add support of TCP client

tcp/MyClient.cpp

@@ -0,0 +1,48 @@
+#include "MyClient.h"
+
+MyClient::~MyClient()
+{
+    this->stop();
+}
+
+MyClient::MyClient(Type::RobotPose* robotPose, const char* ip, const int port) : TCPClient(ip, port), robotPose(robotPose)
+{
+
+}
+
+void MyClient::handleMessage(const std::string& message)
+{
+    std::cout << "Message From My Client" << std::endl;
+    std::cout << message << std::endl;
+    if (startWith(message, "request aruco"))
+    {
+        std::string res;
+
+        for (auto& [tag, pos] : arucoTags)
+        {
+            res += std::to_string(tag.id) + " ";
+            res += std::to_string(pos.first.at<float>(0, 0)) + " ";
+            res += std::to_string(pos.first.at<float>(1, 0)) + " ";
+            res += std::to_string(pos.first.at<float>(2, 0)) + " ";
+        }
+
+        this->sendMessage(res.c_str());
+    } else if (startWith(message, "ping aruco") || startWith(message, "ping all"))
+    {
+        this->sendMessage("pong aruco");
+    } else if (startWith(message, "robotPose"))
+    {
+        // cut the string with space and take the first, second, third and fourth element
+        std::vector<std::string> tokens = split(message, " ");
+
+        robotPose->position.x = std::stof(tokens[1]);
+        robotPose->position.y = std::stof(tokens[2]);
+        robotPose->position.z = std::stof(tokens[3]);
+        robotPose->theta = std::stof(tokens[4]);
+    }
+}
+
+void MyClient::setArucoTags(const std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>& arucoTags)
+{
+    this->arucoTags = arucoTags;
+}