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// AutoPathRunner.h
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#ifndef _AUTOPATHRUNNER_h
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#define _AUTOPATHRUNNER_h
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "OpenMVOpt.h"
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#include <Ultrasonic.h>
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#include "AccurateMotor.h"
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#include "GarageCommand.h"
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#include "CommandDecoder.h"
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#include "ZigBeeOperator.h"
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namespace AutoPathRunner
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{
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enum class TurnDirection
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{
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Null,
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Left,
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Right
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};
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enum class CarHeadPosition
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{
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X_Positive,
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Y_Positive,
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X_Negitive,
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Y_Negitive
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};
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class MapPoint
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{
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private:
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int x, y;
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public:
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MapPoint();
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MapPoint(int x, int y);
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public:
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int GetX() const;
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int GetY() const;
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void SetX(int x);
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void SetY(int y);
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bool NeedTurn(MapPoint next, CarHeadPosition pos);
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TurnDirection CalcTurnDirection(MapPoint next, CarHeadPosition pos);
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public:
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MapPoint operator=(const MapPoint& obj);
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bool operator==(const MapPoint& obj);
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};
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struct PointMapper
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{
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char name[3] = { 0 };
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MapPoint point;
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PointMapper();
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PointMapper(const char* n, const MapPoint& p);
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};
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typedef void(*MCRCallback)(String point, CarHeadPosition pos);
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MapPoint Mapping(const char* name);
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String ReverseMapping(const MapPoint& point);
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void ChangePositon(CarHeadPosition& pos, TurnDirection turn);
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CarHeadPosition Int2Position(int pos);
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bool TrackCallback();
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//解析路线
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MapPoint* DecodeRoute(const char* route, int& point_cnt);
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//执行路径指令
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void DoRun(MapPoint* points, int point_cnt, CarHeadPosition pos, MCRCallback cb = nullptr);
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//区分RFID卡和特殊地形标志物
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bool IsSpecTerrainItem();
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//倒车入库
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//a_b_select:车库标志物选择，true -> A, false -> B
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void ReversingIntoGarage(bool a_b_select, uint8_t target_floor);
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};
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#endif
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