From 149698dbe1051fa820783504f08789319be532ff Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?F=C3=A9lix=20MARQUET?= <felix.marquet@isen-ouest.yncrea.fr>
Date: Tue, 13 Feb 2024 17:21:24 +0100
Subject: [PATCH] Print serverSocket for debuging

---
 aruco/ArucoDetector.cpp | 30 ++++++++++--------------------
 aruco/ArucoDetector.h   |  2 +-
 2 files changed, 11 insertions(+), 21 deletions(-)

diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index 381d0bb..57d9eb3 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -265,25 +265,15 @@ void ArucoDetector::setNonBlocking(int sockfd) {
     }
 }
 
-void ArucoDetector::sendData(int serverSocket, const std::string& data) {
-    std::cout << "Sending Data" << std::endl;
-    std::cout << serverSocket << std::endl;
-    int clientSocket = accept(serverSocket, nullptr, nullptr);
-    std::cout << "Client Socket: " << clientSocket << std::endl;
-    if(clientSocket == -1 && errno != EWOULDBLOCK && errno != EAGAIN) {
-        perror("accept");
-        return;
-    }
-    if(clientSocket != -1) {
-        setNonBlocking(clientSocket);
-        if(fcntl(clientSocket, F_GETFL) & O_NONBLOCK) {
-            std::cout << "Socket is non-blocking" << std::endl;
-        }
-        else {
-            std::cout << "Socket is still blocking" << std::endl;
-        }
-        send(clientSocket, data.c_str(), data.size(), 0);
-        close(clientSocket);
-    }
+void ArucoDetector::sendData(const std::string& data) {
+    int clientSocket = socket(AF_INET, SOCK_STREAM, 0);
+    sockaddr_in serverAddress{};
+    serverAddress.sin_family = AF_INET;
+    serverAddress.sin_port = htons(8080);
+    serverAddress.sin_addr.s_addr = INADDR_ANY;
+    connect(clientSocket, (struct sockaddr*)&serverAddress, sizeof(serverAddress));
+    send(clientSocket, data.c_str(), data.size(), 0);
+    close(clientSocket);
+    return;
 }
 
diff --git a/aruco/ArucoDetector.h b/aruco/ArucoDetector.h
index b843e54..9809d81 100644
--- a/aruco/ArucoDetector.h
+++ b/aruco/ArucoDetector.h
@@ -60,7 +60,7 @@ public:
     static void setNonBlocking(int sockfd);
 
     //Receive the data from the client
-    static void sendData(int serverSocket, const std::string& data);
+    static void sendData(const std::string& data);
 
 };