ibehavior.h

手柄驱动DEMO程序源码

// IBehavior.h: interface for the IBehavior class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_IBEHAVIOR_H__B5768320_B81E_4929_98DB_11CB134E7E1F__INCLUDED_)
#define AFX_IBEHAVIOR_H__B5768320_B81E_4929_98DB_11CB134E7E1F__INCLUDED_

#include "FstarCmd.h"

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

//class CFstarCmd;
#define STOP		0					//停止状态
#define FORWARD		1					//笔直前行
#define BACKWARD	2					//笔直后退
#define RIGHT		3					//原地右转
#define LEFT		4					//原地左转
#define RIGHTFRONT	5					//右转前进
#define LEFTFRONT	6					//左转前进
#define RIGHTBACK	7					//右转后退
#define LEFTBACK	8					//左转后退
class IBehavior  
{
public:

	IBehavior(){m_pCmd = NULL;};
	virtual ~IBehavior(){};
	void SetCmd(CFstarCmd * pCmd){m_pCmd = pCmd; };																//设置指令类对象	
	virtual void AfterUpdateInfrared(UCHAR *Infrared,BOOL *EnableIR,UINT nState){};								//红外传感器信息更新后的处理函数
	virtual void AfterUpdateUSonic(DOUBLE *Ultrasonic,BOOL *EnableUS,UINT nState){};							//超声传感器信息更新后的处理函数
	virtual void AfterUpdateVideoSample(BYTE * pBuffer, long lWidth,long lHeight,double dbTime,UINT nState){};	//主前视摄像装置接收到一桢图象后的处理函数
	virtual void AfterUpdateOverlook(BYTE * pBuffer, long lWidth,long lHeight,double dbTime,UINT nState){};		//全局摄像装置接收到一桢图象后的处理函数
	virtual void AfterSendCommand(BYTE * pBuffer, int iLength,UINT nState){};									//发送指令完毕后的处理函数
	virtual void AfterUpdateAttitude(FLOAT inAngle,int inXRoll,int inYRoll){};							//姿态信息更新
	CFstarCmd * m_pCmd;							//指令类对象指针
};
#endif // !defined(AFX_IBEHAVIOR_H__B5768320_B81E_4929_98DB_11CB134E7E1F__INCLUDED_)