C++ Thread實現簡單的socket多線程通信

起因

為什麼要用C++的Thread,很簡單,因為我菜

一打五用pthread實現瞭socket多線程通信,我之前學並發的時候沒看pthread,因此代碼隻能看個大概,後面還是要系統學一下pthread的

服務端

多線程功能放在騰訊雲服務器上,代碼如下:

#include "tcpserver.h"
#include <thread>
#include <mutex>

TcpServer server;
mutex tcp_mutex;

void tcpFunc(int clientfd);

int main(int argc, char *argv[])
{

    if (server.initServer(6666) == false)
    {
        cout << "服務端初始化失敗!!!" << endl;
        return -1;
    }

    vector<thread> tcp_vec;
    while (true)
    {
        if (!server.tcpAccept())
        {
            continue;
        }
        tcp_vec.emplace_back(tcpFunc, server.m_connectfd);
        // thread tcpThread(tcpFunc, server.m_connectfd);
        // if (tcpThread.joinable())
        if(tcp_vec.back().joinable())
        {
            // cout << "Tcp thread " << tcpThread.get_id() << "is joinable!" << endl;
            cout << "Tcp thread " << tcp_vec.back().get_id() << " is joinable!" << endl;
            tcp_vec.back().detach();
        }
    }

    return 0;
}

void tcpFunc(int clientfd)
{
    int buf_len = 0;
    char buffer[1024];
    while (true)
    {
        unique_lock<mutex> tcplck(tcp_mutex);
        memset(buffer, 0, sizeof(buffer));
        if (!server.tcpRecv(clientfd, buffer, &buf_len, 5))
        {
            cout << "接收客戶端數據失敗!" << endl;
            tcplck.unlock();
            break;
        }
        cout << "服務端接收數據:" << buffer << endl;

        strcpy(buffer, "I am your father!");
        if (!server.tcpSend(clientfd, buffer, sizeof(buffer)))
        {
            cout << "向客戶端發送數據失敗!" << endl;
            tcplck.unlock();
            break;
        }
        tcplck.unlock();
                usleep(100);
    }
    cout << "通信異常!" << endl;
    return;
}

實在是很簡單,貽笑大方瞭

有幾個註意點:

  • 全局變量在main函數執行完後會銷毀,線程中用到瞭全局變量server,線程detach後要保證數據的收發,就要保持server的生存期,這裡體現為在main中循環等待客戶端的連接
  • 要用鎖鎖住線程中server的操作,避免不同線程同時操作server造成混亂
  • usleep(100);是為瞭避免不同線程爭搶同一把鎖而造成死鎖的發生

ROS客戶端

#include "tcpclient.h"
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

TcpClient client;
string send_str = "I am king of the world!";
char recv_buff[1024];

void client_callback(const geometry_msgs::Twist::ConstPtr &msg)
{
    cout << "vel X:" << msg->linear.x << ";vel Y:" << msg->linear.y << ";angular Z:" << msg->angular.z << endl;
    if (!client.tcpSend(client.m_sockfd, send_str.data(), send_str.size()))
    {
        cout << "向服務端發送報文失敗!" << endl;
    }
    if (!client.tcpRecv(client.m_sockfd, recv_buff, NULL, 10))
    {
        cout << "從服務端接收報文失敗!" << endl;
    }
    cout << "接收服務端報文:" << recv_buff << endl << endl;
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "joystick_client");
    ros::NodeHandle nh;

    string server_ip = "1.116.137.21";
    string loop_ip = "127.0.0.1";

    if (client.connectToServer(server_ip.data(), 6666) == false)
    {
        cout << "連接失敗!!!" << endl;
        return -1;
    }

    ros::Subscriber sub = nh.subscribe("/cmd_vel", 1, client_callback);

    ros::spin();
}

很簡單,訂閱瞭手柄發佈的話題/cmd_vel,在回調函數中和服務端通訊

話題的發佈頻率是10Hz,意味著和服務端通訊的頻率也是10Hz

普通客戶端

#include "tcp/tcpclient.h"

int main(int argc, char **argv)
{
    TcpClient client;

    string server_ip = "1.116.137.21";
    string loop_ip = "127.0.0.1";

    if (client.connectToServer(server_ip.data(), 6666) == false)
    {
        cout << "連接失敗!!!" << endl;
        return -1;
    }
    cout << "成功連接服務器!" << endl;

    char buff[1024];
    while (true)
    {
        memset(buff, 0, sizeof(buff));
        sprintf(buff, "Ouch!");
        if (!client.tcpSend(client.m_sockfd, buff, sizeof(buff)))
        {
            cout << "向服務端發送報文失敗!" << endl;
            return -1;
        }

        memset(buff, 0, sizeof(buff));
        if (!client.tcpRecv(client.m_sockfd, buff, NULL, 5))
        {
            cout << "從服務端接收報文失敗!" << endl;
            return -1;
        }
        cout << "接收服務端報文:" << buff << endl << endl;
        sleep(0.1);
    }
    return 0;
}

這裡sleep(0.1);是為瞭模擬ROS中話題的頻率

sleep過長會導致服務端阻塞等待該客戶端的消息,從而導致其餘客戶端與服務端的通信失敗(如果客戶端中允許的通信延時很短的話)

運行效果

雲服務器上的服務端

[root@VM-4-11-centos bin]# ./server_thread 
Tcp thread 140662362572544 is joinable!
服務端接收數據:I am king of the world!
服務端接收數據:I am king of the world!
服務端接收數據:I am king of the world!
服務端接收數據:I am king of the world!
Tcp thread 140662354179840 is joinable!
服務端接收數據:I am king of the world!
服務端接收數據:Ouch!
服務端接收數據:I am king of the world!
服務端接收數據:Ouch!
服務端接收數據:I am king of the world!
服務端接收數據:Ouch!
服務端接收數據:I am king of the world!
服務端接收數據:Ouch!

筆記本上的ROS客戶端

redwall@redwall-G3-3500:~$ rosrun joystick_client joystick_client 
[ERROR] [1656939307.244367879]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying…
[ INFO] [1656939314.923909682]: Connected to master at [localhost:11311]
vel X:0;vel Y:0;angular Z:0
接收服務端報文:I am your father!

vel X:0;vel Y:0;angular Z:0
接收服務端報文:I am your father!

vel X:0;vel Y:0;angular Z:0
接收服務端報文:I am your father!

虛擬機的普通客戶端

  • prejudice@prejudice-VirtualBox:~/socket_test/socket_for_linux/bin$ ./tcp_client 成功連接服務器!
  • 接收服務端報文:I am your father!
  • 接收服務端報文:I am your father!
  • 接收服務端報文:I am your father!

不足

  • 未考慮線程的清理
  • 未考慮信號的退出處理

 到此這篇關於C++ Thread實現簡單的socket多線程通信的文章就介紹到這瞭,更多相關C++  socket多線程通信內容請搜索WalkonNet以前的文章或繼續瀏覽下面的相關文章希望大傢以後多多支持WalkonNet!

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