lfr_central

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.1.0)
+project(lfr_central VERSION 0.1.0)
+
+include(CTest)
+enable_testing()
+
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+
+add_subdirectory(AutonomousMode)
+add_subdirectory(Communication)
+add_subdirectory(Socket)
+
+add_executable(lfr_central main.cpp)
+
+target_include_directories(lfr_central PRIVATE ${lfr_image_processing_SOURCE_DIRS})
+target_include_directories(lfr_central PRIVATE ${lfr_uart_SOURCE_DIRS})
+target_include_directories(lfr_central PRIVATE ${lfr_socket_SOURCE_DIRS})
+
+
+target_link_libraries( lfr_central lfr_image_processing_lib lfr_uart_lib lfr_socket_lib)
+
+set(CPACK_PROJECT_NAME ${PROJECT_NAME})
+set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
+include(CPack)

main.cpp

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+#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;
+}