C++ main entry point

Revision as of 08:14, 31 December 2023

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Main

C++ starts executing a function called main(int argc, char ** argv)

In Robobot, this is rather simple and the intention is explained here.

The main.cpp file looks like this (slightly reduced):

/*
#***************************************************************************
#*   Copyright (C) 2023 by DTU
#*   jcan@dtu.dk
#*
#* The MIT License (MIT)  https://mit-license.org/
#***************************************************************************/
// System libraries
#include <iostream>
#include <stdio.h>
#include <string.h>
#include <string>
//
// include local files for data values and functions
#include "uservice.h"
#include "cmixer.h"
#include "sgpiod.h"
#include "bplan20.h"
#include "bplan21.h"
#include "bplan40.h"

int main (int argc, char **argv)
{ // prepare all modules and start data flow
  bool setupOK = service.setup(argc, argv);
  if (setupOK)
  { // turn on LED on port 16
    gpio.setPin(16, 1);
    // run the planned missions
    if (ini["plan20"]["run"] == "true")
    { // example odometry drive using distance and turned angle
      plan20.run();
    }
    mixer.setVelocity(0.0);
    mixer.setTurnrate(0.0);
    sleep(1); // to allow robot to stop while logging is running
    // turn off led 16
    gpio.setPin(16, 0);
  }
  // close all logfiles
  service.terminate();
}