int SendData()
{
int i = 0;
int count = 0;
char ioControl[3];
int bytesRecieved = 0;
while (true)
{
bytesRecieved = SerialPort.ReadData(ioControl, 1);
printf("%c %d\t", ioControl[0], bytesRecieved);
if (ioControl[0] == 'r')
{
for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
SerialPort.SendData(Controller[i].passedValue, sizeof(Controller[i].passedValue));
if (leapConnected == true)
{
for (i = 0; i < NUMBER_OF_LEAP_INPUTS; i++)
SerialPort.SendData(Leapvalues[i].passedValue, sizeof(Leapvalues[i].passedValue));
}
else
{
for (i = 0; i < NUMBER_OF_LEAP_INPUTS; i++)
SerialPort.SendData("0", 1);
}
//Sleep(59);
count++;
if (count > 5)
{
SerialPort.Close();
Sleep(1000);
SerialPort.Open(PORT_NUM, BAUD);
return 0;
}
}
else if (ioControl[0] == 'q')
{
return 1;
}
else
{
/*printf("Error: Unknown codeword passed from arduino [%c], aborting send\n", ioControl[0]);
Sleep(60);*/
}
}
}
void serial_sent_double(double input){
cout << " " << "\r";
//Find the Amount of Integer
int int_digits = numDigits((int)input); //Cast to int then find
//convert to CONST CHAR * with fixing 6 precision of decimal
char tempChar[50];
int digits = int_digits + 1 + 6;
snprintf(tempChar,50,"%f",input);
//Transfer via Serial
cout << "[Serial] Sending (double ) : " << tempChar << "\r";
serial.SendData(tempChar,digits);
//Ending Seperator
serial.SendData(",",1);
Sleep(40);
}
int main(int argc, char **argv)
{
const char serialBuffer[6] = "hello";
int serialOpen, nBytesRead;
serialOpen=serial.Open(6,9600);
cout<<serialOpen;
if(serialOpen){
nBytesRead=serial.SendData(serialBuffer,strlen(serialBuffer));
//ASSERT(nBytesRead==strlen(serialBuffer));
//delete [] serialBuffer;
}
serial.Close();
cout << "\n";
cout << "=========================================================\n";
cout << "getTristarLog aborted. \n\n";
return 0;
}
void SendQuadcopterData() {
#ifdef ENABLE_SERIAL
packet[0] = 'g';
packet[1] = lift;
packet[2] = pitch;
packet[3] = yaw;
packet[4] = roll;
packet[5] = gyroDiv;
if (resetGyro)
packet[6] = 'r';
else
packet[6] = 's';
packet[7] = '\0';
resetGyro = false;
//printf("%d %d %d %d\n", lift, yaw, pitch, roll);
if (serial.IsOpened()) {
serial.SendData((const char *)packet, length);
}
else {
printf("Serial not opened!!!\n");
}
#endif
}
void serial_sent_int(int input){
cout << " " << "\r";
//Find The Amount Of Digits
int digits = numDigits(input);
if(input == 0) digits = 1;
//Convert to CONST CHAR * For transfer
stringstream temp_str;
temp_str << (input);
string str = temp_str.str();
const char * tempChar = str.c_str();
//Transfer via Serial
cout << "[Serial] Sending (integer) : " << tempChar << "\r";
serial.SendData(tempChar,digits);
//Ending Seperator
serial.SendData(",",1);
Sleep(40);
}
void Programming::sendResetCmd(CSerial &serial) {
if(!serial.IsOpened()) {
std::cout << "Serial is not connected" << std::endl;
return;
}
char resetChar = '#';
serial.SendData(&resetChar, 1);
}
int SendData()
{
int i = 0;
int count = 0;
char ioControlBuffer[3];
char ioControl[3];
int bytesRecieved = 0;
SerialPort.SendData("hgl", 3);
while (true)
{
bytesRecieved = SerialPort.ReadData(ioControlBuffer, 1);
ioControl[0] = ioControlBuffer[0];
printf("%c\t%d\t", ioControlBuffer[0], bytesRecieved);
if (ioControl[0] == 'r')
{
for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
SerialPort.SendData(Controller[i].passedValue, sizeof(Controller[i].passedValue));
count++;
if (count > 5)
{
Sleep(750);
return 0;
}
}
else if (ioControl[0] == 'q')
{
return 1;
}
else
{
printf("Error: Unknown codeword passed from arduino [%c], aborting send\n", ioControl[0]);
}
}
}
int main(int argc , char* argv[]){
for (int portNo = 0; portNo<5 ; ++portNo){
if(serial.findAvailablePorts(portNo))
cout<<"COM"<<portNo<<" available!"<<endl;
}
if(serial.Open(3,115200)){
cout<<"Connection initialized!"<<endl;
}
char szMessage[3] = {0x75, 0x92 , 0xE7};
serial.SendData(szMessage,3);
char* lpBuffer = new char[100];
char setOn[6] = {0x52, 0x86 , 0xD4 , 0x5A , 0x80 , 0xDA};
Sleep(300);
serial.ReadData(lpBuffer , 30);
if(controlComms.checkValidity(lpBuffer,20)!=0){
cout<<"Device is ready!"<<endl;
} else{
cout<<"Device is not ready!"<<endl;
}
Sleep(1000);
//Sleep(1000);
serial.SendData(setOn,sizeof(setOn));
Sleep(300);
thread t1(readData,"");
t1.join();
serial.Close();
printf("\n");
return 0;
}
bool sendCommand(string command)
{
cout << "Sending: " << command << endl;
command.append("\r");
if(serialPort.SendData(command.c_str(), command.size()) == command.size())
{
return true;
}
else
{
return false;
}
}
bool send(int ctl,int x, int y)
{
char data[20]="";
data[0]= '#';
data[1]= ctl;
data[2]= (x / 256)+1;
data[3]= (x % 256)+1;
data[4]= (y / 256)+1;
data[5]= (y % 256)+1;
data[6]= '*';
data[7] = '*';
return serial.SendData(data, 8);
}
int main(int argc, char* argv[]) {
//Initialize OpenCV
CvSize size640x480 = cvSize(640, 480);
CvCapture* p_capWebcam;
IplImage* p_imgOriginal;
IplImage* hsv;
//Initialize globals used throughout the program
ofstream dataFile;
int netTime = 0;
int intervalTime = 1000;
int hourCount = 1;
int avgCounter = 1; float avgH =0, avgS =0, avgV =0, avgH2 =0, avgS2 =0, avgV2 =0;
//More misc initialization for OpenCV and the program
CvMemStorage* p_strStorage;
char charCheckForEscKey;
p_capWebcam = cvCaptureFromCAM(0);
//Safety check to make sure the camera is there
if(p_capWebcam == NULL) {
printf("error: capture is NULL \n");
getchar();
return(-1);
}
//Declare video feed window
cvNamedWindow("Original", CV_WINDOW_AUTOSIZE);
//Create new image that will be the converted hsv values
hsv = cvCreateImage(size640x480, IPL_DEPTH_8U, 3);
//Infinite loop (until esc sequence)
while(1) {
//Get the current frame
p_imgOriginal = cvQueryFrame(p_capWebcam);
//Convert RGB to HSV in a separate image
cvCvtColor( p_imgOriginal, hsv, CV_BGR2HSV );
//Safety check to make sure camera actually captured stuff
if(p_imgOriginal == NULL) {
printf("error: frame is NULL \n");
getchar();
break;
}
//Initilization of vars for the average algorithm
float H=0, S=0, V=0, R=0, G=0, B=0, pixCount =1;
float H2=0, S2=0, V2=0, R2=0, G2=0, B2=0, pixCount2 = 1;
CvScalar curValHSV;
CvScalar curValRGB;
//Average algorithm that takes the average for 2 reactors and 2 sets of values (RGB and HSV)
for(int row=190; row<290; row++){
for(int col=150; col<250; col++){
curValHSV = cvGet2D(hsv,row,col);
curValRGB = cvGet2D(p_imgOriginal,row,col);
H=(H*(pixCount-1)+curValHSV.val[0])/pixCount;
S=(S*(pixCount-1)+curValHSV.val[1])/pixCount;
V=(V*(pixCount-1)+curValHSV.val[2])/pixCount;
B=(B*(pixCount-1)+curValRGB.val[0])/pixCount;
G=(G*(pixCount-1)+curValRGB.val[1])/pixCount;
R=(R*(pixCount-1)+curValRGB.val[2])/pixCount;
pixCount++;
}
for(int col=390; col<490; col++){
curValHSV = cvGet2D(hsv,row,col);
curValRGB = cvGet2D(p_imgOriginal,row,col);
H2=(H2*(pixCount-1)+curValHSV.val[0])/pixCount;
S2=(S2*(pixCount-1)+curValHSV.val[1])/pixCount;
V2=(V2*(pixCount-1)+curValHSV.val[2])/pixCount;
B2=(B2*(pixCount-1)+curValRGB.val[0])/pixCount;
G2=(G2*(pixCount-1)+curValRGB.val[1])/pixCount;
R2=(R2*(pixCount-1)+curValRGB.val[2])/pixCount;
pixCount2++;
}
}
printf("H1=%f S1=%f V1=%f\n", H, S, V);
printf("H2=%f S2=%f V2=%f\n", H2, S2, V2);
//Draw circles of the average colour of each reactor
cvCircle(p_imgOriginal, cvPoint(213,500), 50, CV_RGB(R, G, B), CV_FILLED);
cvCircle(p_imgOriginal, cvPoint(426,500), 50, CV_RGB(R2, G2, B2), CV_FILLED);
//Draw helper "cross hair" rectangles
cvRectangle(p_imgOriginal, cvPoint(150,190), cvPoint(250,290), CV_RGB(255,0,0), 3);
cvRectangle(p_imgOriginal, cvPoint(390,190), cvPoint(490,290), CV_RGB(255,0,0), 3);
//Allocate necessary memory
p_strStorage = cvCreateMemStorage(0);
//Display video feed
cvShowImage("Original", p_imgOriginal);
//Start serial communication
CSerial serial;
//If opening the serial port is succesful
if (serial.Open(3, 9600))
{
//If the algae are green and are unsaturated/dying
if( (H>28 && H<44) && S<230){
//Send the microcontroller the message to turn the motor
static char szMessage = '1';
serial.SendData(&szMessage, 1);
serial.Close();
char * outputc = new char[6];
outputc[6]=0;
//Wait for servo success code and temperature
for(int i=0; i<6; i++){
outputc[i]=readCharLoop();
}
printf("Temperature: %s degrees C \n\n", outputc);
int tens = outputc[2]-48;
int ones = outputc[3]-48;
int dec = outputc[5]-48;
float num = tens*10+ones+0.1*dec;
}
else{
static char szMessage = '0';
serial.SendData(&szMessage, 1);
serial.Close();
char * outputc = new char[5];
outputc[5]=0;
//Wait for temperature to come in
for(int i=0; i<5; i++){
outputc[i]=readCharLoop();
}
printf("Temperature: %s degrees C \n\n", outputc);
int tens = outputc[1]-48;
int ones = outputc[2]-48;
int dec = outputc[4]-48;
float num = tens*10+ones+0.1*dec;
}
}
else
printf("Failed to open port!\n\n\n");
//Release memory
cvReleaseMemStorage(&p_strStorage);
//If esc key pressed, then break loop
charCheckForEscKey = cvWaitKey(10);
if(charCheckForEscKey == 27) break;
//Placeholder time interval component (replace with time.h functions)
Sleep(intervalTime);
netTime += intervalTime;
//Save data locally to a .txt file
if(netTime/1000/60/60 >= hourCount)
{
avgH=(avgH*(avgCounter-1)+H)/avgCounter;
avgS=(avgS*(avgCounter-1)+S)/avgCounter;
avgV=(avgV*(avgCounter-1)+V)/avgCounter;
avgH2=(avgH2*(avgCounter-1)+H2)/avgCounter;
avgS2=(avgS2*(avgCounter-1)+S2)/avgCounter;
avgV2=(avgV2*(avgCounter-1)+V2)/avgCounter;
if (avgCounter >=5){
dataFile.open("data.txt", std::ios_base::app);
dataFile << "Time since beginning: "<< hourCount << ":00 hours \n" ;
dataFile << "HSV (SD): " << avgH << ", " << avgS << ", "<< avgV << "\n";
dataFile << "HSV (C): " << avgH2 << ", " << avgS2 << ", "<< avgV2 << "\n\n";
dataFile.close();
hourCount +=1;
avgCounter=0;
avgH =0; avgS =0; avgV =0; avgH2 =0; avgS2 =0; avgV2 =0;
}
avgCounter+=1;
}
} // end while
//Release more memory and destroy the window when done
cvReleaseCapture(&p_capWebcam);
cvDestroyWindow("Original");
return(0);
}
bool transmit::changelamp(bool flag, int id, bool status, bool oldstatus){
char* buffer = new char[4];
bool tmp;
if(flag){
buffer[0] = '?';
}
else{
buffer[0] = '!';
}
if(true){
switch(id+1){
case 1:
buffer[1] = '1';
break;
case 2:
buffer[1] = '2';
break;
case 3:
buffer[1] = '3';
break;
case 4:
buffer[1] = '4';
break;
case 5:
buffer[1] = '5';
break;
case 6:
buffer[1] = '6';
break;
case 7:
buffer[1] = '7';
break;
case 8:
buffer[1] = '8';
break;
case 9:
buffer[1] = '9';
break;
case 10:
buffer[1] = 'a';
break;
case 11:
buffer[1] = 'b';
break;
case 12:
buffer[1] = 'c';
break;
case 13:
buffer[1] = 'd';
break;
case 14:
buffer[1] = 'e';
break;
case 15:
buffer[1] = 'f';
break;
default:
break;
}
}
if(status == oldstatus){
tmp = false;
return tmp;
}
if(status && status != oldstatus){
buffer[2] = 'f';
tmp = true;
}
if(!status && status != oldstatus){
buffer[2] = '0';
tmp = true;
}
buffer[3] = char(13);
if(true){
CSerial* serial = new CSerial();
if(!serial->Open(2, 9600))
{
qDebug() << "Could not open COM";
}
else{
serial->SendData(buffer, 4);
serial->Close();
}
delete serial;
}
qDebug() << buffer[0];
qDebug() << buffer[1];
qDebug() << buffer[2];
qDebug() << buffer[3];
return tmp;
}
