spdis
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
#include <iostream>
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#include <fstream>
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#include <opencv2/opencv.hpp>
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#include <string>
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#include <csignal>
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#include <atomic>
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#include <chrono>
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#include <thread>
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#include "global.h"
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#include "camera.h"
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#include "control.h"
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std::atomic<bool> running(true);
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void signalHandler(int signal)
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{
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running.store(false);
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}
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int main(void)
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{
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std::signal(SIGINT, signalHandler);
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double dest_fps = readDoubleFromFile(destfps_file);
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if (dest_fps <= 0) dest_fps = 30.0;
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cfg_load_all();
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double avoid_gain_val = readDoubleFromFile(cone_avoid_gain_file);
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int avoid_range_val = (int)readDoubleFromFile(cone_avoid_range_file);
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int hold_frames_val = (int)readDoubleFromFile(cone_hold_frames_file);
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if (avoid_gain_val > 0) g_cfg.cone_avoid_gain = avoid_gain_val;
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if (avoid_range_val > 0) g_cfg.cone_avoid_range = avoid_range_val;
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if (hold_frames_val > 0) g_cfg.cone_hold_frames = hold_frames_val;
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int frame_delay = CameraInit(0, dest_fps);
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if (frame_delay < 0) {
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std::cerr << "CameraInit failed" << std::endl;
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return -1;
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}
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ControlInit();
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std::cout << "All services started" << std::endl;
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while (running.load())
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{
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auto t_start = std::chrono::steady_clock::now();
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CameraHandler();
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target_speed = g_cfg.speed;
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auto elapsed = std::chrono::steady_clock::now() - t_start;
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auto remain = std::chrono::milliseconds(frame_delay) - elapsed;
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if (remain > std::chrono::milliseconds(1))
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std::this_thread::sleep_for(remain);
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}
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std::cout << "Stopping..." << std::endl;
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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ControlExit();
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cameraDeInit();
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std::cout << "Stopped." << std::endl;
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return 0;
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}
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