int main(int argc, char *argv[])
{
QApplication a(argc, argv);
MainWindow w;
PCSCResourceManager manager;
Flowmeter flowmeter;
RealtimeRunningData runningData(&g_gps, &flowmeter);
RunningDataUploader uploader(&runningData, g_settings.ServerIP(), g_settings.ServerPort());
BInputMethod inputMethod;
QWSServer::setCurrentInputMethod(&inputMethod);
g_gps.start();
w.setDriver(&g_driver);
w.show();
g_driver.connectPCSCResourceManager(&manager);
g_warehouseProxy.setAttachedDriver(&g_driver);
manager.start();
runningData.start();
uploader.start();
return a.exec();
}
bool initialise(FlightBoard *fb, GPS *gps, IMU *imu, CAMERA_STREAM *cam) {
cout << "\033[36m[COPTER]\033[0m Initialising." << endl;
/* Initialise WiringPi */
gpio::startWiringPi();
/* Initialise Flight Board */
if(fb->setup() != FB_OK) {
cout << "\033[1;31m[COPTER]\033[0m Error setting up flight board. Terminating program" << endl;
return false;
}
fb->start();
/* Initialise GPS */
if(gps->setup() != GPS_OK) {
cout << "\033[1;31m[COPTER]\033[0m Error setting up GPS. Will retry continuously." << endl;
while (gps->setup() != GPS_OK) usleep(1000000);
}
gps->start();
cout << "\033[36m[COPTER]\033[0m GPS detected." << endl;
/* Initialise IMU
if(imu->setup() != IMU_OK) {
cout << "\033[1;31m[COPTER]\033[0m Error setting up IMU. Will retry continuously." << endl;
while (imu->setup() != IMU_OK) usleep(1000);
}
imu->start();
cout << "\033[36m[COPTER]\033[0m IMU detected." << endl;*/
/* Initialise Camera */
if (cam->setup() != CAMERA_OK) {
cout << "\033[1;31m[COPTER]\033[0m Error setting up camera. Will retry continuously." << endl;
while (cam->setup() != CAMERA_OK) usleep(1000000);
}
cam->setMode(3);
cam->start();
return true;
}
