add open(string host, int port)

software/raspberry/superviseur-robot/lib/comrobot.cpp

@@ -31,7 +31,7 @@
 #include <netinet/in.h>
 #include <arpa/inet.h>
 int sock = 0;
-const char* host = "127.0.0.1";
+string host = "127.0.0.1";
 #define PORT 6699
 #endif
 
@@ -96,7 +96,7 @@ int ComRobot::Open(string usart) {
     serv_addr.sin_port = htons(PORT);
 
     // Convert IPv4 and IPv6 addresses from text to binary form 
-    if (inet_pton(AF_INET, host, &serv_addr.sin_addr) <= 0) {
+    if (inet_pton(AF_INET, host.c_str(), &serv_addr.sin_addr) <= 0) {
         printf("\nInvalid address/ Address not supported \n");
         return -1;
     }
@@ -127,6 +127,36 @@ int ComRobot::Open(string usart) {
 #endif
 }
 
+int ComRobot::Open(string shost, int nport) {
+#ifdef __SIMULATION__
+
+    struct sockaddr_in serv_addr;
+    if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
+        printf("\n Socket creation error \n");
+        return -1;
+    }
+    struct timeval tv;
+    tv.tv_sec = 0;
+    tv.tv_usec = 200000;
+    setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
+
+    serv_addr.sin_family = AF_INET;
+    serv_addr.sin_port = htons(nport);
+
+    if (inet_pton(AF_INET, shost.c_str(), &serv_addr.sin_addr) <= 0) {
+        cout << "Invalid address/ Address not supported" << endl;
+        return -1;
+    }
+
+    if (connect(sock, (struct sockaddr *) &serv_addr, sizeof (serv_addr)) < 0) {
+        return -2;
+    }
+    return 1;
+#else
+    return -1
+#endif
+}
+
 /**
  * Close serial link
  * @return Success if above 0, failure if below 0

software/raspberry/superviseur-robot/lib/comrobot.h

@@ -59,6 +59,14 @@ public:
      */
     int Open(string usart);
 
+    /**
+     * Open tcp client for the graphical simulator
+     * @param host Host address
+     * @param port Port number
+     * @return 1 if ok or -1
+     */
+    int Open(string shost, int nport);
+
     /**
      * Close serial link
      * @return Success if above 0, failure if below 0
@@ -89,9 +97,9 @@ public:
      */
     virtual void Write_Post() {
     }
-    
+
     Message *SendCommand(Message* msg, MessageID answerID, int maxRetries);
-    
+
     static Message *Ping() {
         return new Message(MESSAGE_ROBOT_PING);
     }