avoiddlg.h

上海广茂达as-r机器人避障程序

// AVOIDDlg.h : header file
//
#include "NavigateGraph.h"
#include "FollowCommand.h"	
#include "resource.h"

#if !defined(AFX_AVOIDDLG_H__ABA993D3_2D6B_4972_826E_B84E04722180__INCLUDED_)
#define AFX_AVOIDDLG_H__ABA993D3_2D6B_4972_826E_B84E04722180__INCLUDED_

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

/////////////////////////////////////////////////////////////////////////////
// CAVOIDDlg dialog
#define UNKNOWN		0
#define	OUTSIGHT	1
#define HORZ_LEFT	(1<<1)
#define HORZ_RIGHT	(1<<2)
#define VERT_FOR	(1<<3)
#define VERT_BACK	(1<<4)
#define HORZ_MIDDLE	(1<<5)
#define VERT_MIDDLE	(1<<6)

#define	X1	213
#define	X2	426
#define	Y1	160
#define	Y2	320

typedef LONG CUR_STATE;



class CASRSystem;
interface IMotionControl;
interface IASRSensorPsd;
interface IASRSensorSonar;
interface IASRImageCapture;
interface IASRFootball;


class CAVOIDDlg : public CDialog
{
// Construction
    CASRSystem* m_pRobot;
	IMotionControl* m_pMotion;
	IASRSensorPsd* m_pPsd;
	IASRSensorSonar*m_pSonar;
	IASRImageCapture* m_pImageCap;
	IASRFootball* m_pImageProcess;
    CFollowCommand  m_pFollowCommand;
	static unsigned __stdcall PsdProc(LONG nOwner,void* lpParam);
	static unsigned __stdcall SonarProc(LONG nOwner,void* lpParam);
	void MOVE(double m_getPsd[],double m_getSonar[]);
	BOOL InitEnv();
	void EndEnv();
	
		
public:
	CAVOIDDlg(CWnd* pParent = NULL);
	virtual ~CAVOIDDlg();// standard constructor
   	BOOL bRun;
	BOOL bGOGO;
	double  m_getPsd[4];
	double  m_getSonar[5];
	double  dData[3];
	long	nState;
	void TraceDecide(int nArea,int x,int y);
    IASRFootball*GetImageProcess();
    // Dialog Data
	//{{AFX_DATA(CAVOIDDlg)
	enum { IDD = IDD_AVOID_DIALOG };
	CNavigateGraph	m_graph;
	double	m_dSafeDis;
	double	m_dTurnSpeed;
	double	m_dRunSpeed;
	double	m_dDcc;

	// NOTE: the ClassWizard will add data members here
	//}}AFX_DATA

	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CAVOIDDlg)
    protected:
	virtual void DoDataExchange(CDataExchange* pDX);	// DDX/DDV support
	//}}AFX_VIRTUAL

// Implementation
protected:
	HICON m_hIcon;

	// Generated message map functions
	//{{AFX_MSG(CAVOIDDlg)
	virtual BOOL OnInitDialog();
	afx_msg void OnSysCommand(UINT nID, LPARAM lParam);
	afx_msg void OnPaint();
	afx_msg HCURSOR OnQueryDragIcon();
	afx_msg void OnRUN();
	afx_msg void OnDestroy();
	afx_msg void OnRun();
	afx_msg void OnStop();
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};


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

#endif // !defined(AFX_AVOIDDLG_H__ABA993D3_2D6B_4972_826E_B84E04722180__INCLUDED_)