【配置VS2022和Ubuntu22.04下的ZeroMQ C++安装环境&两设备双向通讯测试案例】

2345VOR

1726人浏览 · 2025-11-03 05:00:00

2345VOR · 2025-11-03 05:00:00 发布

前言

在这里插入图片描述

ZeroMQ是个类似于 Socket 的一系列接口，他跟 Socket 的区别是：普通的 socket 是端到端的（1:1的关系），而 ZMQ 却是可以N：M 的关系，人们对 BSD 套接字的了解较多的是点对点的连接，点对点连接需要显式地建立连接、销毁连接、选择协议（TCP/UDP）和处理错误等，而 ZMQ 屏蔽了这些细节，让你的网络编程更为简单。ZMQ 用于 node 与 node 间的通信，node 可以是主机或者是进程。
源码地址：https://download.csdn.net/download/VOR234/92218737
ZMQ有三种通信模式：分别为请求应答模式、发布订阅模式以及推拉模式，本项目拟采用发布订阅模式，主要是考虑到本项目中的协同建图的这种多对一的模式，适用于单项数据的传递。在同两台设备上运行的不同进程之间（或线程间）进行数据交互时，传统的TCP、UDP断开连接后不能自动重连，但开发与维护成本较高。

ZeroMQ（ZMQ） 提供了一种轻量、快速、跨语言的通信机制，支持：

发布-订阅（PUB/SUB）
请求-应答（REQ/REP）
推送-拉取（PUSH/PULL）
配对（PAIR）

本文将展示在同一台设备上、不同进程间的三种 ZMQ 通信模型实现：

🔁 发布订阅模式（Pub/Sub）
🧩 双向发布订阅（两个节点互发）
🔗 配对模式（PAIR 双向通信）

1.VS2022下的ZeroMQ C++安装环境

1. 1安装 ZeroMQ

下载 ZeroMQ 预编译库：
- 从 https://github.com/zeromq/libzmq/releases 下载 Windows 版本libzmq-v142-x64-4_3_4.zip

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解压到项目目录，主要是两个DLL和一个LIB有用

1.2 VS2022 项目配置步骤

然后新建C++项目Zero_server，将上面解压的zmq.h添加为头文件

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接下来的三个demo我会一一分解，现在需要

项目属性配置：
- 链接器 → 输入 → 附加依赖项：添加 libzmq-mt-4_3_4.lib
将 DLL 文件复制到输出目录：
- 将 libzmq-mt-4_3_4.dll 和libsodium.dll复制到 Debug 和 Release 目录

这个版本使用 C 风格的 ZeroMQ API，避免了 C++ 头文件的问题，应该可以正常编译运行。

2.Ubuntu22.04下的ZeroMQ C++安装环境

参考教程见：https://github.com/zeromq/cppzmq
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2.1下载源码

如果ubuntu系统github网络环境不好，推荐下面这种方法，在win环境下下载这两个文件，然后scp复制到目标主机

git clone https://github.com/zeromq/cppzmq.git
git clone https://github.com/zeromq/libzmq.git
scp -r D:\中国一重\项目文档\libzmq Tronlong@192.168.170.76:/home/Tronlong/mmcblk0p8/project_code/project
scp -r D:\中国一重\项目文档\cppzmq Tronlong@192.168.170.76:/home/Tronlong/mmcblk0p8/project_code/project

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2.2安装libzmq库

Build steps:

Build libzmq via cmake. This does an out of source build and installs the build files
- git clone https://github.com/zeromq/libzmq.git
- cd libzmq
- mkdir build
- cd build
- cmake ..
- sudo make -j4 install

Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project$ cd libzmq/
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/libzmq$ mkdir build
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/libzmq$ cd build
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/libzmq/build$ cmake ..
-- The C compiler identification is GNU 11.4.0
-- The CXX compiler identification is GNU 11.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Detected ZMQ Version - 4.3.6
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.2")
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_C11
-- Performing Test COMPILER_SUPPORTS_C11 - Success
-- Performing Test CXX_HAS_TAUT_WARNING
-- Performing Test CXX_HAS_TAUT_WARNING - Success
-- Performing Test CC_HAS_TAUT_WARNING
-- Performing Test CC_HAS_TAUT_WARNING - Success
-- Building draft classes and methods
-- Using radix tree implementation to manage subscriptions
-- Enable WebSocket transport
-- Could NOT find GnuTLS (missing: GNUTLS_LIBRARY GNUTLS_INCLUDE_DIR) (Required is at least version "3.6.7")
CMake Warning at CMakeLists.txt:215 (message):
  No WSS support, you may want to install GnuTLS and run cmake again


-- Using builtin sha1
-- Checking for module 'libbsd'
--   Found libbsd, version 0.11.5
-- Using libbsd
-- Looking for strlcpy
-- Looking for strlcpy - not found
-- CURVE security is disabled
-- Looking for kqueue
-- Looking for kqueue - not found
-- Looking for epoll_create
-- Looking for epoll_create - found
-- Looking for epoll_create1
-- Looking for epoll_create1 - found
-- Using polling method in I/O threads: epoll
-- Using polling method in zmq_poll(er)_* API: poll
-- Looking for pselect
-- Looking for pselect - found
-- Using 64 bytes alignment for lock-free data structures
-- Looking for posix_memalign
-- Looking for posix_memalign - found
-- Looking for include file windows.h
-- Looking for include file windows.h - not found
-- Looking for include file condition_variable
-- Looking for include file condition_variable - found
-- Using condition_variable_t implementation: stl11
-- Looking for include file ifaddrs.h
-- Looking for include file ifaddrs.h - found
-- Looking for include file sys/uio.h
-- Looking for include file sys/uio.h - found
-- Looking for include file sys/eventfd.h
-- Looking for include file sys/eventfd.h - found
-- Checking whether EFD_CLOEXEC is supported
-- Performing Test ZMQ_HAVE_EVENTFD_CLOEXEC
-- Performing Test ZMQ_HAVE_EVENTFD_CLOEXEC - Success
-- Looking for if_nametoindex
-- Looking for if_nametoindex - found
-- Looking for SO_PEERCRED
-- Looking for SO_PEERCRED - found
-- Looking for LOCAL_PEERCRED
-- Looking for LOCAL_PEERCRED - not found
-- Looking for SO_BUSY_POLL
-- Looking for SO_BUSY_POLL - found
-- Looking for clock_gettime
-- Looking for clock_gettime - found
-- Looking for fork
-- Looking for fork - found
-- Looking for gethrtime
-- Looking for gethrtime - not found
-- Looking for mkdtemp
-- Looking for mkdtemp - found
-- Looking for accept4
-- Looking for accept4 - found
-- Looking for strnlen
-- Looking for strnlen - found
-- Performing Test HAVE_FLAG_-Wall
-- Performing Test HAVE_FLAG_-Wall - Failed
-- Performing Test HAVE_FLAG_-Wextra
-- Performing Test HAVE_FLAG_-Wextra - Failed
-- Performing Test HAVE_FLAG_-Wno-long-long
-- Performing Test HAVE_FLAG_-Wno-long-long - Failed
-- Performing Test HAVE_FLAG_-Wno-uninitialized
-- Performing Test HAVE_FLAG_-Wno-uninitialized - Failed
-- Performing Test HAVE_FLAG_-pedantic
-- Performing Test HAVE_FLAG_-pedantic - Failed
-- Checking whether noexcept is supported
-- Performing Test ZMQ_HAVE_NOEXCEPT
-- Performing Test ZMQ_HAVE_NOEXCEPT - Success
-- Checking pthread_setname signature
-- Performing Test ZMQ_HAVE_PTHREAD_SETNAME_1
-- Performing Test ZMQ_HAVE_PTHREAD_SETNAME_1 - Failed
-- Performing Test ZMQ_HAVE_PTHREAD_SETNAME_2
-- Performing Test ZMQ_HAVE_PTHREAD_SETNAME_2 - Success
-- Performing Test ZMQ_HAVE_PTHREAD_SETNAME_3
-- Performing Test ZMQ_HAVE_PTHREAD_SETNAME_3 - Failed
-- Performing Test ZMQ_HAVE_PTHREAD_SET_NAME
-- Performing Test ZMQ_HAVE_PTHREAD_SET_NAME - Failed
-- Checking pthread_setaffinity signature
-- Performing Test ZMQ_HAVE_PTHREAD_SET_AFFINITY
-- Performing Test ZMQ_HAVE_PTHREAD_SET_AFFINITY - Success
-- Checking whether SOCK_CLOEXEC is supported
-- Performing Test ZMQ_HAVE_SOCK_CLOEXEC
-- Performing Test ZMQ_HAVE_SOCK_CLOEXEC - Success
-- Checking whether O_CLOEXEC is supported
-- Performing Test ZMQ_HAVE_O_CLOEXEC
-- Performing Test ZMQ_HAVE_O_CLOEXEC - Success
-- Checking whether SO_BINDTODEVICE is supported
-- Performing Test ZMQ_HAVE_SO_BINDTODEVICE
-- Performing Test ZMQ_HAVE_SO_BINDTODEVICE - Success
-- Checking whether SO_KEEPALIVE is supported
-- Performing Test ZMQ_HAVE_SO_KEEPALIVE
-- Performing Test ZMQ_HAVE_SO_KEEPALIVE - Success
-- Checking whether SO_PRIORITY is supported
-- Performing Test ZMQ_HAVE_SO_PRIORITY
-- Performing Test ZMQ_HAVE_SO_PRIORITY - Success
-- Checking whether TCP_KEEPCNT is supported
-- Performing Test ZMQ_HAVE_TCP_KEEPCNT
-- Performing Test ZMQ_HAVE_TCP_KEEPCNT - Success
-- Checking whether TCP_KEEPIDLE is supported
-- Performing Test ZMQ_HAVE_TCP_KEEPIDLE
-- Performing Test ZMQ_HAVE_TCP_KEEPIDLE - Success
-- Checking whether TCP_KEEPINTVL is supported
-- Performing Test ZMQ_HAVE_TCP_KEEPINTVL
-- Performing Test ZMQ_HAVE_TCP_KEEPINTVL - Success
-- Checking whether TCP_KEEPALIVE is supported
-- Performing Test ZMQ_HAVE_TCP_KEEPALIVE
-- Performing Test ZMQ_HAVE_TCP_KEEPALIVE - Failed
-- Checking whether TIPC is supported
-- Performing Test ZMQ_HAVE_TIPC
-- Performing Test ZMQ_HAVE_TIPC - Success
-- Checking whether getrandom is supported
-- Performing Test ZMQ_HAVE_GETRANDOM
-- Performing Test ZMQ_HAVE_GETRANDOM - Success
-- Could NOT find AsciiDoctor (missing: ASCIIDOCTOR_EXECUTABLE) 
CMake Warning (dev) at tests/CMakeLists.txt:346 (message):
  Test 'test_bind_stream_fuzzer' is not known to CTest.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at tests/CMakeLists.txt:346 (message):
  Test 'test_bind_ws_fuzzer' is not known to CTest.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at tests/CMakeLists.txt:346 (message):
  Test 'test_connect_stream_fuzzer' is not known to CTest.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at tests/CMakeLists.txt:346 (message):
  Test 'test_connect_ws_fuzzer' is not known to CTest.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at tests/CMakeLists.txt:346 (message):
  Test 'test_socket_options_fuzzer' is not known to CTest.
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Configuring done (12.5s)
-- Generating done (1.2s)
-- Build files have been written to: /home/Tronlong/mmcblk0p8/project_code/project/libzmq/build
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/libzmq/build$ sudo make -j4 install
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[ 97%] Built target test_peer
[ 97%] Linking CXX executable ../bin/test_msg_init
[ 98%] Building CXX object tests/CMakeFiles/test_hello_msg.dir/test_hello_msg.cpp.o
[ 98%] Linking CXX executable ../bin/test_xpub_manual_last_value
[ 98%] Linking CXX executable ../bin/test_channel
[ 98%] Built target test_msg_init
[ 98%] Building CXX object tests/CMakeFiles/test_disconnect_msg.dir/test_disconnect_msg.cpp.o
[ 98%] Built target test_xpub_manual_last_value
[ 98%] Building CXX object tests/CMakeFiles/test_hiccup_msg.dir/test_hiccup_msg.cpp.o
[ 98%] Linking CXX executable ../bin/test_hello_msg
[ 98%] Built target test_channel
[ 98%] Building CXX object tests/CMakeFiles/test_zmq_ppoll_fd.dir/test_zmq_ppoll_fd.cpp.o
[ 98%] Built target test_hello_msg
[ 98%] Linking CXX executable ../bin/test_disconnect_msg
[ 98%] Building CXX object tests/CMakeFiles/test_xsub_verbose.dir/test_xsub_verbose.cpp.o
[ 98%] Linking CXX executable ../bin/test_hiccup_msg
[ 99%] Linking CXX executable ../bin/test_zmq_ppoll_fd
[ 99%] Built target test_disconnect_msg
[ 99%] Building CXX object tests/CMakeFiles/test_pubsub_topics_count.dir/test_pubsub_topics_count.cpp.o
[ 99%] Built target test_hiccup_msg
[ 99%] Building CXX object tests/CMakeFiles/test_zmq_ppoll_signals.dir/test_zmq_ppoll_signals.cpp.o
[100%] Linking CXX executable ../bin/test_xsub_verbose
[100%] Built target test_zmq_ppoll_fd
[100%] Building CXX object tests/CMakeFiles/test_busy_poll.dir/test_busy_poll.cpp.o
[100%] Built target test_xsub_verbose
[100%] Building CXX object tests/CMakeFiles/test_ws_transport.dir/test_ws_transport.cpp.o
[100%] Linking CXX executable ../bin/test_pubsub_topics_count
[100%] Linking CXX executable ../bin/test_zmq_ppoll_signals
[100%] Linking CXX executable ../bin/test_busy_poll
[100%] Built target test_pubsub_topics_count
[100%] Built target test_zmq_ppoll_signals
[100%] Built target test_busy_poll
[100%] Linking CXX executable ../bin/test_ws_transport
[100%] Built target test_ws_transport
Install the project...
-- Install configuration: "Release"
-- Installing: /usr/local/lib/pkgconfig/libzmq.pc
-- Installing: /usr/local/bin/local_lat
-- Set non-toolchain portion of runtime path of "/usr/local/bin/local_lat" to ""
-- Installing: /usr/local/bin/remote_lat
-- Set non-toolchain portion of runtime path of "/usr/local/bin/remote_lat" to ""
-- Installing: /usr/local/bin/local_thr
-- Set non-toolchain portion of runtime path of "/usr/local/bin/local_thr" to ""
-- Installing: /usr/local/bin/remote_thr
-- Set non-toolchain portion of runtime path of "/usr/local/bin/remote_thr" to ""
-- Installing: /usr/local/bin/inproc_lat
-- Set non-toolchain portion of runtime path of "/usr/local/bin/inproc_lat" to ""
-- Installing: /usr/local/bin/inproc_thr
-- Set non-toolchain portion of runtime path of "/usr/local/bin/inproc_thr" to ""
-- Installing: /usr/local/bin/proxy_thr
-- Set non-toolchain portion of runtime path of "/usr/local/bin/proxy_thr" to ""
-- Installing: /usr/local/lib/libzmq.so.5.2.6
-- Installing: /usr/local/lib/libzmq.so.5
-- Installing: /usr/local/lib/libzmq.so
-- Installing: /usr/local/include/zmq.h
-- Installing: /usr/local/include/zmq_utils.h
-- Installing: /usr/local/lib/libzmq.a
-- Up-to-date: /usr/local/include/zmq.h
-- Up-to-date: /usr/local/include/zmq_utils.h
-- Installing: /usr/local/share/zmq/AUTHORS.txt
-- Installing: /usr/local/share/zmq/LICENSE.txt
-- Installing: /usr/local/share/zmq/NEWS.txt
-- Installing: /usr/local/lib/cmake/ZeroMQ/ZeroMQTargets.cmake
-- Installing: /usr/local/lib/cmake/ZeroMQ/ZeroMQTargets-release.cmake
-- Installing: /usr/local/lib/cmake/ZeroMQ/ZeroMQConfig.cmake
-- Installing: /usr/local/lib/cmake/ZeroMQ/ZeroMQConfigVersion.cmake

2.3安装cppzmq库

Build cppzmq via cmake. This does an out of source build and installs the build files
- git clone https://github.com/zeromq/cppzmq.git
- cd cppzmq
- mkdir build
- cd build
- cmake .. or cmake -DCPPZMQ_BUILD_TESTS=OFF .. to skip building tests
- sudo make -j4 install

Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/libzmq/build$ cd ..
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/libzmq$ cd ..
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project$ cd cppzmq/
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/cppzmq$ mkdir build
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/cppzmq$ cd build/
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/cppzmq/build$ cmake ..
-- Detected CPPZMQ Version - 4.11.0
-- The C compiler identification is GNU 11.4.0
-- The CXX compiler identification is GNU 11.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- cppzmq v4.11.0
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
[ 11%] Creating directories for 'catch2-populate'
[ 22%] Performing download step (git clone) for 'catch2-populate'
Cloning into 'catch2-src'...
error: RPC failed; curl 16 Error in the HTTP2 framing layer
fatal: expected flush after ref listing
Cloning into 'catch2-src'...
fatal: unable to access 'https://github.com/catchorg/Catch2.git/': Failed to connect to github.com port 443 after 130307 ms: Connection timed out
Cloning into 'catch2-src'...
fatal: unable to access 'https://github.com/catchorg/Catch2.git/': Failed to connect to github.com port 443 after 131041 ms: Connection timed out
Had to git clone more than once: 3 times.
CMake Error at catch2-subbuild/catch2-populate-prefix/tmp/catch2-populate-gitclone.cmake:50 (message):
  Failed to clone repository: 'https://github.com/catchorg/Catch2.git'


gmake[2]: *** [CMakeFiles/catch2-populate.dir/build.make:102: catch2-populate-prefix/src/catch2-populate-stamp/catch2-populate-download] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:87: CMakeFiles/catch2-populate.dir/all] Error 2
gmake: *** [Makefile:91: all] Error 2

CMake Error at /usr/local/share/cmake-4.1/Modules/FetchContent.cmake:1918 (message):
  Build step for catch2 failed: 2
Call Stack (most recent call first):
  /usr/local/share/cmake-4.1/Modules/FetchContent.cmake:1609 (__FetchContent_populateSubbuild)
  /usr/local/share/cmake-4.1/Modules/FetchContent.cmake:2145:EVAL:2 (__FetchContent_doPopulation)
  /usr/local/share/cmake-4.1/Modules/FetchContent.cmake:2145 (cmake_language)
  /usr/local/share/cmake-4.1/Modules/FetchContent.cmake:2384 (__FetchContent_Populate)
  tests/CMakeLists.txt:13 (FetchContent_MakeAvailable)


-- Configuring incomplete, errors occurred!
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/cppzmq/build$ cmake -DCPPZMQ_BUILD_TESTS=OFF ..
-- Detected CPPZMQ Version - 4.11.0
-- cppzmq v4.11.0
-- Configuring done (0.0s)
-- Generating done (0.0s)
-- Build files have been written to: /home/Tronlong/mmcblk0p8/project_code/project/cppzmq/build
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/cppzmq/build$ sudo make -j4 install
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/include/zmq.hpp
-- Installing: /usr/local/include/zmq_addon.hpp
-- Installing: /usr/local/lib/pkgconfig/cppzmq.pc
-- Installing: /usr/local/share/cmake/cppzmq/cppzmqTargets.cmake
-- Installing: /usr/local/share/cmake/cppzmq/cppzmqConfig.cmake
-- Installing: /usr/local/share/cmake/cppzmq/cppzmqConfigVersion.cmake
-- Installing: /usr/local/share/cmake/cppzmq/libzmq-pkg-config/FindZeroMQ.cmake

Alternatively, build cppzmq via vcpkg. This does an out of source build and installs the build files
- git clone https://github.com/Microsoft/vcpkg.git
- cd vcpkg
- ./bootstrap-vcpkg.sh (bootstrap-vcpkg.bat for Powershell)
- ./vcpkg integrate install
- ./vcpkg install cppzmq

📡 3、发布-订阅模式（PUB/SUB）

🧩 模型介绍

发布者（Publisher） 持续发布主题消息；Win11的VS2022环境
订阅者（Subscriber） 根据主题过滤并接收对应内容。Ubuntu22.04的RK3576环境

🖥️ 示例 1：Publisher 发送多种主题消息

#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
#include <string.h>
#include "zmq.h"
#include <string>
#include <thread>
#include <atomic>
#include <iostream>
int main()
{
    void* context = zmq_ctx_new();
    assert(context != NULL);

    void* publisher = zmq_socket(context, ZMQ_PUB);
    assert(publisher != NULL);

    int ret = zmq_bind(publisher, "tcp://*:5555");
    assert(ret == 0);

    int i = 0;
    while (1)
    {
        char szBuf[1024] = { 0 };
        snprintf(szBuf, sizeof(szBuf), "server i=%d", i);
        ret = zmq_send(publisher, szBuf, strlen(szBuf) + 1, 0);
        i++;
        printf("[SENT szBuf] %s\n", szBuf);
        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    }

    zmq_close(publisher);
    zmq_ctx_destroy(context);

    return 0;
}

直接Debug运行
在这里插入图片描述

🖥️ 示例 2：Subscriber 订阅并打印消息

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <assert.h>
#include "zmq.h"
 
int main()
{
    printf("Hello world!\n");
 
    void* context = zmq_ctx_new();
    assert(context != NULL);
 
    void* subscriber = zmq_socket(context, ZMQ_SUB);
    assert(subscriber != NULL);
 
    int ret = zmq_connect(subscriber, "tcp://192.168.170.53:5555");
    assert(ret == 0);
 
    ret = zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0);
    assert(ret == 0);
 
    while(1)
    {
        printf("into while\n");
        char szBuf[1024] = {0};
        ret = zmq_recv(subscriber, szBuf, sizeof(szBuf) - 1, 0);
        if (ret > 0)
        {
            printf("%s\n", szBuf);
        }
    }
 
    zmq_close(subscriber);
    zmq_ctx_destroy(context);
 
    return 0;
}

请注意一下ip地址，我现在

	主机	从机
系统	win11	Ubuntu22.04
名称	Publisher	Subscriber
地址	192.168.170.53	192.168.170.77

在代码中需要注意一下关于192.168.170.53地址，你都需要自己替换到目标服务器地址哦🤣🤣🤣🤣

int ret = zmq_connect(subscriber, "tcp://192.168.170.53:5555");

Cmake文件配置

cmake_minimum_required(VERSION 3.10)
project(zmq_client)
# 查找 ZeroMQ 库
find_library(ZMQ_LIBRARY NAMES zmq)
find_path(ZMQ_INCLUDE_DIR zmq.h)


set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(EXE_NAME zmq_client)
file(GLOB SOURCES "src/*.cpp")
include_directories(include)
add_executable(${EXE_NAME} ${SOURCES})

# 链接 ZeroMQ 库
target_link_libraries(zmq_client ${ZMQ_LIBRARY})
target_include_directories(zmq_client PRIVATE ${ZMQ_INCLUDE_DIR})

运行另外个终端，编译运行指令

mkdir build&&cd build
cmake ..&&make
./zmp_client

Ctrl+C停止运行

启动下面的程序就可以收到数据啦
在这里插入图片描述

Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/zmp_client/build$ make clean
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/zmp_client/build$ cmake ..&make
[1] 203962
-- Configuring done (0.0s)
-- Generating done (0.0s)
-- Build files have been written to: /home/Tronlong/mmcblk0p8/project_code/project/zmp_client/build
[ 25%] Building CXX object CMakeFiles/zmq_client.dir/src/main.cpp.o
[ 50%] Building CXX object CMakeFiles/zmq_client.dir/src/main1.cpp.o
[ 75%] Building CXX object CMakeFiles/zmq_client.dir/src/main2.cpp.o
[100%] Linking CXX executable zmq_client
[100%] Built target zmq_client
[1]+  Done                    cmake ..
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/zmp_client/build$ ./zmq_client 
Hello world!
into while
server i=28
into while
server i=29
into while
server i=30
into while
server i=31
into while
server i=32
into while
server i=33
into while
server i=34
into while
server i=35
into while
server i=36

🔁 四、双向发布订阅（两个节点互发）

在某些设备（如无人船）中，既需要发布传感器数据，也要接收控制命令。
可以让两个进程各自绑定 PUB/SUB 套接字，互为发布者与订阅者。

🌐 进程 1：Host 节点（发布命令 / 订阅传感器）

#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
#include <string.h>
#include "zmq.h"
#include <string>
#include <thread>
#include <atomic>
#include <iostream>
#include <chrono>

std::atomic<bool> g_running{ true };

// 接收数据线程函数
void recv_thread(void* subscriber) {
    while (g_running) {
        char szBuf[1024] = { 0 };
        int ret = zmq_recv(subscriber, szBuf, sizeof(szBuf) - 1, 0);
        if (ret > 0) {
            printf("Received data: %s\n", szBuf);
        }
        else {
            // 处理错误或超时，这里我们简单等待
            std::this_thread::sleep_for(std::chrono::milliseconds(10));
        }
    }
}

int main() {
    void* context = zmq_ctx_new();
    assert(context != NULL);

    // 创建发布者socket（发送命令）
    void* publisher = zmq_socket(context, ZMQ_PUB);
    assert(publisher != NULL);
    int ret = zmq_bind(publisher, "tcp://*:5555");
    assert(ret == 0);

    // 创建订阅者socket（接收数据）
    void* subscriber = zmq_socket(context, ZMQ_SUB);
    assert(subscriber != NULL);
    ret = zmq_bind(subscriber, "tcp://*:5556");
    assert(ret == 0);
    ret = zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0);
    assert(ret == 0);

    // 启动接收线程
    std::thread t(recv_thread, subscriber);

    // 主循环用于发送命令
    int i = 0;
    while (g_running) {
        char szBuf[1024] = { 0 };
        snprintf(szBuf, sizeof(szBuf), "Command %d", i);
        ret = zmq_send(publisher, szBuf, strlen(szBuf) + 1, 0);
        if (ret < 0) {
            printf("Send failed: %s\n", zmq_strerror(errno));
        }
        else {
            printf("Sent command: %s\n", szBuf);
        }
        i++;

        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    }

    // 清理
    t.join();
    zmq_close(publisher);
    zmq_close(subscriber);
    zmq_ctx_destroy(context);

    return 0;
}

直接Debug走起，如果启动下面线程就可以收到数据
在这里插入图片描述

Received data: SENSOR_DATA_0 from client
Received data: HEARTBEAT_0
Sent command: Command 32
Sent command: Command 33
Received data: SENSOR_DATA_1 from client
Received data: HEARTBEAT_1
Sent command: Command 34
Sent command: Command 35
Received data: SENSOR_DATA_2 from client
Received data: HEARTBEAT_2
Sent command: Command 36
Sent command: Command 37
Received data: SENSOR_DATA_3 from client
Received data: HEARTBEAT_3
Sent command: Command 38
Sent command: Command 39
Received data: SENSOR_DATA_4 from client
Received data: HEARTBEAT_4
Sent command: Command 40

🌐 进程 2：Device 节点（发布传感器 / 订阅命令）

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <assert.h>
#include <string.h>  // 添加这个头文件
#include <signal.h>
#include "zmq.h"
#include <atomic>
#include <thread>
#include <iostream>  // 建议也添加这个
#include <chrono>    // 建议也添加这个

std::atomic<bool> g_running{ true };

void signal_handler(int sig) {
    printf("Received signal %d, shutting down...\n", sig);
    g_running = false;
}

// 接收线程函数 - 接收服务器命令
void recv_commands_thread(void* subscriber) {
    printf("Command receiver thread started\n");
    
    while (g_running) {
        char szBuf[1024] = { 0 };
        int ret = zmq_recv(subscriber, szBuf, sizeof(szBuf) - 1, 0);
        if (ret > 0) {
            printf("[RECV FROM SERVER] %s\n", szBuf);
            
            // 处理接收到的命令
            if (strstr(szBuf, "COMMAND") != NULL) {
                printf("  -> Processing command...\n");
            } else if (strstr(szBuf, "SERVER_DATA") != NULL) {
                printf("  -> Received server data\n");
            }
        } else {
            // 非阻塞接收，短暂延迟后继续
            std::this_thread::sleep_for(std::chrono::milliseconds(10));
        }
    }
    
    printf("Command receiver thread stopped\n");
}

int main() {
    signal(SIGINT, signal_handler);
    signal(SIGTERM, signal_handler);
    
    printf("Starting ZMQ Client (Bidirectional)...\n");
    printf("Client IP: 192.168.170.77\n");
    printf("Connecting to server: 192.168.170.53\n");
    printf("Port 5555: Receive commands from server\n");
    printf("Port 5556: Send data to server\n");

    void* context = zmq_ctx_new();
    assert(context != NULL);

    // 创建订阅者socket - 接收服务器命令
    void* command_subscriber = zmq_socket(context, ZMQ_SUB);
    assert(command_subscriber != NULL);
    
    int ret = zmq_connect(command_subscriber, "tcp://192.168.170.53:5555");
    assert(ret == 0);
    ret = zmq_setsockopt(command_subscriber, ZMQ_SUBSCRIBE, "", 0);
    assert(ret == 0);
    
    // 设置非阻塞接收
    int timeout = 100; // 100ms timeout
    zmq_setsockopt(command_subscriber, ZMQ_RCVTIMEO, &timeout, sizeof(timeout));
    
    printf("Command subscriber connected to tcp://192.168.170.53:5555\n");

    // 创建发布者socket - 发送数据到服务器
    void* data_publisher = zmq_socket(context, ZMQ_PUB);
    assert(data_publisher != NULL);
    
    ret = zmq_connect(data_publisher, "tcp://192.168.170.53:5556");
    assert(ret == 0);
    
    // 等待连接稳定（PUB-SUB模式需要）
    printf("Waiting for connection stabilization...\n");
    sleep(2);
    
    printf("Data publisher connected to tcp://192.168.170.53:5556\n");
    printf("Client started successfully!\n");

    // 启动命令接收线程
    std::thread command_thread(recv_commands_thread, command_subscriber);

    // 主循环 - 发送数据到服务器
    int sensor_count = 0;
    int heartbeat_count = 0;
    
    printf("Starting data transmission...\n");
    
    while (g_running) {
        // 发送传感器数据
        char sensor_buf[1024] = { 0 };
        snprintf(sensor_buf, sizeof(sensor_buf), "SENSOR_DATA_%d from client", sensor_count++);
        ret = zmq_send(data_publisher, sensor_buf, strlen(sensor_buf) + 1, 0);  // 现在 strlen 可以正常使用了
        printf("[SENT TO SERVER] %s\n", sensor_buf);
        
        // 发送心跳
        char heartbeat_buf[1024] = { 0 };
        snprintf(heartbeat_buf, sizeof(heartbeat_buf), "HEARTBEAT_%d", heartbeat_count++);
        ret = zmq_send(data_publisher, heartbeat_buf, strlen(heartbeat_buf) + 1, 0);
        printf("[SENT HEARTBEAT] %s\n", heartbeat_buf);
        
        sleep(2); // 每2秒发送一次
    }

    // 清理
    printf("Shutting down client...\n");
    g_running = false;
    if (command_thread.joinable()) {
        command_thread.join();
    }
    
    zmq_close(command_subscriber);
    zmq_close(data_publisher);
    zmq_ctx_destroy(context);
    
    printf("Client exited successfully.\n");
    return 0;
}

Cmake文件不变，然后make clean

make clean
cmake ..&&make
./zmp_client

Ctrl+C停止运行
如果启动上面线程就可以收到数据
在这里插入图片描述

Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/zmp_client/build$ cmake ..&make
[1] 204384
-- Configuring done (0.0s)
-- Generating done (0.0s)
-- Build files have been written to: /home/Tronlong/mmcblk0p8/project_code/project/zmp_client/build
[ 25%] Building CXX object CMakeFiles/zmq_client.dir/src/main.cpp.o
[ 50%] Building CXX object CMakeFiles/zmq_client.dir/src/main1.cpp.o
[ 75%] Building CXX object CMakeFiles/zmq_client.dir/src/main2.cpp.o
[100%] Linking CXX executable zmq_client
[100%] Built target zmq_client
[1]+  Done                    cmake ..
Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/zmp_client/build$ ./zmq_client 
Starting ZMQ Client (Bidirectional)...
Client IP: 192.168.170.77
Connecting to server: 192.168.170.53
Port 5555: Receive commands from server
Port 5556: Send data to server
Command subscriber connected to tcp://192.168.170.53:5555
Waiting for connection stabilization...
Data publisher connected to tcp://192.168.170.53:5556
Client started successfully!
Starting data transmission...
Command receiver thread started
[RECV FROM SERVER] Command 30
[RECV FROM SERVER] Command 31
[SENT TO SERVER] SENSOR_DATA_0 from client
[SENT HEARTBEAT] HEARTBEAT_0
[RECV FROM SERVER] Command 32
[RECV FROM SERVER] Command 33
[SENT TO SERVER] SENSOR_DATA_1 from client
[SENT HEARTBEAT] HEARTBEAT_1
[RECV FROM SERVER] Command 34
[RECV FROM SERVER] Command 35
[SENT TO SERVER] SENSOR_DATA_2 from client
[SENT HEARTBEAT] HEARTBEAT_2
[RECV FROM SERVER] Command 36
[RECV FROM SERVER] Command 37
[SENT TO SERVER] SENSOR_DATA_3 from client

两者通过两个设备互通，这种方式实现了一个完全对等的双向通信架构。
每个节点都是 “发布者 + 订阅者” 的组合体。

🔗 五、PAIR 模式（简洁双向）

PAIR 模式最接近传统的 Socket：

一对一绑定
全双工通信
适合同机内控制指令/状态交换

🧭 Host（主节点）

#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
#include <string.h>
#include "zmq.h"
#include <string>
#include <thread>
#include <atomic>
#include <iostream>
#include <chrono>
#include <conio.h>

std::atomic<bool> g_running{ true };

// 接收线程函数
void recv_thread(void* socket) {
    printf("Receive thread started\n");

    while (g_running) {
        char buffer[1024] = { 0 };
        int ret = zmq_recv(socket, buffer, sizeof(buffer) - 1, ZMQ_DONTWAIT);

        if (ret > 0) {
            printf("[RECV FROM CLIENT] %s\n", buffer);

            // 根据接收到的消息类型进行响应
            if (strstr(buffer, "SENSOR") != NULL) {
                // 收到传感器数据，发送确认
                const char* ack = "ACK_SENSOR_DATA";
                zmq_send(socket, ack, strlen(ack) + 1, 0);
                printf("[SENT TO CLIENT] %s\n", ack);
            }
            else if (strstr(buffer, "HEARTBEAT") != NULL) {
                // 收到心跳，发送响应
                const char* response = "HEARTBEAT_ACK";
                zmq_send(socket, response, strlen(response) + 1, 0);
                printf("[SENT TO CLIENT] %s\n", response);
            }
        }
        else if (ret == -1 && zmq_errno() != EAGAIN) {
            // 真正的错误
            printf("Receive error: %s\n", zmq_strerror(zmq_errno()));
        }

        std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }

    printf("Receive thread stopped\n");
}

int main() {
    printf("Starting ZMQ PAIR Server...\n");
    printf("Server IP: 192.168.170.53\n");
    printf("Port 5555: PAIR communication with client\n");

    void* context = zmq_ctx_new();
    assert(context != NULL);

    // 创建 PAIR socket
    void* socket = zmq_socket(context, ZMQ_PAIR);
    assert(socket != NULL);

    int ret = zmq_bind(socket, "tcp://*:5555");
    assert(ret == 0);

    printf("PAIR socket bound to tcp://*:5555\n");
    printf("Waiting for client connection...\n");

    // 启动接收线程
    std::thread t(recv_thread, socket);

    // 主循环 - 发送命令和数据
    int command_count = 0;
    int data_count = 0;

    printf("\nServer ready! Press:\n");
    printf("  'C' - Send command\n");
    printf("  'D' - Send data\n");
    printf("  'Q' - Quit\n");

    while (g_running) {
        if (_kbhit()) {
            char key = _getch();

            if (key == 'q' || key == 'Q') {
                g_running = false;
                break;
            }
            else if (key == 'c' || key == 'C') {
                // 发送命令
                char command[256];
                snprintf(command, sizeof(command), "COMMAND_%d", command_count++);
                ret = zmq_send(socket, command, strlen(command) + 1, 0);
                printf("[SENT COMMAND] %s\n", command);
            }
            else if (key == 'd' || key == 'D') {
                // 发送数据
                char data[256];
                snprintf(data, sizeof(data), "DATA_%d", data_count++);
                ret = zmq_send(socket, data, strlen(data) + 1, 0);
                printf("[SENT DATA] %s\n", data);
            }
        }

        // 定期发送状态信息
        static auto last_status_time = std::chrono::steady_clock::now();
        auto now = std::chrono::steady_clock::now();
        auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(now - last_status_time);

        if (elapsed.count() >= 5) {
            char status[256];
            snprintf(status, sizeof(status), "STATUS: Server running, commands: %d, data: %d",
                command_count, data_count);
            ret = zmq_send(socket, status, strlen(status) + 1, 0);
            printf("[SENT STATUS] %s\n", status);
            last_status_time = now;
        }

        std::this_thread::sleep_for(std::chrono::milliseconds(500));
    }

    // 清理
    printf("Shutting down server...\n");
    g_running = false;
    if (t.joinable()) {
        t.join();
    }

    // 发送关闭消息
    const char* shutdown_msg = "SERVER_SHUTDOWN";
    zmq_send(socket, shutdown_msg, strlen(shutdown_msg) + 1, 0);

    zmq_close(socket);
    zmq_ctx_destroy(context);

    printf("Server exited successfully.\n");
    return 0;
}

如果启动下面线程就可以收到数据
在这里插入图片描述

在这里插入图片描述

Starting ZMQ PAIR Server...
Server IP: 192.168.170.53
Port 5555: PAIR communication with client
PAIR socket bound to tcp://*:5555
Waiting for client connection...

Server ready! Press:
  'C' - Send command
  'D' - Send data
  'Q' - Quit
Receive thread started
[SENT STATUS] STATUS: Server running, commands: 0, data: 0
[RECV FROM CLIENT] SENSOR_DATA_0: temp=33.30, hum=58.60
[SENT TO CLIENT] ACK_SENSOR_DATA
[RECV FROM CLIENT] HEARTBEAT_0
[SENT TO CLIENT] HEARTBEAT_ACK
[SENT STATUS] STATUS: Server running, commands: 0, data: 0
[RECV FROM CLIENT] SENSOR_DATA_1: temp=32.70, hum=51.50
[SENT TO CLIENT] ACK_SENSOR_DATA
[RECV FROM CLIENT] HEARTBEAT_1
[SENT TO CLIENT] HEARTBEAT_ACK
[RECV FROM CLIENT] SENSOR_DATA_2: temp=34.30, hum=53.50
[SENT TO CLIENT] ACK_SENSOR_DATA
[RECV FROM CLIENT] HEARTBEAT_2

⚓ Device（从节点）

#include <iostream>
#include <thread>
#include <cstdio>
#include <vector>
#include <cstring>
#include <ctime>
#include <atomic>
#include <csignal>
#include <cmath>
#include "zmq.hpp"

// 定义结构体
struct SensorData
{
    uint32_t sensor_id;
    float value;
    uint64_t timestamp;
};

struct ControlCommand
{
    uint32_t device_id;
    uint8_t command;
    uint32_t parameter;
};

// 退出标志
std::atomic<bool> running{true};

// 信号处理函数
void signal_handler(int signum)
{
    std::cout << "\nReceived signal " << signum << ", stopping..." << std::endl;
    running = false;
}

// 序列化函数模板
template <typename T>
std::vector<uint8_t> serialize_struct(const T &data)
{
    std::vector<uint8_t> buffer(sizeof(T));
    std::memcpy(buffer.data(), &data, sizeof(T));
    return buffer;
}

// 反序列化函数模板
template <typename T>
T deserialize_struct(const zmq::message_t &message)
{
    T data{};
    if (message.size() == sizeof(T))
    {
        std::memcpy(&data, message.data(), sizeof(T));
    }
    return data;
}

// 格式化时间戳
std::string format_timestamp(uint64_t timestamp)
{
    time_t t = static_cast<time_t>(timestamp);
    char buffer[20];
    strftime(buffer, sizeof(buffer), "%Y-%m-%d %H:%M:%S", localtime(&t));
    return std::string(buffer);
}

int main()
{
    signal(SIGINT, signal_handler);
    signal(SIGTERM, signal_handler);

    // 使用 PAIR 模式
    const auto socket_path = "/mnt/project/zmp_message/.pair_socket";
    
    zmq::context_t ctx(1);
    zmq::socket_t pair_socket(ctx, zmq::socket_type::pair);
    pair_socket.connect(std::string("ipc://") + socket_path);
    
    // 设置接收超时
    pair_socket.set(zmq::sockopt::rcvtimeo, 1000);

    std::cout << "Device PAIR started. Sending sensor data and receiving commands..." << std::endl;

    // 启动接收线程
    std::thread receiver([&]()
                         {
        while (true) {
            if (!running) {
                break;
            }
            try {
                zmq::message_t message;
                auto result = pair_socket.recv(message);
                
                if (result) {
                    // 判断消息类型
                    if (message.size() == sizeof(ControlCommand)) {
                        ControlCommand command = deserialize_struct<ControlCommand>(message);
                        std::cout << "[RECV COMMAND] Device ID: " << command.device_id 
                                  << ", Command: " << static_cast<int>(command.command)
                                  << ", Parameter: " << command.parameter << std::endl;
                                  
                        // 处理接收到的命令
                        switch(command.command) {
                            case 0:
                                std::cout << "  -> Executing START command" << std::endl;
                                break;
                            case 1:
                                std::cout << "  -> Executing STOP command" << std::endl;
                                break;
                            default:
                                std::cout << "  -> Executing UNKNOWN command" << std::endl;
                                break;
                        }
                    } else {
                        std::cout << "[RECV UNKNOWN] Size: " << message.size() << std::endl;
                    }
                }
            } catch (const zmq::error_t& e) {
                if (running && e.num() != EAGAIN) {
                    std::cerr << "Receive error: " << e.what() << std::endl;
                }
                break;
            }
        }
        std::cout << "Receiver thread exiting." << std::endl; });

    // 主循环发送传感器数据
    int count = 0;
    while (true)
    {
        if (!running) {
            break;
        }
        try
        {
            // 发送传感器数据
            SensorData sensor{
                static_cast<uint32_t>(count % 5),
                static_cast<float>(20.0 + 10.0 * sin(count * 0.5)), // 模拟传感器值
                static_cast<uint64_t>(std::time(nullptr))
            };
            
            auto sensor_data = serialize_struct(sensor);
            pair_socket.send(zmq::buffer(sensor_data), zmq::send_flags::none);
            
            std::cout << "[SENT SENSOR] ID: " << sensor.sensor_id 
                      << ", Value: " << sensor.value 
                      << ", Time: " << format_timestamp(sensor.timestamp) << std::endl;

            std::this_thread::sleep_for(std::chrono::milliseconds(100));
            count++;
        }
        catch (const std::exception &e)
        {
            if (running) {
                std::cerr << "Send error: " << e.what() << std::endl;
            }
        }
    }

    // 清理资源
    running = false;
    if (receiver.joinable())
    {
        receiver.join();
    }

    std::cout << "Device PAIR exited." << std::endl;
    return 0;
}

Cmake文件不变，然后make clean

make clean
cmake ..&&make
./zmp_client

Ctrl+C停止运行
如果启动下面线程就可以收到数据
在这里插入图片描述

Tronlong@RK3576-Tronlong:~/mmcblk0p8/project_code/project/zmp_client/build$ ./zmq_client 
Starting ZMQ PAIR Client...
Client IP: 192.168.170.77
Connecting to server: 192.168.170.53:5555
PAIR socket connected to tcp://192.168.170.53:5555
Client started successfully!
Starting data transmission...
Receive thread started
[SENT SENSOR] SENSOR_DATA_0: temp=33.30, hum=58.60
[SENT HEARTBEAT] HEARTBEAT_0
[RECV FROM SERVER] STATUS: Server running, commands: 0, data: 0
  -> Server status update
[RECV FROM SERVER] ACK_SENSOR_DATA
  -> Processing data...
[RECV FROM SERVER] HEARTBEAT_ACK
  -> Received acknowledgment
[RECV FROM SERVER] STATUS: Server running, commands: 0, data: 0
  -> Server status update
[SENT SENSOR] SENSOR_DATA_1: temp=32.70, hum=51.50
[SENT HEARTBEAT] HEARTBEAT_1
[RECV FROM SERVER] ACK_SENSOR_DATA
  -> Processing data...
[RECV FROM SERVER] HEARTBEAT_ACK
  -> Received acknowledgment
[SENT SENSOR] SENSOR_DATA_2: temp=34.30, hum=53.50
[SENT HEARTBEAT] HEARTBEAT_2

这样可以通过 Ctrl+C 优雅退出，线程安全且无资源泄露。

这个支持断电重连，very nice😘😘😘

🧩 七、三种模式对比

模式类型	通信方向	特点	适用场景
PUB/SUB	单向	广播式，一对多	数据分发（日志、传感器）
双向 PUB/SUB	双向	灵活扩展，可多节点	主从控制、任务指令
PAIR	双向	一对一、简洁高效	控制与状态同步

🧱 八、总结

本文展示了 ZeroMQ 在同一设备上的三种通信实现方式：

发布-订阅（PUB/SUB） —— 一对多信息分发
双向发布订阅（双节点互发） —— 双向协同通信
配对模式（PAIR） —— 简单高效的点对点交换

ZeroMQ 的设计使得这些模式都可以通过极少的代码完成，
并且支持无锁、异步、跨语言，非常适合在：

🛥️ 无人船控制
🤖 智能机器人
🧩 模块化仿真系统
等多进程通信场景中使用。

🧾 九、附录：参考文档

💡 提示：在 Linux 环境下运行 IPC 套接字时，请确保路径存在，并拥有读写权限。
若在 Windows 使用，请将下位机Ubuntu中下位机代码改为 "tcp://192.168.170.53:5555" 为自己的地址，TCP 模式。

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