motiondemodlg.h

基于AS-R的避障小车 由南京航空航天大学编制

// MotionDemoDlg.h : header file
//

#if !defined(AFX_MOTIONDEMODLG_H__BC60A30E_3BA8_4414_B763_AC45A6090135__INCLUDED_)
#define AFX_MOTIONDEMODLG_H__BC60A30E_3BA8_4414_B763_AC45A6090135__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
#include "ASRSystem.h"
#include "MappingGraph.h"
/////////////////////////////////////////////////////////////////////////////
// CMotionDemoDlg dialog

#define  WM_MSG_SONAR_UPDATEDATA  WM_USER+20
#define  WM_MSG_PSD_UPDATEDATA  WM_USER+21
class CASRSystem;
interface IASRMotion;

class CMotionDemoDlg : public CDialog
{
// Construction
public:
	 static BOOL BalkFlag;
	 static BOOL BalkFlagr;
     static BOOL BalkFlagL;
	 static BOOL BalkFlag1;
	
//	unsigned __stdcall CMotionDemoDlg::PsdProc(LONG,void* lpParam);
static unsigned __stdcall PsdProc(LONG nOwner,void* lpParam);
//	void UpdateMyData(WPARAM wParam,LPARAM lParam);
static unsigned __stdcall SonarProc(LONG nOwner,void* lpParam);
	CMotionDemoDlg(CWnd* pParent = NULL);	// standard constructor

// Dialog Data
	//{{AFX_DATA(CMotionDemoDlg)
	enum { IDD = IDD_MOTIONDEMO_DIALOG };
	CMappingGraph	m_graph;
    float   m_distance;
	float   m_distance1;
	float	m_PsdSafeDis;
	float	m_SonarSafeDis;
	float	m_SpeedL;
	float	m_SpeedR;
	float	m_Psd1;
	float	m_Psd2;
	float	m_Psd3;
	float	m_Psd4;
	double	m_Sonar1;
	double	m_Sonar2;
	double	m_Sonar3;
	double	m_Sonar4;
	double	m_Sonar5;
	//}}AFX_DATA

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

protected:
    BOOL  BuildSystem();  //库函数初始化
    void    DestroySystem();//库函数退出
private:            
    CASRSystem*   m_pRobot;  //定义库系统指针
    IASRMotion*    m_pMotion; //定义库接口指针 
    IASRSensorPsd* m_pPsd;
    IASRSensorSonar* m_pSonar;
    enum {MAX_PSD = 4};    //设置红外设备的个数 
    enum {MAX_Sonar = 5};  //设置超声设备的个数

// Implementation
protected:
	HICON m_hIcon;

	// Generated message map functions
	//{{AFX_MSG(CMotionDemoDlg)
	virtual BOOL OnInitDialog();
	afx_msg void OnSysCommand(UINT nID, LPARAM lParam);
	afx_msg void OnPaint();
	afx_msg HCURSOR OnQueryDragIcon();
	afx_msg void OnDestroy();
	afx_msg void OnStart();
	afx_msg void OnPause();
	afx_msg void OnEnd();
	afx_msg void OnFront();
	afx_msg void OnBack();
	afx_msg void OnClockwise();
	afx_msg void OnRevension();
	afx_msg void OnStop();
	//}}AFX_MSG
	afx_msg void UpdateMyData(WPARAM wParam,LPARAM lParam);
	DECLARE_MESSAGE_MAP()
};

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

#endif // !defined(AFX_MOTIONDEMODLG_H__BC60A30E_3BA8_4414_B763_AC45A6090135__INCLUDED_)