Start state machine

main.cpp

@@ -2,10 +2,11 @@
 #include <lfr.h>
 #include <lfr_socket.h>
 #include <uart_communication.h>
+#include "lfr_state_machine.h"
 
 int main(void)
 {
-    std::cout << "hello central" << std::endl;
+    std::cout << "started central" << std::endl;
 
     const int thresholdBinary = 140;
     const int videoHeight = 720;
@@ -14,6 +15,11 @@ int main(void)
 
     std::mutex mutex;
 
+    // Init State Machine;
+    std::cout << "create State Machine" << std::endl;
+    LFR_StateMachine stateMachine();
+
+    // Init LFR Autonomous mode
     std::cout << "create lfr" << std::endl;
     LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, [&](std::exception const &ex)
     {
@@ -22,9 +28,11 @@ int main(void)
         return false;
     });
 
+    // Init UART Communication
     std::cout << "create uart" << std::endl;
     LFR_UART uartCommunicator;
 
+    // Init Socket Communication
     std::cout << "create socket" << std::endl;
     LFR_Socket socket([&](std::exception const &ex)
     {
@@ -33,5 +41,25 @@ int main(void)
         return false;
     });
 
+    // Connect String parser to socket
+    socket.addListener([&](LFR_Socket::LFR_Telegram telegram)
+    {
+        std::unique_lock<std::mutex> lock(mutex);
+        std::cout << telegram;
+    }, &mutex);
+    socket.startLoop();
+
+
+    //Start the permanent loop
+    char input;
+    std::cout << "fress q to quit" << std::endl;
+    std::cin >> input;
+    std::cout << "cinned" << std::endl;
+    while (input != 'q')
+    {
+        std::cin >> input;
+        std::cout << "cinned" << std::endl;
+    }
+    std::cout << "Exiting central" << std::endl;
     return 0;
 }