Bonjour à toutes et à tous,

Je suis actuellement bloqué sur une communication Wifi entre 2 appareils (Le serveur est une Raspberry pi3 et le client un Reach RTK de chez Emlid). Le Reach doit pouvoir se connecter au Raspberry pour envoyer des données (et lorsqu'il ne l'est pas, les données doivent être stockées dans un fichier provisoirement). Cela veut dire que le Reach se déconnecte du Wifi lorsqu'il est hors de portée et ensuite, il devrait se reconnecter lorsqu'il est de nouveau disponible (et c'est là que j'ai un problème). Le serveur reste en attente et le reach me marque l'erreur suivante :
Error in connection() 111 - Connection refused
Voici le code du Raspberry en python:
Code python : Sélectionner tout - Visualiser dans une fenêtre à part
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!/usr/bin/env python
"""
##############################################################################
Importing libraries
##############################################################################
"""
import socket
import signal
import sys
import time
 
"""
##############################################################################
Variables declaration
##############################################################################
"""
TCP_IP = '192.168.0.25'
TCP_PORT = 8888
BUFFER_SIZE = 20  # Normally 1024, but we want fast response
 
print("start")
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
s.bind((TCP_IP, TCP_PORT))
print 'Waiting'
s.listen(1)
 
conn, addr = s.accept()
print 'Connection address:', addr
data = ""
 
"""
##############################################################################
Functions declaration
##############################################################################
"""
#-----------------------------------------------------------------------------
# Timeout funtion
#-----------------------------------------------------------------------------
class TimeoutException(Exception):
        pass
 
def deadline(timeout, *args):
        def decorate(f):
                def handler(signum, frame):
                        raise TimeoutException()
                def new_f(*args):
                        signal.signal(signal.SIGALRM, handler)
                        signal.alarm(timeout)
                        res = f(*args)
                        signal.alarm(0)
                new_f.__name__ = f.__name__
                return new_f
        return decorate
 
#-----------------------------------------------------------------------------
# Receive data
#-----------------------------------------------------------------------------
@deadline(1)
def getData():
        global data
        data = conn.recv(BUFFER_SIZE)
 
"""
##############################################################################
Main
##############################################################################
"""
i = 0
while 1:
        try:
                getData()
                print data
        except TimeoutException as e:
                print("Connection lost")
                break
        if not data:
                i += 1
                if i >= 5: #5 pour etre sur qu'il n'y a plus de donnees
                        break;
        else:
                i = 0
conn.close()
execfile("/home/pi/test-python-wifi/test-V1.py")

Voici le code du Reach en C++ (j'avoue qu'il n'est pas très beau, mais je remettrai bien tout en ordre après avoir réglé mon problème):
Code : Sélectionner tout - Visualiser dans une fenêtre à part
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////////////////////////////////////////////////////////////////////////////////
//              Librairies importation
////////////////////////////////////////////////////////////////////////////////
#include <arpa/inet.h>
#include <ctime>
#include <fstream>
#include <iostream>
#include <memory>
#include <mutex>
#include <sstream>
#include <stdio.h>
#include <string>
#include <sys/socket.h>
#include <sys/time.h>
#include <thread>
#include <unistd.h>
 
#include "Librairies/MPU9250.h"
 
////////////////////////////////////////////////////////////////////////////////
//              Variables declaration
////////////////////////////////////////////////////////////////////////////////
using namespace std;
 
timed_mutex m;
 
bool lostConnection(false);
bool connected(false);
 
char message[1000];
 
int sock;
 
string path = "";
string lastSecond = "";
string toWriteFile = "";
 
struct sockaddr_in server;
 
MPU9250 imu;
 
////////////////////////////////////////////////////////////////////////////////
//              Functions declaration
////////////////////////////////////////////////////////////////////////////////
void wifiConnection()
{
    // Create socket
    sock = socket(AF_INET, SOCK_STREAM, 0);
 
    if(sock == -1)
    {
     	printf("Could not create socket!\n");
    }
    else
    {
     	printf("Socket created\n");
    }
 
    server.sin_addr.s_addr = inet_addr("192.168.0.25");
    server.sin_family = AF_INET;
    server.sin_port = htons(8888);
 
    // Connect to remote server
    if(connect(sock, (struct sockaddr *)&server, sizeof(server))<0)
    {
     	connected = false;
        printf("Connect failed. Error\n");
    }
    else
    {
     	connected = true;
        printf("Connected\n");
    }
}
void connect_w_to(void) {
  int res, valopt;
  struct sockaddr_in addr;
  long arg;
  fd_set myset;
  struct timeval tv;
  socklen_t lon;
 
  int newSock = sock;
 
  // Create socket
  newSock = socket(AF_INET, SOCK_STREAM, 0);
  // Set non-blocking
  arg = fcntl(newSock, F_GETFL, NULL);
  arg |= O_NONBLOCK;
  fcntl(newSock, F_SETFL, arg);
 
  // Trying to connect with timeout
  int yes = 1;
  setsockopt(newSock, SOL_SOCKET, SO_REUSEADDR, (void*) &yes, (socklen_t) sizeof(yes));
  addr.sin_family = AF_INET;
  addr.sin_port = htons(8888);
  addr.sin_addr.s_addr = inet_addr("192.168.0.24");
  res = connect(newSock, (struct sockaddr *)&addr, sizeof(addr));
 
  if (res < 0) {
        printf("Problem at connection\n");
        connected = false;
        if (errno == EINPROGRESS) {
        tv.tv_sec = 15;
        tv.tv_usec = 0;
        FD_ZERO(&myset);
        FD_SET(newSock, &myset);
        if (select(newSock+1, NULL, &myset, NULL, &tv) > 0) {
           lon = sizeof(int);
           getsockopt(newSock, SOL_SOCKET, SO_ERROR, (void*)(&valopt), &lon);
           if (valopt) {
              fprintf(stderr, "Error in connection() %d - %s\n", valopt, strerror(valopt));
           //   exit(0);
           }
	}
	else {
           fprintf(stderr, "Timeout or error() %d - %s\n", valopt, strerror(valopt));
         //  exit(0);
        }
     }
     else {
	fprintf(stderr, "Error connecting %d - %s\n", errno, strerror(errno));
       // exit(0);
     }
 
  }
  else
  {
   	connected = true;
  }
  // Set to blocking mode again...
  arg = fcntl(newSock, F_GETFL, NULL);
  arg &= (~O_NONBLOCK);
  fcntl(newSock, F_SETFL, arg);
 
        if(!connected)
        {
                close(newSock);
                sleep(10);
                connect_w_to();
        }
	else
	{
                sock = newSock;
        }
}
 
/*
    Transform the date from "Thu Jul 12 09:44:50 2018" to "2018-07-12_09"
    to have a better sort in the files.
*/
string formatDate(string dateRaw)
{
        // Delete the "\n" at the end of the string
        dateRaw.erase(dateRaw.length()-1, 1);
 
        string day = "";
        day += dateRaw[8];
        day += dateRaw[9];
 
        string month = "";
        switch(dateRaw[4])
        {
                case 'J':
                        switch(dateRaw[5])
                        {
                                case 'a': month = "01";
                                        break;
                                case 'u':
                                        switch(dateRaw[6])
                                        {
                                                case 'n': month = "06";
                                                        break;
                                                case 'l': month = "07";
                                                        break;
                                                default: month = "00";
                                        }
                                        break;
                                default: month = "00";
                        }
                        break;
                case 'F': month = "02";
                        break;
                case 'M':
                        switch(dateRaw[6])
                        {
                                case 'r': month = "03";
                                        break;
                                case 'y': month = "05";
                                        break;
                                default: month = "00";
                        }
                        break;
                case 'A':
                        switch(dateRaw[5])
                        {
                                case 'p': month = "04";
                                        break;
                                case 'u': month = "08";
                                        break;
                                default: month ="00";
                        }
                        break;
                case 'S': month = "09";
                        break;
                case 'O': month = "10";
                        break;
                case 'N': month = "11";
                        break;
                case 'D': month = "12";
                        break;
                default: month = "00";
        }
 
        string year = "";
        year += dateRaw[20];
        year += dateRaw[21];
        year += dateRaw[22];
        year += dateRaw[23];
 
        string hour = "";
        hour += dateRaw[11];
        hour += dateRaw[12];
 
        string minute = "";
        minute += dateRaw[14];
        minute += dateRaw[15];
 
        string second = "";
        second += dateRaw[17];
        second += dateRaw[18];
 
        string dateFormated = year;
        dateFormated += "-" + month;
        dateFormated += "-" + day;
        dateFormated += "_" + hour;
        dateFormated += "-" + minute;
        dateFormated += "-" + second;
        return dateFormated;
}
 
// Allows to convert float values to string
string tostr(float f)
{
        ostringstream os;
        os << f;
        return os.str();
}
 
// Create a new path for files when the hour has changed
void createPath()
{
    time_t startProgram = time(0);
    char* temp = ctime(&startProgram);
 
        string timeFile = temp;
 
        string dateFormated = formatDate(timeFile);
 
        path = "/home/root/MPU-Wifi-Save-2/TXT-Files/Reach1_IMU_" + dateFormated;
        path += "h.txt";
}
 
void getData()
{
    float ax, ay, az;
    float gx, gy, gz;
    float mx, my, mz;
 
        // Receive IMU data
    imu.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
 
        /*
            Research the current date and time.
            String receive - example: Thu Jul 12 09:44:50 2018
        */
    time_t now = time(0);
    char* temp = ctime(&now);
 
        string dt = temp;
        string toSend = "";
 
        toSend += dt.erase(dt.length()-1, 1) + "\t";
        toSend += "Acc: " + tostr(ax) + "  " + tostr(ay) + "  " + tostr(az) + "\t";
        toSend += "Gyr: " + tostr(gz) + "  " + tostr(gy) + "  " + tostr(gz) + "\t";
        toSend += "Mag: " + tostr(mx) + "  " + tostr(my) + "  " + tostr(mz) + "\n";
 
        strcpy(message, toSend.c_str());
 
//    printf("%s", message);
 
    if(!connected)
     	toWriteFile += toSend;
        if(lastSecond != tostr(dt[18]))
        {
            ofstream file(path.c_str(), ios::out | ios::app);
            if(file)
            {
             	file << toWriteFile;
                toWriteFile = "";
                lastSecond = tostr(dt[18]);
            }
	}
//	thread connectionToWifi(wifiConnection);
//          connectionToWifi.detach();
    }
    else
    {
     	if(toWriteFile != "")
        {
            ofstream file(path.c_str(), ios::out | ios::app);
            if(file)
            {
             	file << toWriteFile;
                toWriteFile = "";
                lastSecond = tostr(dt[18]);
            }
	}
 
        // Send data
        int receiveToSend = send(sock, message, strlen(message), MSG_DONTWAIT);
 
        if(receiveToSend < 0)
        {
            close(sock);
            connected = false;
            createPath();
            ofstream file(path.c_str(), ios::out | ios::trunc);
            if(file)
            {
             	file << "";
            }
            cout << "Connection lost" << endl;
            toWriteFile = toSend;
            thread connectionToWifi(connect_w_to);
            connectionToWifi.detach();
        }
    }
}
 
////////////////////////////////////////////////////////////////////////////////
//              Main
////////////////////////////////////////////////////////////////////////////////
int main()
{
    // Configure the IMU
    imu.initialize();
 
    // Check IMU connection
    if (imu.doSelfTest())
    {
     	printf("MPU9250 self test passed\n");
    }
    else
    {
     	printf("MPU9250 self test failed");
    }
 
    wifiConnection();
 
    // Infinite loop of data reception
        time_t startProgram = time(0);
    char* temp = ctime(&startProgram);
        string timeStartProgram = temp;
        lastSecond = tostr(timeStartProgram[18]);
 
    while(1)
    {
     	getData();
 
        usleep(10000);
    }
 
     	close(sock);
        return 1;
}
Avez-vous une solution pour régler mon problèmes ?

Merci d'avance.