servers/actuators-text/main.cc

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/*
 * This file is part of openSDK.
 *
 * Copyright (C) 2006  openSDK team
 *
 * openSDK is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * openSDK is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with openSDK; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *     $Id: main.cc,v 1.2 2006/03/16 17:39:27 nuno-lopes Exp $
 */

#include <sys/types.h>
#include <sys/socket.h>
#include <sys/un.h>
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <iostream>
#include <Platform.h>

using namespace std;
#define CHECK_SYSCALL(val, msg) if ((val) == -1) { perror(msg); return 3; }


int main(int argc, char *argv[])
{
        int sock;
        CHECK_SYSCALL(sock = socket(AF_UNIX, SOCK_STREAM, 0), "socket() failed")

        struct sockaddr_un addr;
        addr.sun_family = AF_UNIX;
        strcpy(addr.sun_path, "../../tests/RobotDesign/MS/" ACTUATORS_SERVER_SOCKET);

        // sleep until connected
        while(connect(sock, (struct sockaddr*)&addr, sizeof(addr)) == -1)
                sleep(1);

        cout << "connected! :)" << endl;

        close(sock);
        return 0;
}

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