add a TCP connection

.gitignore

@@ -0,0 +1,127 @@
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+### CMake template
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+# *.iml
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+*.iws
+
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+out/
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+

CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.25)
+project(servo_motor)
+
+set(CMAKE_CXX_STANDARD 17)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(TCPSocket REQUIRED TCPSocket)
+
+add_executable(servo_motor servo_motor.cpp
+        MyTCPClient.cpp
+        MyTCPClient.h
+        main.cpp)
+
+target_link_libraries(servo_motor TCPSocket)

MyTCPClient.cpp

@@ -0,0 +1,62 @@
+#include "MyTCPClient.h"
+
+MyTCPClient::MyTCPClient(const char *serverIP, int port) : TCPClient(serverIP, port) {
+    this->handle = -1;
+}
+
+int MyTCPClient::init() {
+    if (gpioInitialise() < 0)
+    {
+        fprintf(stderr, "Impossible d'initialiser pigpio\n");
+        return 1;
+    }
+
+    this->handle = i2cOpen(1, PCA9685_ADDR, 0);
+
+    if (this->handle < 0)
+    {
+        fprintf(stderr, "Impossible d'ouvrir la connexion I2C\n");
+        gpioTerminate();
+        return 1;
+    }
+
+    initPCA9685(this->handle);
+
+    return 0;
+}
+
+void MyTCPClient::handleMessage(const std::string &message) {
+    std::vector<std::string> token = TCPSocket::split(message, ";");
+
+    if (token.size() != 4) {
+        std::cerr << "Message invalide: " << message << std::endl;
+        return;
+    }
+
+    if (token[1] == "servo_pot" || token[1] == "all") {
+        if (token[2] == "ping") {
+            this->sendMessage("pong");
+        }
+        else if (token[2] == "ouvrir pince") {
+            int pince = std::stoi(token[3]);
+            ouvrir_pince(handle, pince);
+        }
+        else if (token[2] == "fermer pince") {
+            int pince = std::stoi(token[3]);
+            fermer_pince(handle, pince);
+        }
+        else if (token[2] == "baisser bras") {
+            baisser_bras(handle);
+        }
+        else if (token[2] == "lever bras") {
+            lever_bras(handle);
+        }
+    }
+}
+
+MyTCPClient::~MyTCPClient() {
+    i2cClose(this->handle);
+
+    // Terminaison de pigpio
+    gpioTerminate();
+}

MyTCPClient.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "TCPSocket/TCPClient.hpp"
+#include "TCPSocket/TCPUtils.hpp"
+
+#include "servo_motor.h"
+
+class MyTCPClient : public TCPClient {
+public:
+    explicit MyTCPClient(const char* serverIP = "127.0.0.1", int port = 8080);
+
+    ~MyTCPClient() override;
+
+    int init();
+
+    void handleMessage(const std::string &message) override;
+
+private:
+    int handle;
+};

main.cpp

@@ -0,0 +1,36 @@
+#include "MyTCPClient.h"
+#include "servo_motor.h"
+
+int main(int argc, char* argv[]) {
+    int port = 8080;
+    if (argc > 1) {
+        port = std::stoi(argv[1]);
+    }
+
+    MyTCPClient client("127.0.0.1", port);
+
+    int err = client.init();
+
+    if (err != 0) {
+        return err;
+    }
+
+    client.start();
+
+    while (true) {
+        std::string message;
+        std::cout << "Enter message ('quit' to exit): ";
+        std::getline(std::cin, message);
+
+        if (message == "quit") {
+            client.stop();
+            break;
+        }
+
+        client.sendMessage(message.c_str());
+    }
+
+    client.stop();
+
+    return 0;
+}

servo_motor.cpp

@@ -1,20 +1,4 @@
-#include <stdio.h>
-#include <pigpio.h>
-#include <time.h>
-
-//Define registers address
-#define PCA9685_ADDR 0x40
-#define MODE1_REG    0x00
-#define PRE_SCALE    0xFE
-
-#define LED0_ON_L 0x06
-#define LED0_ON_H 0x07
-#define LED0_OFF_L 0x08
-#define LED0_OFF_H 0x09
-
-//Define duty cycle (in a range of 12 bits = 4096) for PWM (min 2%, max 12%)
-#define SERVO_MIN    82 // 0.02*4096
-#define SERVO_MAX    492 // 0.12*4096
+#include "servo_motor.h"
 
 // Fonction pour initialiser le PCA9685
 void initPCA9685(int handle)
@@ -115,54 +99,7 @@ void ouvrir_pince(int handle, int pince){
 		break;
 	case 2:
 		angle = 125;
-		break;	
+		break;
     }
     setServoPosition(handle, pince, angle);
 }
-
-
-
-int main()
-{
-    int handle;
-
-    if (gpioInitialise() < 0)
-    {
-        fprintf(stderr, "Impossible d'initialiser pigpio\n");
-        return 1;
-    }
-
-    handle = i2cOpen(1, PCA9685_ADDR, 0);
-
-    if (handle < 0)
-    {
-        fprintf(stderr, "Impossible d'ouvrir la connexion I2C\n");
-        gpioTerminate();
-        return 1;
-    }
-
-    initPCA9685(handle);
-    lever_bras(handle);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0);
-    ouvrir_pince(handle, 0);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    ouvrir_pince(handle, 1);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    ouvrir_pince(handle, 2);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    fermer_pince(handle, 0);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    fermer_pince(handle, 1);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    fermer_pince(handle, 2);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0);
-    baisser_bras(handle);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    i2cClose(handle);
-
-    // Terminaison de pigpio
-    gpioTerminate();
-
-    return 0;
-}
-

servo_motor.h

@@ -1,8 +1,9 @@
 #ifndef SERVO_MOTOR
 #define SERVO_MOTOR
-#include <stdio.h>
+
+#include <iostream>
 #include <pigpio.h>
-#include <time.h>
+#include <ctime>
 
 //Define registers address
 #define PCA9685_ADDR 0x40