Added RPI_Smart_Servo_Client

	new file:   RPI_SmartServo_Client/README.txt
	new file:   RPI_SmartServo_Client/client.c
	new file:   RPI_SmartServo_Client/service.h

RPI_SmartServo_Client/README.txt

@@ -0,0 +1,3 @@
+RPI smart motor client.
+
+To compile gcc -o client client.c 

RPI_SmartServo_Client/client.c

@@ -0,0 +1,239 @@
+/*
+ C ECHO client example using sockets
+ */
+#include <stdio.h> //printf
+#include <string.h>    //strlen
+#include <sys/socket.h>    //socket
+#include <arpa/inet.h> //inet_addr
+#include "service.h"
+
+int initClient();
+void reciveServerIntro(int sock);
+int enterCommand(MSG *msg, char *message);
+void serverReply(MSG *msg);
+void setID(MSG *msg);
+void setGoal(MSG *msg);
+void setCWLimit(MSG *msg);
+void setCCWLimit(MSG *msg);
+void setPIDconf(MSG *msg);
+
+int main(int argc, char *argv[]) {
+	int sock;
+	char message[1000];
+	MSG msg;
+
+	//Initialize the Client
+	sock = initClient();
+	//Recive some intro from the Server first
+	reciveServerIntro(sock);
+
+	//keep communicating with server
+	while (1) {
+		int server_reply;
+		server_reply = enterCommand(&msg, message);
+
+		//Send some data
+		if (send(sock, (void*) &msg, sizeof(MSG), 0) < 0) {
+			puts("Send failed");
+			return 1;
+		}
+
+		//Receive a reply from the server
+		if (recv(sock, (void*) &msg, sizeof(MSG), 0) < 0) {
+			puts("recv failed");
+			break;
+		}
+
+		if (server_reply) {
+			puts("Server reply :");
+			serverReply(&msg);
+		}
+
+	}
+
+	return 0;
+}
+
+int initClient() {
+	int sock;
+	struct sockaddr_in server;
+
+	//Create socket
+	sock = socket(AF_INET, SOCK_STREAM, 0);
+	if (sock == -1) {
+		printf("Could not create socket");
+	}
+	puts("Socket created");
+
+	server.sin_addr.s_addr = inet_addr("127.0.0.1");
+	server.sin_family = AF_INET;
+	server.sin_port = htons(8888);
+
+	//Connect to remote server
+	if (connect(sock, (struct sockaddr *) &server, sizeof(server)) < 0) {
+		perror("connect failed. Error");
+		return 1;
+	}
+
+	puts("Connected\n");
+
+	return sock;
+}
+
+void reciveServerIntro(int sock) {
+	char server_intro[2000];
+
+	//Receive intro from the server
+	if (recv(sock, server_intro, 2000, 0) < 0) {
+		puts("recv failed");
+	}
+	//Server intro
+	puts(server_intro);
+	//clear the message buffer
+	memset(server_intro, 0, 2000);
+
+}
+
+int enterCommand(MSG *msg, char *message) {
+	//Put a return value to do not evaluate when is a bad command.
+	int ret = 1;
+
+	printf("Enter command: ");
+	scanf("%s", message);
+	if (strcmp(message, "CMD_GET_ID") == 0) {
+		msg->cmd = CMD_GET_ID;
+
+	} else if (strcmp(message, "CMD_GET_POSITION") == 0) {
+		msg->cmd = CMD_GET_POSITION;
+
+	} else if (strcmp(message, "CMD_GET_TEMP") == 0) {
+		msg->cmd = CMD_GET_TEMP;
+
+	} else if (strcmp(message, "CMD_GET_BATTERY") == 0) {
+		msg->cmd = CMD_GET_BATTERY;
+
+	} else if (strcmp(message, "CMD_GET_CURRENT") == 0) {
+		msg->cmd = CMD_GET_CURRENT;
+
+	} else if (strcmp(message, "CMD_GET_ERROR") == 0) {
+		msg->cmd = CMD_GET_ERROR;
+
+	} else if (strcmp(message, "CMD_GET_VELOCITY") == 0) {
+		msg->cmd = CMD_GET_VELOCITY;
+
+	} else if (strcmp(message, "CMD_GET_PID_CONF") == 0) {
+		msg->cmd = CMD_GET_PID_CONF;
+
+	} else if (strcmp(message, "CMD_GET_CW_LIMIT") == 0) {
+		msg->cmd = CMD_GET_CW_LIMIT;
+
+	} else if (strcmp(message, "CMD_GET_CCW_LIMIT") == 0) {
+		msg->cmd = CMD_GET_CCW_LIMIT;
+
+	} else if (strcmp(message, "CMD_GET_ALL") == 0) {
+		msg->cmd = CMD_GET_ALL;
+	} else if (strcmp(message, "CMD_SET_ID") == 0) {
+		msg->cmd = CMD_SET_ID;
+		setID(msg);
+
+	} else if (strcmp(message, "CMD_SET_GOAL") == 0) {
+		msg->cmd = CMD_SET_GOAL;
+		setGoal(msg);
+
+	} else if (strcmp(message, "CMD_SET_CW_LIMIT") == 0) {
+		msg->cmd = CMD_SET_CW_LIMIT;
+		setCWLimit(msg);
+
+	} else if (strcmp(message, "CMD_SET_CCW_LIMIT") == 0) {
+		msg->cmd = CMD_SET_CCW_LIMIT;
+		setCCWLimit(msg);
+
+	} else if (strcmp(message, "CMD_SET_PID_CONF") == 0) {
+		msg->cmd = CMD_SET_PID_CONF;
+		setPIDconf(msg);
+
+	} else {
+		printf("Not a valid command\n");
+		ret = 0;
+	}
+
+	return ret;
+}
+
+void serverReply(MSG *msg) {
+	switch (msg->cmd) {
+	case CMD_GET_ID:
+		printf("cmd: %i, id: %i \n", msg->cmd, msg->id);
+		break;
+	case CMD_GET_POSITION:
+		printf("cmd: %i, position: %f \n", msg->cmd, msg->position);
+		break;
+	case CMD_GET_TEMP:
+		printf("cmd: %i, temp: %f \n", msg->cmd, msg->temp);
+		break;
+	case CMD_GET_BATTERY:
+		printf("cmd: %i, battery: %f \n", msg->cmd, msg->battery);
+		break;
+	case CMD_GET_CURRENT:
+		printf("cmd: %i, current: %f \n", msg->cmd, msg->current);
+		break;
+	case CMD_GET_ERROR:
+		printf("cmd: %i, error: %f \n", msg->cmd, msg->error);
+		break;
+	case CMD_GET_VELOCITY:
+		printf("cmd: %i, velocity: %f \n", msg->cmd, msg->velocity);
+		break;
+	case CMD_GET_PID_CONF:
+		printf("cmd: %i, p_gain: %i, d_gain: %i \n", msg->cmd, msg->p_gain,
+				msg->d_gain);
+		break;
+	case CMD_GET_CW_LIMIT:
+		printf("cmd: %i, cw_limit: %i \n", msg->cmd, msg->cw_limit);
+		break;
+	case CMD_GET_CCW_LIMIT:
+		printf("cmd: %i, ccw_limit: %i \n", msg->cmd, msg->ccw_limit);
+		break;
+	case CMD_GET_ALL:
+		printf("cmd: %i, cw_limit: %i \n", msg->cmd, msg->cw_limit);
+		break;
+	default:
+		printf("cmd: %i\n", msg->cmd);
+		break;
+	}
+}
+
+void setID(MSG *msg) {
+	int id;
+	printf("Enter id to set:");
+	scanf("%i", &id);
+	msg->id = id;
+}
+void setGoal(MSG *msg) {
+	int goal;
+	printf("Enter goal to set:");
+	scanf("%i", &goal);
+	msg->goal = goal;
+
+}
+void setCWLimit(MSG *msg) {
+	int cw_limit;
+	printf("Enter CW limit to set:");
+	scanf("%i", &cw_limit);
+	msg->cw_limit = cw_limit;
+
+}
+void setCCWLimit(MSG *msg) {
+	int ccw_limit;
+	printf("Enter CCW limit to set:");
+	scanf("%i", &ccw_limit);
+	msg->ccw_limit = ccw_limit;
+}
+void setPIDconf(MSG *msg) {
+	int p_gain, d_gain;
+	printf("Enter p gain:");
+	scanf("%i", &p_gain);
+	msg->p_gain = p_gain;
+	printf("Enter d gain:");
+	scanf("%i", &d_gain);
+	msg->d_gain = d_gain;
+}

RPI_SmartServo_Client/service.h

@@ -0,0 +1,78 @@
+/**
+ *  project  : 	RPI_SmartServo
+ *
+ * 	@file service.h
+ *  @brief Header for service module.
+ *
+ *  @note
+ *
+ *  	none
+ *
+ *  \code
+ *  MODIFICATION HISTORY:
+ *
+ *  Ver   Who        Date        Changes
+ *  ----- ---------- ----------  -------------------------------------
+ *  1.00 jlamperez  24/3/2016  First release
+ *
+ *  \endcode
+ *
+ *	Copyright (c) 2016, Jorge Lampérez. All rights reserved.
+ */
+
+#ifndef SERVICE_H_
+#define SERVICE_H_
+
+/**********CMD_GET**************/
+#define CMD_GET_ID       		0
+#define CMD_GET_POSITION    	1
+#define CMD_GET_TEMP			2
+#define CMD_GET_BATTERY 		3
+#define CMD_GET_CURRENT  	 	4
+#define CMD_GET_ERROR    		5
+#define CMD_GET_VELOCITY		6
+#define CMD_GET_PID_CONF        7
+#define CMD_GET_CW_LIMIT        8
+#define CMD_GET_CCW_LIMIT       9
+#define CMD_GET_ALL             10
+/** todo
+#define CMD_GET_SEEK_VELOCITY	9
+#define CMD_GET_PID_DEADBAND	10
+*/
+/***********CMD_SET***************/
+#define CMD_SET_ID  			30
+#define CMD_SET_GOAL         	31
+#define CMD_SET_CW_LIMIT        32
+#define CMD_SET_CCW_LIMIT       33
+#define CMD_SET_PID_CONF        34
+/** todo
+#define CMD_SET_SEEK_VELOCITY	32
+*/
+#define CMD_END					60
+
+/**
+ *  MSG struct to send between server and client.
+ */
+typedef struct{
+		unsigned char cmd;
+		int id;
+		float position;
+		float temp;
+		float battery;
+		float current;
+		float error;
+		float velocity;
+		int p_gain;
+		int d_gain;
+		int cw_limit;
+		int ccw_limit;
+                int goal;
+
+}MSG;
+
+/**
+ *  State machine for server client communication in server side.
+ */
+unsigned int SERVICE_execute(MSG *msg);
+
+#endif /* SERVICE_H_ */