sdudemodlg.h

关于机器人的手臂程序

// sduDemoDlg.h : header file
#include"ASRSystem.h"
#include "BallTraceCommand.h"
#include "m5apiw32.h"
//

#if !defined(AFX_SDUDEMODLG_H__E71CB23F_6570_43F1_A94D_3B1D02FB2F29__INCLUDED_)
#define AFX_SDUDEMODLG_H__E71CB23F_6570_43F1_A94D_3B1D02FB2F29__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

/////////////////////////////////////////////////////////////////////////////
// CSduDemoDlg dialog

class CSduDemoDlg : public CDialog
{
// Construction
public:
	IASRImage* GetImage();
	bool bStart;
	CSduDemoDlg(CWnd* pParent = NULL);	// standard constructor


	
	BOOL bChange;
	BOOL bTimer;
	unsigned char * m_State;
	int DeviceID;
	int numOfModules;
	bool TempState;
	int m_iRefreshCount;

	CASRSystem*		m_pRobot;
	IASRMotion*		m_pMotion;
	IASRImageCapture* m_pImageCap;
	IASRFootball* m_pImageProcess;
	IASRImage*	      m_pImage;
	CBallTraceCommand	m_BallComm;
	IASRMotion*	GetMotion();
	IASRFootball* GetImageProcess();

	//int speedLeft;
	//int speedRight;
	

	int aiIdMap[MAXPCUBE];
	int LogicIdMap[MAXPCUBE];

	unsigned long  puiState[MAXPCUBE];
	unsigned long  LogicState[MAXPCUBE];

	unsigned long  puiValue[MAXPCUBE];
	unsigned long  LogicValue[MAXPCUBE];

	CString  pucState[MAXPCUBE];

	void ShowModuleState (unsigned long StateMessage,int i);
	void ShowErrorMessage(int ErrorMessage);
	void GetState();
	void DestroySystem();
	BOOL InitEnv();

// Dialog Data
	//{{AFX_DATA(CSduDemoDlg)
	enum { IDD = IDD_SDUDEMO_DIALOG };
	CListCtrl	m_ListSeq;
	CString	m_Info;
	//}}AFX_DATA

	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CSduDemoDlg)
	public:
	virtual BOOL PreTranslateMessage(MSG* pMsg);
	protected:
	virtual void DoDataExchange(CDataExchange* pDX);	// DDX/DDV support
	//}}AFX_VIRTUAL

// Implementation
protected:
	HICON m_hIcon;

	// Generated message map functions
	//{{AFX_MSG(CSduDemoDlg)
	virtual BOOL OnInitDialog();
	afx_msg void OnPaint();
	afx_msg HCURSOR OnQueryDragIcon();
	afx_msg void OnMove();
	afx_msg void OnHomeall();
	afx_msg void OnHome();
	afx_msg void OnScan();
	afx_msg void OnTimer(UINT nIDEvent);
	afx_msg void OnDestroy();
	afx_msg void OnStart();
	afx_msg void OnInitasr();
	afx_msg void OnSize(UINT nType, int cx, int cy);
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif // !defined(AFX_SDUDEMODLG_H__E71CB23F_6570_43F1_A94D_3B1D02FB2F29__INCLUDED_)