File content as of revision 3:b7b4780a7f6e:

#include "mbed.h"
#include "ShapeDetect.h"

LocalFileSystem local("local");   
Serial lrf(p13,p14);
extern Serial pc;


/* variables used */
unsigned char image[120][160];                
unsigned char pixel;                          
char lrfchar=0;                                 
unsigned int s_pixel[8];
int num_edges = 0, i=0, j=0;
int mm_range=0;

int s_pixel_sum = 0;
char min;
char max;

int xcoord_val;
int ycoord_val; 
int s_area_val;


/**********************************************
*    
*   Initializes the LRF
*   
***********************************************/

void lrf_baudCalibration(void){
    wait(2.5);
    //lrf.baud(115200);  
    do {
        lrf.putc('U');
        pc.putc('.');
        wait(.2);
        if (lrf.readable()) lrfchar = lrf.getc();
    } while (lrfchar != ':');
    pc.printf("\n\r");
    // clear out any extra characters - just in case
    while (lrf.readable()) {
        lrfchar = lrf.getc();
    }
}



/**********************************************
*   Turns all pixels to a value and stores in 
*          image array
*   
*    input arrayType_a:
*           1 = BINARY  ( 1 or 0 ) 
*           2 = GREYSCALE (greyscale value  0x00 to 0xFF)
*   
***********************************************/
void ImageToArray(int arrayType_a){
    lrf.putc('G');
    pc.printf("Capture Image\n\r");
    // Fill the data with values
    switch(arrayType_a){
        
        case 1:
            for(int i=0; i<120; i++){
                 for(int j=0; j<160; j++){
                     pixel = lrf.getc();
                     if (pixel < THRESHOLD){
                      image[i][j] = 1;
                      } else {image[i][j] = 0;}
                    }// end j for loop
                 }// end i for loop
        break;
        
        case 2:
        for(int i=0; i<120; i++){
                 for(int j=0; j<160; j++){
                      image[i][j] = lrf.getc();
                      }// j
                 }// i
        break;
        
        default:
            for(int i=0; i<120; i++){
                 for(int j=0; j<160; j++){
                     pixel = lrf.getc();
                     if (pixel < THRESHOLD){
                      image[i][j] = 1;
                      } else {image[i][j] = 0;}
                    }// j
                 }// i
        }//switch
}
    
    
/***************************************************
*   prints 160x120 image array to files (.txt & .dat)
*   
*   stores on the mbed locally
*
*   input arrayType_f:
*           1 = BINARY  (1 or 0)
*           2 = GREYSCALE (greyscale value  0x00 to 0xFF)
*           3 = DECIMAL   (greyscale value 0 - 255)
*
****************************************************/


void printImageToFile(int arrayType_f){
 
    // Write to local files
    FILE *fp = fopen("/local/image.dat", "w");  
    FILE *fp2 = fopen("/local/image.txt", "w"); 
    
    for (int i=0; i<120; i++) {
        for(int j=0; j<160; j++){
                 switch (arrayType_f){
                     
                     //BINARY OUTPUT
                     case 1:
                        fprintf(fp, "%d",image[i][j]);
                        fprintf(fp2, "%d",image[i][j]);
                        break;
                     
                     //GREYSCALE OUTPUT  00 to FF
                     case 2:
                        fprintf(fp, "%02X ",image[i][j]); 
                        fprintf(fp2, "%02X ",image[i][j]); 
                        break;
                     
                     //DECIMAL OUTPUT   
                     case 3:
                        fprintf(fp, "%3d ",image[i][j]);
                        fprintf(fp2, "%3d ",image[i][j]);
                        break;
                    
                    default:
                        fprintf(fp, "%02h",image[i][j]);
                        fprintf(fp2, "%02h",image[i][j]);
                        break;
                 }
        }
        fprintf(fp, "\n");
        fprintf(fp2, "\n");
    }
    fclose(fp);
}

   
/**********************************************
*   edgeDetection 
*   
*   outputs the number of edges detected 
*
*
***********************************************/
int edgeDetection(void){  

    ImageToArray(BINARY);

    for(int i=0; i<120; i++){
                 for(int j=0; j<160; j++){
                     s_pixel_sum = 0;
                     //stores the value of 8 surrounding pixels
                     s_pixel[0] = image[i-1][j-1];
                     s_pixel[1] = image[i-1][j];
                     s_pixel[2] = image[i-1][j+1];
                     s_pixel[3] = image[i][j-1];
                     s_pixel[4] = image[i][j+1];
                     s_pixel[5] = image[i+1][j-1];
                     s_pixel[6] = image[i+1][j];
                     s_pixel[7] = image[i+1][j+1];
                     
                     //get the sum of the pixels
                     for (int k=0; k<8; k++){
                         s_pixel_sum+=s_pixel[k];
                        }
                        
                     if ((s_pixel_sum < 5) && (s_pixel_sum > 2)) {
                         image[i][j] = 1;
                         } else { 
                         image[i][j] = 0;
                         }
                     
                         
                     }// for j for loop
                 }// end i for loop
                 //fill image array with buffer values
                
                    
                 
                 /// DO EDGE CALCULATION HERE
                 return num_edges;    
} // end function



/**********************************************
*   center of mass coordinates
*   
*   outputs the coordinmates  
*
***********************************************/

void centerMass(int *xcoord, int *ycoord, int *s_area){
    ImageToArray(BINARY);
    clearBounds();
    int count = 0;
    int sumi = 0;
    int sumj = 0;
    for(int i=0; i<120; i++){
                 for(int j=0; j<160; j++){
                     if(image[i][j] == 1){
                     sumi += i;
                     sumj += j;
                     count++;
                     }
                    }// j
                 }// i          
    
    int x_2coord = sumj / count;
    int y_2coord = sumi / count;
    *xcoord = x_2coord;
    *ycoord = y_2coord;
    image[x_2coord][x_2coord] = 8;
    
    int s_2area = 0;
    for(int i=0; i<120; i++){
                 for(int j=0; j<160; j++){
                     if ( image[i][j] == 1 ){
                        s_2area++;
                        } 
                     
                    }// j
                 }// i
    *s_area = s_2area;
}
/***********************************************
*
*   clears edges for more accurate area counting
*
*
************************************************/
void clearBounds(void){
        //top 20 pixels
        for(int i=0; i<10; i++){
                 for(int j=0; j<160; j++){
                     image[i][j] = 0;
                        
                    }// j
                 }// i
                 
        //bottom 20 pixels         
        for(int i=109; i<120; i++){
                 for(int j=0; j<160; j++){
                     image[i][j] = 0;        
                    }// j
                 }// i
        //left 20 pixels         
        for(int i=0; i<120; i++){
                 for(int j=0; j<10; j++){
                     image[i][j] = 0;     
                    }// j
                 }// i
         //right 20 pixels         
        for(int i=0; i<120; i++){
                 for(int j=149; j<160; j++){
                     image[i][j] = 0;    
                    }// j
                 }// i
       //clear bounds of detected blacks           
}   


int shapeDetection_mass(void)
{

    centerMass(&xcoord_val, &ycoord_val, &s_area_val);
    pc.printf("\ncentriod calculated\n\r");
    pc.printf("\nCenter of Mass is at X: %d    Y: %d\n\r", xcoord_val, ycoord_val, s_area_val);
    pc.printf("\nThe area of the Mass is: %d\n\r", s_area_val);
    if(s_area_val > SQUARE_AREA_TRESHOLD) {
        pc.printf("\nSQUARE DETECTECD\n\r");
        return 3;
    } else if (s_area_val < TRIANGE_AREA_TRESHOLD) {
        pc.printf("\nTRIANGLE DETECTECD\n\r");
        return 1;
    } else {
        pc.printf("\nCIRCLE DETECTECD\n\r");
        return 2;
    }
}

int getDistance(void){
        lrf.putc('B'); //Take Binary range reading
        // read in the four bytes for the range in mm (MSB first)
        mm_range=0;
        mm_range=lrf.getc();
        mm_range=(mm_range<<8)|lrf.getc();
        mm_range=(mm_range<<8)|lrf.getc();
        mm_range=(mm_range<<8)|lrf.getc();
        //eat CR & ":" command prompt
        do {
            lrfchar=lrf.getc();
        } while (lrfchar != ':');
        return mm_range;
}