#ifndef __OPENMV_OPT__
#define __OPENMV_OPT__

#include <ExtSRAMInterface.h>
#include "AccurateMotor.h"
#include "GlobalDatas.h"
#include <Command.h>
#include <BEEP.h>

namespace OpenMVOpt
{
	extern uint8_t Data_OpenMVBuf[8];
	extern uint8_t ROI_Query_CMD[8];

	//bool TrackCallback();
	//返回false则停止循迹，否则继续循迹
	typedef bool(*TrackCallback)();

	struct ImageROIData
	{
		bool up;
		bool down;
		bool left;
		bool right;
		bool middle_up;
		bool middle_down;
		bool data_validate;
	};

	//车身姿态调整
	void AdjustCarPosition(uint8_t Car_Speed);
	bool AdjustCarPoseInPlace();

	//请求ROI数据
	ImageROIData GetROIData();
	//检查是否出现了大面积白色
	bool ROIFoundWhite(const ImageROIData& data);

	//启动视频循迹
	void OpenMVTrack_Disc_StartUp();
	//停止视频循迹
	void OpenMVTrack_Disc_CloseUp();
	//循迹（到下一路口）
	void OpenMV_Track(uint8_t Car_Speed, TrackCallback cb, bool enable_white_detect = true);
	//原地循迹（仅矫正姿态，不行进）
	void OpenMV_TrackInPlace();

	//启动二维码识别
	void OpenMVQr_Disc_StartUp();
	//停止二维码识别
	void OpenMVQr_Disc_CloseUp();

	//舵机角度控制
	void Servo_Control(int8_t angle);
};

#endif