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()
{
    //while(iAmLooping)
    for(int i = 0; i < 3; i++)
    {
        Mat image = input.readWebcam();
        processing.calculate_binaray(image, threshold_binary);
        imshow("Display window", image);
        waitKey(0);
    }
}

std::future<void> LFR::startLoop()
{
    iAmLooping = true;
    std::cout<<"Loop start\n";
    return std::async(&LFR::loop, this);
}

void LFR::endLoop()
{
    iAmLooping = false;
    std::cout<<"loop ende\n";
    return;
}