_mutex_lock(&mutex);
	pthread_cond_wait(&update, &mutex);
	pthread_mutex_unlock(&mutex);
	
}

uint16_t crc_check(uint8_t* buf, int len)
{
	int i = 0;
	uint16_t checksum = crc16_init();
	for (i = 1; i < len; i++)
		checksum = crc16_update(buf[i], checksum);
	return checksum;
}

void* heart_thread(void* arg) //心跳包线程
{
	struct sockaddr_in addr;
	char buf[] = { -6,8,0,2,0,0,0,0,0,0,0,0,0,-125,-51 };
	int ret, len;
	addr.sin_family = AF_INET;
	addr.sin_port = htons(9696);
	// addr.sin_addr.s_addr=inet_addr("192.168.100.1");
	inet_pton(AF_INET, "192.168.100.1", &addr.sin_addr);
	//    char s;
	len = (int)(sizeof(buf) / sizeof(buf[0]));
	while (1)
	{
		ret = sendto(fd, buf, len, 0, (struct sockaddr*)&addr, sizeof(addr));
		if (ret < 0)
		{
			printf("send fail\n");
			return ((void*)-1);
		}
		Sleep(10);      //10ms
	}

	return ((void*)0);
}  

void* recv_thread(void* arg) //接收线程
{
	struct sockaddr_in addr;
	uint8_t buf[] = { 0xfa,2,0,2,1,0,10,214,204 };//先发送获取状态命令
	int ret, len;
	addr.sin_family = AF_INET;
	addr.sin_port = htons(9696);
	inet_pton(AF_INET, "192.168.100.1", &addr.sin_addr);
	// addr.sin_addr.s_addr=inet_addr("192.168.100.1");
 //    char s;
	len = (int)(sizeof(buf) / sizeof(buf[0]));

	ret = sendto(fd, (char*)buf, len, 0, (struct sockaddr*)&addr, sizeof(addr));
	if (ret < 0)
	{
		printf("send fail\n");
		return ((void*)-1);
	}

	recv_udp(fd);

	return ((void*)0);
}

void* action_thread(void* arg) //动作线程
{
	pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
	pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);

	action_start();
	action_finsh = 1;
	return (void*)0;
}


int pthread_create_heart()
{
	pthread_attr_t attr;
	pthread_t heart;
	pthread_attr_init(&attr);

	int ret;

	pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);

	ret = pthread_create(&heart, &attr, heart_thread, NULL);
	if (ret < 0)
	{
		cout << "pthread_create fail" << endl;
		return -1;
	}
	pthread_attr_destroy(&attr);
	return 0;
}

int pthread_create_recv()
{
	pthread_attr_t attr;
	pthread_t heart;
	pthread_attr_init(&attr);

	int ret;

	pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);

	ret = pthread_create(&heart, &attr, recv_thread, NULL);
	if (ret < 0)
	{
		cout << "pthread_create recv fail" << endl;
		return -1;
	}
	pthread_attr_destroy(&attr);
	return 0;
}

int pthread_create_action()
{
	pthread_attr_t attr;

	pthread_attr_init(&attr);

	int ret;

	pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);

	ret = pthread_create(&action, &attr, action_thread, NULL);
	if (ret < 0)
	{
		cout << "pthread_create recv fail" << endl;
		return -1;
	}
	pthread_attr_destroy(&attr);
	return 0;
}



void aruco_cmd(int action, int id, int roll, int pitch, int yaw)
{
	uint8_t aruco[] = { -6,8,0,2,11,0,1,0,0,0,0,0,0,0,0 };
	uint16_t checksum = 0;
	int ret = 0;

	aruco[5] = action;
	aruco[6] = id;
	aruco[7] = (roll * 10) & 0xff;
	aruco[8] = ((roll * 10) >> 8) & 0xff;
	aruco[9] = (pitch * 10) & 0xff;
	aruco[10] = ((pitch * 10) >> 8) & 0xff;
	aruco[11] = (yaw * 10) & 0xff;
	aruco[12] = ((yaw * 10) >> 8) & 0xff;
	checksum = crc_check(aruco, 13);
	aruco[13] = (checksum & 0xff);
	aruco[14] = (checksum >> 8) & 0xff;
	ret = sendto(fd, (char*)aruco, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
	if (ret == 15)
	{
		cout << "aruco send ok" << endl;
	}
	else
	{
		cout << "aruco send fail" << endl;
	}
}


int action_cmd(int id, int val, int time)
{
	unsigned char acc[] = { 0xfa,2,0,2,2,0,0,232,140 };


	char takeoff[] = { -6,9,0,2,3,3,0,0,-128,63,0,0,-128,63,-86,-17 };
	char land[] = { -6,9,0,2,3,4,0,0,0,0,0,0,0,0,127,-8 };
	char forward[] = { -6,9,0,2,3,8,0,0,0,0,0,0,0,0,80,-72 };
	char back[] = { -6,9,0,2,3,8,0,0,-128,63,0,0,0,0,-33,3 };
	char left[] = { -6,9,0,2,3,8,0,0,0,64,0,0,0,0,114,121 };
	char right[] = { -6,9,0,2,3,8,0,0,64,64,0,0,0,0,-93,123 };


	unsigned char up[] = { 0xfa,8,0,2,0,0,0,0,0,96,0,0xe3,3,0xd,0xa5 };
	unsigned char down[] = { 0xfa,8,0,2,0,0,0,0,0,6,0,25,252,0x73,0xf9 };
	unsigned char forward_t[] = { 0xfa,8,0,2,0,238,255,232,3,0,0,0,0,0x4f,0xd5 };
	unsigned char back_t[] = { 0xfa,8,0,2,0,63,0,27,252,0,0,0,0,0xba,0x16 };
	unsigned char left_t[] = { 0xfa,8,0,2,0,26,252,51,0,0,0,0,0,0x4e,0x5d };
	unsigned char right_t[] = { 0xfa,8,0,2,0,232,3,31,0,0,0,0,0,0x8b,0x2f };
	unsigned char left_yaw[] = { 0xfa,8,0,2,0,0,0,0,0,25,252,233,255,0x2f,0xef };
	unsigned char right_yaw[] = { 0xfa,8,0,2,0,0,0,0,0,231,3,39,0,0x77,0xaf };
	uint8_t tof_alt[] = { 0xfa,1,0,2,9,150,0xd3,0xa8 };
	uint8_t get_status[] = { 0xfa,2,0,2,1,0,10,214,204 };
	uint8_t aruco[] = { -6,8,0,2,11,0,1,0,0,0,0,0,0,0,0 };

	char buf[16] = { 0 };

	int ret = 0, len = 0, count = 0;
	uint16_t checksum = 0;
	double t = 0;


	switch (id)
	{
	case CMD_ACC:  //校准
		ret = sendto(fd, (char*)acc, 9, 0, (struct sockaddr*)&addr, sizeof(addr));
		if (ret == 9)
		{
			cout << "I: 校准完成" << endl;
		}
		Sleep(5000);
		goto loop;
		break;
	case CMD_TAKEOFF: //起飞
		memcpy(buf, takeoff, 16);
		break;
	case CMD_LAND: //降落
		memcpy(buf, land, 16);
		break;
	case CMD_FORWARD_TURN: // 前翻
		memcpy(buf, forward, 16);
		break;
	case CMD_BACK_TURN: //后翻
		memcpy(buf, back, 16);
		break;
	case CMD_LEFT_TURN: //左翻
		memcpy(buf, left, 16);
		break;
	case CMD_RIGHT_TURN: //右翻
		memcpy(buf, right, 16);
		break;
	case CMD_UP: //向上
		up[9] = 0;
		up[11] = (val * 10) & 0xff;
		up[12] = ((val * 10) >> 8) & 0xff;
		checksum = crc_check(up, 13);
		up[13] = (checksum & 0xff);
		up[14] = (checksum >> 8) & 0xff;
		t = (double)GetTickCount();
		while ((double)GetTickCount() - t < time)
		{
			ret = sendto(fd, (char*)up, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
			if (ret == 15)
			{
				//       cout <<"up ok"<<endl;
			}
		}
		goto loop;
		break;
	case CMD_DOWN: //向下
		down[9] = 0;
		down[11] = (val * -10) & 0xff;
		down[12] = ((val * -10) >> 8) & 0xff;
		checksum = crc_check(down, 13);
		down[13] = (checksum & 0xff);
		down[14] = (checksum >> 8) & 0xff;
		t = (double)GetTickCount();
		while ((double)GetTickCount() - t < time)
		{
			ret = sendto(fd, (char*)down, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
			if (ret == 15)
			{
				//     cout <<"down ok"<<endl;
			}
		}
		goto loop;
		break;
	case CMD_LEFT: //向左
		left_t[5] = (val * -10) & 0xff;
		left_t[6] = ((val * -10) >> 8) & 0xff;
		checksum = crc_check(left_t, 13);
		left_t[13] = (checksum & 0xff);
		left_t[14] = (checksum >> 8) & 0xff;
		t = (double)GetTickCount();
		while ((double)GetTickCount() - t < time)
		{
			ret = sendto(fd, (char*)left_t, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
			if (ret == 15)
			{
				//   cout <<"left ok"<<endl;
			}
		}
		goto loop;
		break;
	case CMD_RIGHT: //向右
		right_t[5] = (val * 10) & 0xff;
		right_t[6] = ((val * 10) >> 8) & 0xff;
		checksum = crc_check(right_t, 13);
		right_t[13] = (checksum & 0xff);
		right_t[14] = (checksum >> 8) & 0xff;
		t = (double)GetTickCount();
		while ((double)GetTickCount() - t < time)
		{
			ret = sendto(fd, (char*)right_t, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
			if (ret == 15)
			{
				// cout <<"right ok"<<endl;
			}
		}
		goto loop;
		break;
	case CMD_FORWARD: //向前
		forward_t[7] = (val * 10) & 0xff;
		forward_t[8] = ((val * 10) >> 8) & 0xff;
		checksum = crc_check(forward_t, 13);
		forward_t[13] = (checksum & 0xff);
		forward_t[14] = (checksum >> 8) & 0xff;
		t = (double)GetTickCount();
		while ((double)GetTickCount() - t < time)
		{
			ret = sendto(fd, (char*)forward_t, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
			if (ret == 15)
			{
				//  cout <<"forward_t ok"<<endl;
			}
		}
		goto loop;
		break;
	case CMD_BACK: //向后
		back_t[7] = (val * -10) & 0xff;
		back_t[8] = ((val * -10) >> 8) & 0xff;
		checksum = crc_check(back_t, 13);
		back_t[13] = (checksum & 0xff);
		back_t[14] = (checksum >> 8) & 0xff;
		t = (double)GetTickCount();
		while ((double)GetTickCount() - t < time)
		{
			ret = sendto(fd, (char*)back_t, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
			if (ret == 15)
			{
				//  cout <<"back_t ok"<<endl;
			}
		}
		goto loop;
		break;
	case CMD_RIGHT_YAW: //右旋
		right_yaw[9] = (val * 10) & 0xff;
		right_yaw[10] = ((val * 10) >> 8) & 0xff;
		checksum = crc_check(right_yaw, 13);
		right_yaw[13] = (checksum & 0xff);
		right_yaw[14] = (checksum >> 8) & 0xff;
		t = (double)GetTickCount();
		while ((double)GetTickCount() - t < time)
		{
			ret = sendto(fd, (char*)right_yaw, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
			if (ret == 15)
			{
				//   cout <<"right_yaw ok"<<endl;
			}
		}
		goto loop;
		break;
	case CMD_LEFT_YAW: //左旋
		left_yaw[9] = (val * -10) & 0xff;
		left_yaw[10] = ((val * -10) >> 8) & 0xff;
		checksum = crc_check(left_yaw, 13);
		left_yaw[13] = (checksum & 0xff);
		left_yaw[14] = (checksum >> 8) & 0xff;
		t = (double)GetTickCount();
		while ((double)GetTickCount() - t < time)
		{
			ret = sendto(fd, (char*)left_yaw, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
			if (ret == 15)
			{
				//  cout <<"left_yaw ok"<<endl;
			}
		}
		goto loop;
		break;
	case CMD_TOF_ALT: //tof定高
		//  scanf("%d",&val);
		if (val > 255 || val <= 0)
		{
			cout << "参数无效" << endl;

		}
		tof_alt[5] = val;
		checksum = crc_check(tof_alt, 6);  //动态crc16 校验
		tof_alt[6] = (checksum & 0xff);
		tof_alt[7] = (checksum >> 8) & 0xff;
		ret = sendto(fd, (char*)tof_alt, 8, 0, (struct sockaddr*)&addr, sizeof(addr));
		Sleep(3000);
		goto loop;
		break;
	case CMD_TAKE_PHOTO: //拍照
		tcp_send(CMD_IMG_LOAD, 0);
		goto loop;
		break;
	case CMD_TAKEOFF_ALTH:  //起飞高度设置	
		if (val > 255 || val <= 0)
		{
			cout << "参数无效" << endl;

		}
		tcp_send(CMD_TAKEOFF_ALT, val);
		Sleep(2000);
		goto loop;
		break;
	case CMD_MODE_CHANGE:   //模式切换
		tcp_send(CMD_SAFE_MODE, 0);
		goto loop;
		break;
	case CMD_SHOOT:      //射击
		tcp_send(CMD_INFRARED_SHOOTING, 0);
		goto loop;
		break;
#if 0          
	case 'm':    //crc 校验测试
		checksum = crc_check(get_status, 7);
		printf("1= %d 2=%d\n", (checksum & 0xff), (checksum >> 8) & 0xff);
		goto loop;
#endif	
	default:
		goto loop;
		break;
	}

	len = (int)(sizeof(buf) / sizeof(buf[0]));
	ret = sendto(fd, buf, len, 0, (struct sockaddr*)&addr, sizeof(addr));
	if (ret < 0)
	{
		printf("send fail\n");
		return -1;
	}
	Sleep(3000);
loop:
	return 0;
}

int main()
{
#pragma region 参数定义
	unsigned char acc[] = { 0xfa,2,0,2,2,0,0,232,140 };
	char takeoff[] = { -6,9,0,2,3,3,0,0,-128,63,0,0,-128,63,-86,-17 };
	char land[] = { -6,9,0,2,3,4,0,0,0,0,0,0,0,0,127,-8 };
	char forward[] = { -6,9,0,2,3,8,0,0,0,0,0,0,0,0,80,-72 };
	char back[] = { -6,9,0,2,3,8,0,0,-128,63,0,0,0,0,-33,3 };
	char left[] = { -6,9,0,2,3,8,0,0,0,64,0,0,0,0,114,121 };
	char right[] = { -6,9,0,2,3,8,0,0,64,64,0,0,0,0,-93,123 };


	unsigned char up[] = { 0xfa,8,0,2,0,0,0,0,0,96,0,0xe3,3,0xd,0xa5 };
	unsigned char down[] = { 0xfa,8,0,2,0,0,0,0,0,6,0,25,252,0x73,0xf9 };
	unsigned char forward_t[] = { 0xfa,8,0,2,0,238,255,232,3,0,0,0,0,0x4f,0xd5 };
	unsigned char back_t[] = { 0xfa,8,0,2,0,63,0,27,252,0,0,0,0,0xba,0x16 };
	unsigned char left_t[] = { 0xfa,8,0,2,0,26,252,51,0,0,0,0,0,0x4e,0x5d };
	unsigned char right_t[] = { 0xfa,8,0,2,0,232,3,31,0,0,0,0,0,0x8b,0x2f };
	unsigned char left_yaw[] = { 0xfa,8,0,2,0,0,0,0,0,25,252,233,255,0x2f,0xef };
	unsigned char right_yaw[] = { 0xfa,8,0,2,0,0,0,0,0,231,3,39,0,0x77,0xaf };
	uint8_t tof_alt[] = { 0xfa,1,0,2,9,150,0xd3,0xa8 };
	uint8_t get_status[] = { 0xfa,2,0,2,1,0,10,214,204 };

	char buf[16] = { 0 };

	int ret = 0, len = 0, count = 0;
	uint16_t checksum = 0;

	WORD socketVersion = MAKEWORD(2, 2);
	WSADATA wsaData;
#pragma endregion
	if (WSAStartup(socketVersion, &wsaData) != 0)
	{
		return 0;
	}

	fd = socket(AF_INET, SOCK_DGRAM, 0);
	if (fd < 0)
	{
		printf("socket error\n");
		return -1;
	}

	usage_info();             //提示信息     
	tcp_client_init();        //初始化tcp连接
	//event_init();             //初始化线程锁和条件变量

	pthread_create_heart();     //开辟线程，发送心跳包
	pthread_create_recv();      //开辟线程，接收无人机返回的数据

	addr.sin_family = AF_INET;
	addr.sin_port = htons(9696);
	//  addr.sin_addr.s_addr=inet_addr("192.168.100.1");
	inet_pton(AF_INET, "192.168.100.1", &addr.sin_addr);
	char s;
	int val;
	double t;

	while (1)
	{
	loop:
		usage_info();
		Sleep(1000);
		count = 0;
		cout << "请输入指令：";
		cin >> s;

		switch (s)
		{
		case '0':  //校准
			ret = sendto(fd, (char*)acc, 9, 0, (struct sockaddr*)&addr, sizeof(addr));
			if (ret == 9)
			{
				cout << "校准中" << endl;
				Sleep(4000);
				cout << "校准完成" << endl;
				goto loop;
			}
			break;
		case '1': //起飞
			memcpy(buf, takeoff, 16);
			break;
		case '2': //降落
			memcpy(buf, land, 16);
			break;
		case '3': // 前翻
			memcpy(buf, forward, 16);
			break;
		case '4': //后翻
			memcpy(buf, back, 16);
			break;
		case '5': //左翻
			memcpy(buf, left, 16);
			break;
		case '6': //右翻
			memcpy(buf, right, 16);
			break;
		case '7': //向上
			t = (double)GetTickCount();
			while ((double)GetTickCount() - t < TIMEOUT_T)
			{
				ret = sendto(fd, (char*)up, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
				if (ret == 15)
				{
					//       cout <<"up ok"<<endl;
				}
			}
			goto loop;
			break;
		case '8': //向下
			t = (double)GetTickCount();
			while ((double)GetTickCount() - t < TIMEOUT_T)
			{
				ret = sendto(fd, (char*)down, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
				if (ret == 15)
				{
					//     cout <<"down ok"<<endl;
				}
			}
			goto loop;
			break;
		case '9': //向左
			t = (double)GetTickCount();
			while ((double)GetTickCount() - t < TIMEOUT_T)
			{
				ret = sendto(fd, (char*)left_t, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
				if (ret == 15)
				{
					//   cout <<"left ok"<<endl;
				}
			}
			goto loop;
			break;
		case 'a': //向右
			t = (double)GetTickCount();
			while ((double)GetTickCount() - t < TIMEOUT_T)
			{
				ret = sendto(fd, (char*)right_t, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
				if (ret == 15)
				{
					// cout <<"right ok"<<endl;
				}
			}
			goto loop;
		case 'b': //向前
			t = (double)GetTickCount();
			while ((double)GetTickCount() - t < TIMEOUT_T)
			{
				ret = sendto(fd, (char*)forward_t, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
				if (ret == 15)
				{
					//  cout <<"forward_t ok"<<endl;
				}
			}
			goto loop;
			break;
		case 'c': //向后
			t = (double)GetTickCount();
			while ((double)GetTickCount() - t < TIMEOUT_T)
			{
				ret = sendto(fd, (char*)back_t, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
				if (ret == 15)
				{
					//  cout <<"back_t ok"<<endl;
				}
			}
			goto loop;
			break;
		case 'd': //右旋
			t = (double)GetTickCount();
			while ((double)GetTickCount() - t < TIMEOUT_T)
			{
				ret = sendto(fd, (char*)right_yaw, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
				if (ret == 15)
				{
					//   cout <<"right_yaw ok"<<endl;
				}
			}
			goto loop;
			break;
		case 'e': //左旋
			t = (double)GetTickCount();
			while ((double)GetTickCount() - t < TIMEOUT_T)
			{
				ret = sendto(fd, (char*)left_yaw, 15, 0, (struct sockaddr*)&addr, sizeof(addr));
				if (ret == 15)
				{
					//  cout <<"left_yaw ok"<<endl;
				}
			}
			goto loop;
			break;
		case 'f': //tof定高
			cout << "请输入定高高度(0 ~ 255):";
			cin >> val;
			//  scanf("%d",&val);
			if (val > 255 || val <= 0)
			{
				cout << "参数无效" << endl;
				cin.clear();     //c++ 需要主动清空
				goto loop;
			}
			tof_alt[5] = val;
			checksum = crc_check(tof_alt, 6);  //动态crc16 校验
			tof_alt[6] = (checksum & 0xff);
			tof_alt[7] = (checksum >> 8) & 0xff;
			ret = sendto(fd, (char*)tof_alt, 8, 0, (struct sockaddr*)&addr, sizeof(addr));
			goto loop;
			break;
		case 'g': //拍照
			tcp_send(CMD_IMG_LOAD, 0);
			goto loop;
			break;
		case 'h':  //起飞高度设置
			cout << "请输入起飞高度(0 ~ 255):";
			cin >> val;
			//  scanf("%d",&val);
			if (val > 255 || val <= 0)
			{
				cout << "参数无效" << endl;
				cin.clear();     //c++ 需要清空
				goto loop;
			}
			tcp_send(CMD_TAKEOFF_ALT, val);
			goto loop;
			break;
		case 'j':   //模式切换
			tcp_send(CMD_SAFE_MODE, 0);
			goto loop;
			break;
		case 'l':  //主动发送获取状态信息
			ret = sendto(fd, (char*)get_status, 9, 0, (struct sockaddr*)&addr, sizeof(addr));
			goto loop;
			break;
#if 0          
		case 'm':    //crc 校验测试
			checksum = crc_check(get_status, 7);
			printf("1= %d 2=%d\n", (checksum & 0xff), (checksum >> 8) & 0xff);
			goto loop;
#endif	
		case 'k':  //射击
			tcp_send(CMD_INFRARED_SHOOTING, 0);
			goto loop;
			break;
		case 's':

			pthread_create_action();
		loop1:
			printf("是否中断动作组（1：是 ）：\n");
			while (1)
			{
				if (action_finsh == 1)
				{
					action_finsh = 0;
					goto loop;
				}
				if (_kbhit())
				{
					//  cout << "ccd" << endl;
					cin >> s;
					switch (s)
					{
					case '1':
						pthread_cancel(action);
						pthread_join(action, NULL);
						memcpy(buf, land, 16);

						break;
					default:
						printf("无效指令\n");
						goto loop1;
						break;
					}
					break;
				}
			}
			break;
		case 'q':
			goto quit;
			break;
		default:
			cout << "键值无效" << endl;
			goto loop;
			break;
		}

		len = (int)(sizeof(buf) / sizeof(buf[0]));
		ret = sendto(fd, buf, len, 0, (struct sockaddr*)&addr, sizeof(addr));
		if (ret < 0)
		{
			printf("send fail\n");
			return -1;
		}

	}
quit:
	tcp_quit();
	closesocket(fd);
	WSACleanup();

	return 0;

}