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Move initialisation in state machine

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This commit is contained in:
Tim Zeuner 2023-01-16 03:57:23 +01:00
parent e7e40ef3b6
commit e5fc3f9f38
3 changed files with 59 additions and 58 deletions
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39
lfr_state_machine.cpp
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@ -1 +1,40 @@
#include "lfr_state_machine.h"
LFR_StateMachine::LFR_StateMachine(LFR_IState& startState):
autonomousMode(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;
}),
uartCommunicator(),
socket([&](std::exception const &ex)
{
std::unique_lock<std::mutex> lock(mutex);
std::cerr<<"socket exception:"<<ex.what()<<std::endl;
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();
currentState = &startState;
currentState->enter(this);
//Start the permanent loop
char input;
std::cout << "press q to quit" << std::endl;
std::cin >> input;
std::cout << "binned" << std::endl;
while (input != 'q')
{
std::cin >> input;
std::cout << "binned" << std::endl;
}
std::cout << "Exiting central" << std::endl;
}

22
lfr_state_machine.h
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@ -1,15 +1,29 @@
#pragma once
#include <iostream>
#include <lfr.h>
#include <lfr_socket.h>
#include <uart_communication.h>
#include "lfr_state_interface.h"
class LFR_StateMachine
{
LFR_IState* currentState;
LFR_StateMachine() = delete;
const int thresholdBinary = 140;
const int videoHeight = 720;
const int videoWidth = 1280;
const int gaussKernelSize = 11;
std::mutex mutex;
LFR autonomousMode;
LFR_UART uartCommunicator;
LFR_Socket socket;
public:
LFR_StateMachine(LFR_IState& startState){
currentState = &startState;
currentState->enter(this);
}
LFR_StateMachine(LFR_IState& startState);
inline LFR_IState* getCurrentState() const {return currentState;}
void setState(LFR_IState& newState)
{

56
main.cpp
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@ -1,66 +1,14 @@
#include <iostream>
#include <lfr.h>
#include <lfr_socket.h>
#include <uart_communication.h>
#include "lfr_state_machine.h"
#include "lfr_states.h"
int main(void)
{
std::cout << "started central" << std::endl;
const int thresholdBinary = 140;
const int videoHeight = 720;
const int videoWidth = 1280;
const int gaussKernelSize = 11;
std::mutex mutex;
// Init State Machine;
std::cout << "create State Machine" << std::endl;
LFR_StateMachine stateMachine(State::Idle::getInstance());
// Init LFR Autonomous mode
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;
});
// 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)
{
std::unique_lock<std::mutex> lock(mutex);
std::cerr<<"socket exception:"<<ex.what()<<std::endl;
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 << "press 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;
}