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#include <iostream>

#include<opencv/cvaux.h>
#include<opencv/highgui.h>
#include<opencv/cxcore.h>

#include<stdio.h>
#include<stdlib.h>

// Need to include this for serial port communication
#include <Windows.h>

///////////////////////////////////////////////////////////////////////////////////////////////////
int main(int argc, char* argv[])
{
// Setup serial port connection and needed variables.
HANDLE hSerial = CreateFile(L"COM3", GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);

if (hSerial !=INVALID_HANDLE_VALUE)
{
    printf("Port opened! \n");

    DCB dcbSerialParams;
    GetCommState(hSerial,&dcbSerialParams);

    dcbSerialParams.BaudRate = CBR_9600;
    dcbSerialParams.ByteSize = 8;
    dcbSerialParams.Parity = NOPARITY;
    dcbSerialParams.StopBits = ONESTOPBIT;

    SetCommState(hSerial, &dcbSerialParams);
}
else
{
    if (GetLastError() == ERROR_FILE_NOT_FOUND)
    {
        printf("Serial port doesn't exist! \n");
    }

    printf("Error while setting up serial port! \n");
}

char outputChars[] = "c";
DWORD btsIO;

// Setup OpenCV variables and structures
CvSize size640x480 = cvSize(640, 480);          // use a 640 x 480 size for all windows, also make sure your webcam is set to 640x480 !!

CvCapture* p_capWebcam;                     // we will assign our web cam video stream to this later . . .

IplImage* p_imgOriginal;            // pointer to an image structure, this will be the input image from webcam
IplImage* p_imgProcessed;           // pointer to an image structure, this will be the processed image
IplImage* p_imgHSV;                 // pointer to an image structure, this will hold the image after the color has been changed from RGB to HSV
                                    // IPL is short for Intel Image Processing Library, this is the structure used in OpenCV 1.x to work with images

CvMemStorage* p_strStorage;         // necessary storage variable to pass into cvHoughCircles()

CvSeq* p_seqCircles;                // pointer to an OpenCV sequence, will be returned by cvHough Circles() and will contain all circles
                                    // call cvGetSeqElem(p_seqCircles, i) will return a 3 element array of the ith circle (see next variable)

float* p_fltXYRadius;               // pointer to a 3 element array of floats
                                    // [0] => x position of detected object
                                    // [1] => y position of detected object
                                    // [2] => radius of detected object

int i;                              // loop counter
char charCheckForEscKey;            // char for checking key press (Esc exits program)

p_capWebcam = cvCaptureFromCAM(0);  // 0 => use 1st webcam, may have to change to a different number if you have multiple cameras

if(p_capWebcam == NULL) {           // if capture was not successful . . .
    printf("error: capture is NULL \n");    // error message to standard out . . .
    getchar();                              // getchar() to pause for user see message . . .
    return(-1);                             // exit program
}

                                                    // declare 2 windows
cvNamedWindow("Original", CV_WINDOW_AUTOSIZE);      // original image from webcam
cvNamedWindow("Processed", CV_WINDOW_AUTOSIZE);     // the processed image we will use for detecting circles

p_imgProcessed = cvCreateImage(size640x480,         // 640 x 480 pixels (CvSize struct from earlier)
                               IPL_DEPTH_8U,        // 8-bit color depth
                               1);                  // 1 channel (grayscale), if this was a color image, use 3

p_imgHSV = cvCreateImage(size640x480, IPL_DEPTH_8U, 3); 

// Variables for Arduino Control
int servoPosition = 90;
int servoOrientation = 0;

// Main program loop
while(1) {                              // for each frame . . .
    p_imgOriginal = cvQueryFrame(p_capWebcam);      // get frame from webcam

    if(p_imgOriginal == NULL) {                 // if frame was not captured successfully . . .
        printf("error: frame is NULL \n");      // error message to std out
        getchar();
        break;
    }

    // Change the color model from RGB (BGR) to HSV. This makes it easier to choose a color based on Hue
    cvCvtColor(p_imgOriginal, p_imgHSV, CV_BGR2HSV);

    cvInRangeS(p_imgHSV,                // function input
               cvScalar(38,  60,  70),          // min filtering value (if color is greater than or equal to this ...