From 778be64c3d7b33848ddb15fd69f6f4ba91a96fdf Mon Sep 17 00:00:00 2001
From: Aadi Desai <21363892+supleed2@users.noreply.github.com>
Date: Thu, 10 Jun 2021 18:00:13 +0100
Subject: [PATCH] Create Vision<->Control reference doc

---
 Control/ref/vision.cpp | 48 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 48 insertions(+)

diff --git a/Control/ref/vision.cpp b/Control/ref/vision.cpp
index e699eca..14e5ec0 100644
--- a/Control/ref/vision.cpp
+++ b/Control/ref/vision.cpp
@@ -1 +1,49 @@
+#include <Arduino.h>
+#include <ArduinoJson.h>
+#include <string>
+
 const int ARDUINO_IO[16] = {-1/*RX*/, -1/*RX*/, 23, 22, 21, 19, 18, 5, 17, 16, 14, 4, 15, 2, 13, 12}; // Expansion board mapping
+#define RXpin ARDUINO_IO[11] // Define your RX pin here
+#define TXpin ARDUINO_IO[10] // Define your TX pin here
+FILE* SerialUART;
+
+void setup()
+{
+    Serial.begin(115200);                          // Set up hardware UART0 (Connected to USB port)
+}
+
+void loop()
+{
+    int command = getc(SerialUART);
+    // command char, used for controlling exposure/focus/gain settings:
+    // e = increase exposure
+    // d = decrease exposure
+    // r = increase focus
+    // f = decrease focus
+    // t = increase gain
+    // g = decrease gain
+
+    // Bounding Box edges
+    int bb_left = 0;
+    int bb_right = 0;
+    int bb_top = 0;
+    int bb_bottom = 0;
+    // Weighted average of detected pixels coordinates
+    int centre_x = 0;
+    int centre_y = 0;
+    // Heading from DE10-Lite magnetometer
+    float heading = 0.0;
+
+    // Build hardcode JSON packet on DE10-Lite using fprintf() as space is minimal and library would be too large.
+    // fprintf(SerialUART, "{\"bb\":[%d,%d,%d,%d],\"cen\":[%d,%d],\"cH\":%d\"}", bb_left, bb_right, bb_top, bb_bottom, centre_x, centre_y, heading);
+
+    DynamicJsonDocument rdoc(1024); // receive doc, not sure how big this needs to be
+    deserializeJson(rdoc, SerialUART);
+    bb_left = rdoc["bb"][0];
+    bb_right = rdoc["bb"][1];
+    bb_top = rdoc["bb"][2];
+    bb_bottom = rdoc["bb"][3];
+    centre_x = rdoc["cen"][0];
+    centre_y = rdoc["cen"][1];
+    heading = rdoc["cH"];
+}
\ No newline at end of file