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#ifndef __OPENMV_OPT__
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#define __OPENMV_OPT__
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#include <ExtSRAMInterface.h>
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#include "AccurateMotor.h"
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#include "GlobalDatas.h"
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#include <Command.h>
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#include <BEEP.h>
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namespace OpenMVOpt
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{
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extern uint8_t Data_OpenMVBuf[8];
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extern uint8_t ROI_Query_CMD[8];
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//bool TrackCallback();
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//<2F><><EFBFBD><EFBFBD>false<73><65>ֹͣѭ<D6B9><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD>
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typedef bool(*TrackCallback)();
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struct ImageROIData
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{
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bool up;
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bool down;
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bool left;
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bool right;
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bool middle_up;
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bool middle_down;
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bool data_validate;
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};
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC><EFBFBD><EFBFBD>
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void AdjustCarPosition(uint8_t Car_Speed);
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bool AdjustCarPoseInPlace();
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//<2F><><EFBFBD><EFBFBD>ROI<4F><49><EFBFBD><EFBFBD>
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ImageROIData GetROIData();
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//<2F><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˴<EFBFBD><CBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ
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bool ROIFoundWhite(const ImageROIData& data);
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶѭ<C6B5><D1AD>
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void OpenMVTrack_Disc_StartUp();
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//ֹͣ<CDA3><D6B9>Ƶѭ<C6B5><D1AD>
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void OpenMVTrack_Disc_CloseUp();
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//ѭ<><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ·<D2BB>ڣ<EFBFBD>
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void OpenMV_Track(uint8_t Car_Speed, TrackCallback cb, bool enable_white_detect = true);
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//ԭ<><D4AD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC><EFBFBD><EFBFBD><EFBFBD>н<EFBFBD><D0BD><EFBFBD>
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void OpenMV_TrackInPlace();
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ά<EFBFBD><CEAC>ʶ<EFBFBD><CAB6>
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void OpenMVQr_Disc_StartUp();
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//ֹͣ<CDA3><D6B9>ά<EFBFBD><CEAC>ʶ<EFBFBD><CAB6>
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void OpenMVQr_Disc_CloseUp();
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//<2F>ȴ<EFBFBD><C8B4><EFBFBD>ά<EFBFBD><CEAC><EFBFBD><EFBFBD><EFBFBD>ݻش<DDBB><D8B4><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>룩
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bool OpenMV_WaitQRData(uint8_t* data, uint16_t max_len, uint16_t timeout = 0);
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ά<EFBFBD><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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String DecodeQRData(uint8_t* data, uint16_t len);
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//<2F><><EFBFBD><EFBFBD><EFBFBD>Ƕȿ<C7B6><C8BF><EFBFBD>
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void Servo_Control(int8_t angle);
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};
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#endif
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