Line-Following-Robot/main.cpp

#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;
}