From 3e7c057ae0729521ec07435b48ff836b92df16e8 Mon Sep 17 00:00:00 2001
From: TimZnr <zeunerti74726@th-nuernberg.de>
Date: Thu, 10 Nov 2022 14:41:27 +0100
Subject: [PATCH] Move from async to threading

---
 lfr.cpp | 17 +++++++++--------
 lfr.h   | 12 ++++++++----
 2 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/lfr.cpp b/lfr.cpp
index 05ca96a..05d7b55 100644
--- a/lfr.cpp
+++ b/lfr.cpp
@@ -1,9 +1,9 @@
 #include "lfr.h"
+
 const int threshold_binary = 110;
 
 LFR::LFR() : iAmLooping(false), input(), processing(), controlModule(), interpreter(), intersectionHandler()
 {
-
 }
 
 LFR::~LFR()
@@ -16,26 +16,27 @@ LFR::~LFR()
 
 void LFR::loop()
 {
-    //while(iAmLooping)
-    for(int i = 0; i < 3; i++)
+    namedWindow("Display window");
+    while(iAmLooping)
     {
         Mat image = input.readWebcam();
         processing.calculate_binaray(image, threshold_binary);
         imshow("Display window", image);
-        waitKey(0);
+        char c = (char)waitKey(1);
     }
+    destroyWindow("Display window");
+    input.freeWebcam();
 }
 
-std::future<void> LFR::startLoop()
+void LFR::startLoop()
 {
     iAmLooping = true;
-    std::cout<<"Loop start\n";
-    return std::async(&LFR::loop, this);
+    this->loopThread=thread(&LFR::loop, this);
 }
 
 void LFR::endLoop()
 {
     iAmLooping = false;
-    std::cout<<"loop ende\n";
+    this->loopThread.join();
     return;
 }
\ No newline at end of file
diff --git a/lfr.h b/lfr.h
index 0471bd1..9497024 100644
--- a/lfr.h
+++ b/lfr.h
@@ -1,11 +1,15 @@
 #include <iostream>
+#include <future>
+#include <thread>
+
 #include <opencv2/opencv.hpp>
+
 #include <input.h>
 #include <processing.h>
 #include <control_module.h>
 #include <interpreter.h>
 #include <intersection_handler.h>
-#include <future>
+
 
 using namespace cv;
 
@@ -18,14 +22,14 @@ class LFR
     IntersectionHandler intersectionHandler;
     volatile bool iAmLooping;
     void loop();
+    thread loopThread;
 
 public:
 
     LFR();
     ~LFR();
 
-    std::future<void> startLoop();
+    void startLoop();
     void endLoop();
-
-
+    
 };
\ No newline at end of file