/* **************************************************************************** *  init_newton.c *  * Initialize Newton Labs vision board and setup the serial port *  * David Huggins * June 1997 * * Copyright (c) 1997 Georgia Tech Research Corporation * All Rights Reserved * * ************************************************************************** */#include <stdio.h>#include <string.h>#include <malloc.h>#include "newton.h"/* global variables */int              NumberFound[NUMBER_OF_TYPES];NewtonLocation_t FoundObjects[NUMBER_OF_TYPES][MAX_OBJECTS];int _NewtonInitialized_ = FALSE; float center_x, center_y;int InitNewton( int port ){ char  *tmp_ptr; char  *init_file_name = "~demo/newton/newton.cfg.ammadeus"; int   pix_x, pix_y; int   j; float real_x, real_y; FILE  *init_file; int   otype;   if (_NewtonInitialized_)      return( NEWTON_SUCCESS );#if 0   /* Check for the NewtonInitFile environment variable */   tmp_ptr = getenv( "NewtonInitFile" );   if ( (tmp_ptr != NULL) && (strlen( tmp_ptr ) > 0) )   {      init_file_name = (char *)malloc(strlen( tmp_ptr ));      strcpy( init_file_name, tmp_ptr );   }   printf("got env var: %s\n", init_file_name);   init_file = fopen( init_file_name, "r" );   printf("opened file \n");   if (init_file == NULL)       return( NEWTON_FAILURE );   printf("file is not null--OK\n");   /* read the training file to set up the bilinear interpolation routines */   fscanf( init_file, "%d %d %f %f\n", pix_x, pix_y, real_x, real_y );#endif   center_x = 128;   center_y = 100;     /* initialize the global data arrays */   for (otype=0; otype<NUMBER_OF_TYPES; otype++)   {       NumberFound[otype] = 0;       for (j=0; j<MAX_OBJECTS; j++)       {           FoundObjects[otype][j].x = 0.0;           FoundObjects[otype][j].y = 0.0;           FoundObjects[otype][j].axis = 0.0;           FoundObjects[otype][j].area = 0.0;       }   }   /* configure and set up the serial port */   if (newton_open_port( port ) != NEWTON_SUCCESS)	{	printf("InitNewton: error in opening port\n");	return( NEWTON_IO_FAILURE );	}   printf("serial port opened \n");   _NewtonInitialized_ = TRUE;#if 0   fclose( init_file );#endif   return( NEWTON_SUCCESS );} /* ***** INIT_NEWTON.C ***** */