Line-Following-Robot/lfr.cpp

#include "lfr.h"

const int threshold_binary = 110;

LFR::LFR() : iAmLooping(false), input(), processing(), controlModule(), interpreter(), intersectionHandler()
{
}

LFR::~LFR()
{
    if(iAmLooping)
    {
        this->endLoop();
    }
}

void LFR::loop()
{
    namedWindow("Display window");
    while(iAmLooping)
    {
        Mat image = input.readWebcam();
        processing.calculate_binaray(image, threshold_binary);
        imshow("Display window", image);
        char c = (char)waitKey(1);
    }
    destroyWindow("Display window");
    input.freeWebcam();
}

void LFR::startLoop()
{
    iAmLooping = true;
    this->loopThread=thread(&LFR::loop, this);
}

void LFR::endLoop()
{
    iAmLooping = false;
    this->loopThread.join();
    return;
}