main.cpp

#include "thread.h"

int main()
{
  // 工厂模板类
  Factory<TaskData> task_factory(3);
  Factory<VisionSendData> data_transmit_factory(5);
  Factory<VisionRecvData> data_receive_factory(6);

  ThreadManager thread_manager;
  thread_manager.InitManager("/home/wpj/RM_Vision_code_US/auto_aim_HDUS/config.yaml");
  /*--------串口发送线程--------*/
  thread transmitter(&ThreadManager::dataTransmitter, &thread_manager, std::ref(data_transmit_factory));
  fmt::print(fmt::fg(fmt::color::blue), "Transmitter start !!!!!!!!!!\n");
  /*--------相机更新线程--------*/
  thread task_producer(&ThreadManager::producer, &thread_manager, std::ref(task_factory));
  fmt::print(fmt::fg(fmt::color::blue), "Producer start !!!!!!!!!!\n");
  /*--------自瞄线程-----------*/
  thread task_consumer(&ThreadManager::consumer, &thread_manager, std::ref(task_factory), std::ref(data_transmit_factory), std::ref(data_receive_factory));
  fmt::print(fmt::fg(fmt::color::blue), "Consumer start !!!!!!!!!!\n");
  /*--------接受线程----000----*/
  thread receiver(&ThreadManager::dataReceiver, &thread_manager, std::ref(data_receive_factory));
  fmt::print(fmt::fg(fmt::color::blue), "Receiver start !!!!!!!!!!\n");

  transmitter.join();
  task_producer.join();
  task_consumer.join();
#ifdef isIMU
  printf("IMU start !!!!!!!!!!\n");
  receiver.join();
#endif
  return 0;
}