Convert floor simulator to use sockets

The floor simulator currently has a few problems that originate from the use of pipes:

1. Not portable to Windows
2. Pipe must be created on each system on which we want to run the simulator
3. The floor simulator closing is hard to handle because we need to keep an open file
   handle to the pipe.

Most of these problems can be solved with a little effort by switching the floor simulator to communicate using sockets, and has the added benefit that the simulator can be run on a separate machine for testing an "appliance" style device.