/**
 * @file main.cpp
 * @brief invicta RL deploy 入口：ROS 回调跑在 main 线程，控制线程跑 200 Hz 状态机
 */
#include <ros/ros.h>

#include <iostream>
#include <memory>

#include "quadruped_wheel/invicta_state_machine.hpp"

using namespace types;

MotionStateFeedback StateBase::msfb_ = MotionStateFeedback();

int main(int argc, char** argv) {
    ros::init(argc, argv, "invicta_deploy");
    std::cout << "Invicta State Machine Start Running" << std::endl;

    std::shared_ptr<StateMachineBase> fsm = std::make_shared<invicta::InvictaStateMachine>();
    fsm->Start();
    fsm->Run();
    fsm->Stop();

    ros::shutdown();
    return 0;
}