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add carriage return for robot communication with the simulator

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This commit is contained in:
pehladik 2020-04-05 16:03:16 +02:00
parent 1c73c39715
commit de1629c147
1 changed files with 4 additions and 2 deletions
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6
software/raspberry/superviseur-robot/lib/comrobot.cpp
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@ -31,6 +31,7 @@
#include <netinet/in.h> #include <netinet/in.h>
#include <arpa/inet.h> #include <arpa/inet.h>
int sock = 0; int sock = 0;
const char* host = "127.0.0.1";
#define PORT 6699 #define PORT 6699
#endif #endif
@ -88,14 +89,14 @@ int ComRobot::Open(string usart) {
} }
struct timeval tv; struct timeval tv;
tv.tv_sec = 0; tv.tv_sec = 0;
tv.tv_usec = 80000; tv.tv_usec = 200000;
setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv); setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
serv_addr.sin_family = AF_INET; serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(PORT); serv_addr.sin_port = htons(PORT);
// Convert IPv4 and IPv6 addresses from text to binary form // Convert IPv4 and IPv6 addresses from text to binary form
if (inet_pton(AF_INET, "127.0.0.1", &serv_addr.sin_addr) <= 0) { if (inet_pton(AF_INET, host, &serv_addr.sin_addr) <= 0) {
printf("\nInvalid address/ Address not supported \n"); printf("\nInvalid address/ Address not supported \n");
return -1; return -1;
} }
@ -156,6 +157,7 @@ Message *ComRobot::Write(Message* msg) {
s = MessageToString(msg); s = MessageToString(msg);
#ifdef __SIMULATION__ #ifdef __SIMULATION__
s += "\r";
char buffer[1024] = {0}; char buffer[1024] = {0};
cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush; cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush;