Line-Following-Robot/main.cpp

#include <iostream>
#include <lfr.h>
#include <lfr_socket.h>
#include <uart_communication.h>

int main(void)
{
    std::cout << "hello central" << std::endl;

    const int thresholdBinary = 140;
    const int videoHeight = 720;
    const int videoWidth = 1280;
    const int gaussKernelSize = 11;

    std::mutex mutex;

    std::cout << "create lfr" << std::endl;
    LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, [&](std::exception const &ex)
    {
        std::unique_lock<std::mutex> lock(mutex);
        std::cerr<<"camera exception:"<<ex.what()<<std::endl;
        return false;
    });

    std::cout << "create uart" << std::endl;
    LFR_UART uartCommunicator;

    std::cout << "create socket" << std::endl;
    LFR_Socket socket([&](std::exception const &ex)
    {
        std::unique_lock<std::mutex> lock(mutex);
        std::cerr<<"socket exception:"<<ex.what()<<std::endl;
        return false;
    });

    return 0;
}