C++ socket多线程通信

#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 << "服务端初始化失败！！!" << 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 << "接收客户端数据失败！" << endl;
            tcplck.unlock();
            break;
        }
        cout << "服务端接收数据:" << buffer << endl;

        strcpy(buffer, "I am your father!");
        if (!server.tcpSend(clientfd, buffer, sizeof(buffer)))
        {
            cout << "向客户端发送数据失败！" << endl;
            tcplck.unlock();
            break;
        }
        tcplck.unlock();
                usleep(100);
    }
    cout << "通信异常！" << endl;
    return;
}

#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 << "向服务端发送报文失败！" << endl;
    }
    if (!client.tcpRecv(client.m_sockfd, recv_buff, NULL, 10))
    {
        cout << "从服务端接收报文失败！" << endl;
    }
    cout << "接收服务端报文：" << 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 << "连接失败！！！" << endl;
        return -1;
    }

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

    ros::spin();
}

#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 << "连接失败！！！" << endl;
        return -1;
    }
    cout << "成功连接服务器！" << endl;

    char buff[1024];
    while (true)
    {
        memset(buff, 0, sizeof(buff));
        sprintf(buff, "Ouch!");
        if (!client.tcpSend(client.m_sockfd, buff, sizeof(buff)))
        {
            cout << "向服务端发送报文失败！" << endl;
            return -1;
        }

        memset(buff, 0, sizeof(buff));
        if (!client.tcpRecv(client.m_sockfd, buff, NULL, 5))
        {
            cout << "从服务端接收报文失败！" << endl;
            return -1;
        }
        cout << "接收服务端报文：" << buff << endl << endl;
        sleep(0.1);
    }
    return 0;
}