#

robot/robotics/application.hpp

@@ -17,8 +17,8 @@
 namespace robotics::v3 {
     class application_base {
     public:
-        virtual int run() = 0;
-        virtual int debug() = 0;
+        virtual void run() = 0;
+        virtual void stop() = 0;
     };
     template<typename _Type>
     class application {
@@ -31,10 +31,19 @@ namespace robotics::v3 {
             }
             else if (0 == strcmp(argv[argc - 1], "run")) {
                 LOG_INSTALL;
-                result = app_->run();
+                instance()->app_->run();
+                std::this_thread::sleep_for(std::chrono::seconds(0xffffff));
+                instance()->app_->stop();
+                result = 0;
             }
             else if (0 == strcmp(argv[argc - 1], "debug") || 0 == strcmp(argv[argc - 1], "cmakedebug")) {
-                result = app_->debug();
+                if (argc >= 3 && 0 == strcmp(argv[argc - 1], "cmakedebug")) {
+                    std::filesystem::current_path(argv[argc - 2]);
+                }
+                instance()->app_->run();
+                getchar();
+                instance()->app_->stop();
+                result = 0;
             }
             return result;
         }
@@ -44,7 +53,7 @@ namespace robotics::v3 {
         }
         static application* instance() {
             static application g_application;
-            return &application;
+            return &g_application;
         }
     private:
         std::shared_ptr<application_base> app_;