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QTcpSocket* socket;
socket = new QTcpSocket(this)
socket -> connectToHost("192.168.0.50", 3000);
while(!socket->waitForConnected(1000))
    	{
    		qDebug("waitForConnected!\n"); usleep(10000);
    	}

//send cmd
        socket->write((char*)sdata, 3);
        while(!socket->waitForBytesWritten(1000))
        {
        	qDebug("waitForBytesWritten!\n"); usleep(10000);
		}
        if(sdata[2] == 5)
        {
            target_pos.x = 0.0;
            target_pos.y = 0.0;
            target_pos.ang = 0.0;
            target_pos.state = 0;
            target_pos.waite_time = 0;

            memcpy(sdata+3, &target_pos, sizeof(struct Target_pos));
            socket->write((char*)(sdata+3), sizeof(struct Target_pos));
            while(!socket->waitForBytesWritten(1000))
            {
            	qDebug("waitForBytesWritten!\n"); usleep(10000);
			}
        }
        else if(sdata[2] == 6)
        {
            target_pos.x = info.pos_x;
            target_pos.y = info.pos_y;
            target_pos.ang = info.pos_ang;
            target_pos.state = 0;
            target_pos.waite_time = 0;

            memcpy(sdata+3, &target_pos, sizeof(struct Target_pos));
            socket->write((char*)(sdata+3), sizeof(struct Target_pos));
            while(!socket->waitForBytesWritten(1000))
            {
            	qDebug("waitForBytesWritten!\n"); usleep(10000);
			}
        }
        //recv info data
        socket->read((char*)rdata, 2+sizeof(struct Info));
        while(socket->bytesAvailable() < 2+sizeof(struct Info))
        {
            if(!socket->waitForReadyRead(1000))
            {
                qDebug("waitForReadyRead failed!\n");
                break;
            }
        }