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# 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，
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 ( ) ;
//等待二维码数据回传（超时：毫秒）
bool OpenMV_WaitQRData ( uint8_t * data , uint16_t max_len , uint16_t timeout = 0 ) ;
//解析二维码数据
String DecodeQRData ( uint8_t * data , uint16_t len ) ;
//舵机角度控制
void Servo_Control ( int8_t angle ) ;
} ;
# endif