example_detector_presence_multiple_configurations.c
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1 // Copyright (c) Acconeer AB, 2022-2023
2 // All rights reserved
3 // This file is subject to the terms and conditions defined in the file
4 // 'LICENSES/license_acconeer.txt', (BSD 3-Clause License) which is part
5 // of this source code package.
6
7 #include <stdbool.h>
8 #include <stdint.h>
9 #include <stdio.h>
10 #include <stdlib.h>
11
12 #include "acc_definitions_a121.h"
13 #include "acc_definitions_common.h"
14 #include "acc_detector_presence.h"
15 #include "acc_hal_definitions_a121.h"
16 #include "acc_hal_integration_a121.h"
17 #include "acc_integration.h"
18 #include "acc_rss_a121.h"
19 #include "acc_sensor.h"
20
21 #include "acc_version.h"
22
23 /** \example example_detector_presence_multiple_configurations.c
24 * @brief This is an example on how the Detector Presence API can be used
25 * @n
26 * The example executes as follows:
27 * - Create a first presence configuration
28 * - Create a second presence configuration
29 * - Create a sensor instance
30 * - Calibrate the sensor
31 * - Loop forever:
32 * - Loop configurations (i):
33 * - Create a detector instance with the i:th configuration
34 * - Prepare the detector with the i:th configuration
35 * - Loop nbr iterations per configuration:
36 * - Perform a sensor measurement and read out the data
37 * - Process the measurement and get detector result
38 * - Destroy the detector instance
39 * - Destroy the configuration
40 * - Destroy the sensor instance
41 */
42
43 #define SENSOR_ID (1U)
44 #define SENSOR_TIMEOUT_MS (1000U)
45 #define NBR_CONFIGS (2U)
46 #define NBR_ITERATIONS_PER_CONFIG (20U)
47
48
49 typedef struct example_config
50 {
51 char *name;
52 float start;
53 float end;
54 float frame_rate;
55 bool reset_filters_on_prepare;
56 } example_config_t;
57
58
59 static void print_result(acc_detector_presence_result_t result, const char *config_name);
60
61
62 static void cleanup(acc_detector_presence_handle_t **presence_handle,
63 acc_detector_presence_config_t **presence_config,
64 acc_sensor_t *sensor,
65 void *buffer,
66 uint32_t nbr_configs);
67
68
69 int acconeer_main(int argc, char *argv[]);
70
71
72 int acconeer_main(int argc, char *argv[])
73 {
74 (void)argc;
75 (void)argv;
76 acc_detector_presence_config_t *presence_config[NBR_CONFIGS] = { NULL };
77 acc_detector_presence_handle_t *presence_handle[NBR_CONFIGS] = { NULL };
78 acc_detector_presence_metadata_t metadata[NBR_CONFIGS];
79 acc_sensor_t *sensor = NULL;
80 void *buffer = NULL;
81 uint32_t buffer_size = 0U;
82
83 example_config_t example_configurations[] =
84 {
85 {
86 .name = "zone1",
87 .start = 1.0f,
88 .end = 2.0f,
89 .frame_rate = 5.0f,
90 /**
91 * Detector filters and states are reset on prepare (reconfiguration) to avoid risk of false detections
92 * when switching back to a zone.
93 */
94 .reset_filters_on_prepare = true,
95 },
96 {
97 .name = "zone2",
98 .start = 0.2f,
99 .end = 1.0f,
100 .frame_rate = 10.0f,
101 /**
102 * Detector filters and states are reset on prepare (reconfiguration) to avoid risk of false detections
103 * when switching back to a zone.
104 */
105 .reset_filters_on_prepare = true,
106 },
107 };
108
109 printf("Acconeer software version %s\n", acc_version_get());
110
111 const acc_hal_a121_t *hal = acc_hal_rss_integration_get_implementation();
112
113 if (!acc_rss_hal_register(hal))
114 {
115 return EXIT_FAILURE;
116 }
117
118 for (uint32_t cfg = 0U; cfg < NBR_CONFIGS; cfg++)
119 {
120 presence_config[cfg] = acc_detector_presence_config_create();
121 if (presence_config[cfg] == NULL)
122 {
123 printf("acc_detector_presence_config_create() failed\n");
124 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
125 return EXIT_FAILURE;
126 }
127
128 acc_detector_presence_config_start_set(presence_config[cfg], example_configurations[cfg].start);
129 acc_detector_presence_config_end_set(presence_config[cfg], example_configurations[cfg].end);
130 acc_detector_presence_config_frame_rate_set(presence_config[cfg], example_configurations[cfg].frame_rate);
131 acc_detector_presence_config_reset_filters_on_prepare_set(presence_config[cfg], example_configurations[cfg].reset_filters_on_prepare);
132
133 uint32_t current_buffer_size = 0;
134
135 presence_handle[cfg] = acc_detector_presence_create(presence_config[cfg], &metadata[cfg]);
136 if (presence_handle[cfg] == NULL)
137 {
138 printf("acc_detector_presence_create() failed\n");
139 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
140 return EXIT_FAILURE;
141 }
142
143 if (!acc_detector_presence_get_buffer_size(presence_handle[cfg], &current_buffer_size))
144 {
145 printf("acc_detector_presence_get_buffer_size() failed\n");
146 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
147 return EXIT_FAILURE;
148 }
149
150 if (buffer_size < current_buffer_size)
151 {
152 buffer_size = current_buffer_size;
153 }
154 }
155
156 buffer = acc_integration_mem_alloc(buffer_size);
157 if (buffer == NULL)
158 {
159 printf("buffer allocation failed\n");
160 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
161 return EXIT_FAILURE;
162 }
163
164 acc_hal_integration_sensor_supply_on(SENSOR_ID);
165 acc_hal_integration_sensor_enable(SENSOR_ID);
166
167 sensor = acc_sensor_create(SENSOR_ID);
168 if (sensor == NULL)
169 {
170 printf("acc_sensor_create() failed\n");
171 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
172 return EXIT_FAILURE;
173 }
174
175 bool status;
176 bool cal_complete = false;
177 acc_cal_result_t cal_result;
178
179 do
180 {
181 status = acc_sensor_calibrate(sensor, &cal_complete, &cal_result, buffer, buffer_size);
182
183 if (status && !cal_complete)
184 {
185 status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
186 }
187 } while (status && !cal_complete);
188
189 if (!status)
190 {
191 printf("acc_sensor_calibrate() failed\n");
192 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
193 return EXIT_FAILURE;
194 }
195
196 // Reset sensor after calibration by disabling it
197 acc_hal_integration_sensor_disable(SENSOR_ID);
198 acc_hal_integration_sensor_enable(SENSOR_ID);
199
200 while (true)
201 {
202 for (uint32_t cfg = 0U; cfg < NBR_CONFIGS; cfg++)
203 {
204 acc_detector_presence_result_t result;
205
206 if (!acc_detector_presence_prepare(presence_handle[cfg], presence_config[cfg], sensor,
207 &cal_result, buffer, buffer_size))
208 {
209 printf("acc_detector_presence_prepare() failed\n");
210 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
211 return EXIT_FAILURE;
212 }
213
214 for (uint32_t i = 0U; i < NBR_ITERATIONS_PER_CONFIG; i++)
215 {
216 if (!acc_sensor_measure(sensor))
217 {
218 printf("acc_sensor_measure failed\n");
219 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
220 return EXIT_FAILURE;
221 }
222
223 if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
224 {
225 printf("Sensor interrupt timeout\n");
226 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
227 return EXIT_FAILURE;
228 }
229
230 if (!acc_sensor_read(sensor, buffer, buffer_size))
231 {
232 printf("acc_sensor_read failed\n");
233 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
234 return EXIT_FAILURE;
235 }
236
237 if (!acc_detector_presence_process(presence_handle[cfg], buffer, &result))
238 {
239 printf("acc_detector_presence_process failed\n");
240 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
241 return EXIT_FAILURE;
242 }
243
244 /* The depthwise inter and intra score arrays that are part of the 'result',
245 * points to memory inside the 'buffer'. So they need to be handled before
246 * the 'buffer' is used again (for example in @ref acc_sensor_read or
247 * @ref acc_detector_presence_process).
248 */
249 print_result(result, example_configurations[cfg].name);
250 }
251 }
252 }
253
254 cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
255
256 printf("Application finished OK\n");
257
258 return EXIT_SUCCESS;
259 }
260
261
262 static void cleanup(acc_detector_presence_handle_t **presence_handle,
263 acc_detector_presence_config_t **presence_config,
264 acc_sensor_t *sensor,
265 void *buffer,
266 uint32_t nbr_configs)
267 {
268 acc_hal_integration_sensor_disable(SENSOR_ID);
269 acc_hal_integration_sensor_supply_off(SENSOR_ID);
270
271 for (uint32_t cfg = 0U; cfg < nbr_configs; cfg++)
272 {
273 if (presence_config[cfg] != NULL)
274 {
275 acc_detector_presence_config_destroy(presence_config[cfg]);
276 presence_config[cfg] = NULL;
277 }
278
279 if (presence_handle[cfg] != NULL)
280 {
281 acc_detector_presence_destroy(presence_handle[cfg]);
282 presence_handle[cfg] = NULL;
283 }
284 }
285
286 if (sensor != NULL)
287 {
288 acc_sensor_destroy(sensor);
289 }
290
291 if (buffer != NULL)
292 {
293 acc_integration_mem_free(buffer);
294 }
295 }
296
297
298 static void print_result(acc_detector_presence_result_t result, const char *config_name)
299 {
300 if (result.presence_detected)
301 {
302 printf("Motion\n");
303 }
304 else
305 {
306 printf("No motion\n");
307 }
308
309 // Score and distance are multiplied by 1000 to avoid printing floats
310 printf("%s - Intra presence score: %d, Inter presence score: %d, Distance (mm): %d\n",
311 config_name,
312 (int)(result.intra_presence_score * 1000.0f),
313 (int)(result.inter_presence_score * 1000.0f),
314 (int)(result.presence_distance * 1000.0f));
315
316 printf("%s - Depthwise Intra Presence Scores: \t", config_name);
317 for (uint16_t i = 0; i < result.depthwise_presence_scores_length; i++)
318 {
319 // Score is multiplied by 1000 to avoid printing floats
320 printf("%5i", (int)(result.depthwise_intra_presence_scores[i] * 1000));
321 }
322
323 printf("\n");
324 printf("%s - Depthwise Inter Presence Scores: \t", config_name);
325 for (uint16_t i = 0; i < result.depthwise_presence_scores_length; i++)
326 {
327 // Score is multiplied by 1000 to avoid printing floats
328 printf("%5i", (int)(result.depthwise_inter_presence_scores[i] * 1000));
329 }
330
331 printf("\n");
332 }
acc_detector_presence_result_t::inter_presence_score
float inter_presence_score
Definition: acc_detector_presence.h:63
acc_hal_integration_sensor_supply_off
void acc_hal_integration_sensor_supply_off(acc_sensor_id_t sensor_id)
Power off sensor supply.
Definition: acc_hal_integration_stm32cube_xm.c:113
acc_rss_a121.h
acc_detector_presence_prepare
bool acc_detector_presence_prepare(acc_detector_presence_handle_t *presence_handle, acc_detector_presence_config_t *presence_config, acc_sensor_t *sensor, const acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Prepare the detector to do a measurement.
acc_hal_integration_sensor_supply_on
void acc_hal_integration_sensor_supply_on(acc_sensor_id_t sensor_id)
Power on sensor supply.
Definition: acc_hal_integration_stm32cube_xm.c:107
acc_detector_presence_destroy
void acc_detector_presence_destroy(acc_detector_presence_handle_t *presence_handle)
Destroy a presence detector identified with the provided handle.
NBR_CONFIGS
#define NBR_CONFIGS
Definition: example_detector_presence_multiple_configurations.c:45
example_config
Definition: example_detector_presence_multiple_configurations.c:49
acc_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
acc_detector_presence_result_t::depthwise_presence_scores_length
uint32_t depthwise_presence_scores_length
Definition: acc_detector_presence.h:81
acc_version.h
NBR_ITERATIONS_PER_CONFIG
#define NBR_ITERATIONS_PER_CONFIG
Definition: example_detector_presence_multiple_configurations.c:46
acc_cal_result_t
Definition: acc_definitions_a121.h:19
example_config::reset_filters_on_prepare
bool reset_filters_on_prepare
Definition: example_detector_presence_multiple_configurations.c:55
acc_detector_presence_config_frame_rate_set
void acc_detector_presence_config_frame_rate_set(acc_detector_presence_config_t *presence_config, float frame_rate)
Set the frame rate.
acc_integration.h
acc_detector_presence_get_buffer_size
bool acc_detector_presence_get_buffer_size(const acc_detector_presence_handle_t *presence_handle, uint32_t *buffer_size)
Get the buffer size needed for the provided presence detector handle.
acc_hal_rss_integration_get_implementation
const acc_hal_a121_t * acc_hal_rss_integration_get_implementation(void)
Get hal implementation reference.
Definition: acc_hal_integration_stm32cube_xm.c:166
acc_detector_presence_result_t::presence_detected
bool presence_detected
Definition: acc_detector_presence.h:55
acc_integration_mem_alloc
void * acc_integration_mem_alloc(size_t size)
Allocate dynamic memory.
Definition: acc_integration_stm32.c:632
print_result
static void print_result(acc_detector_presence_result_t result, const char *config_name)
Definition: example_detector_presence_multiple_configurations.c:298
acc_hal_a121_t
Definition: acc_hal_definitions_a121.h:82
acc_rss_hal_register
bool acc_rss_hal_register(const acc_hal_a121_t *hal)
Register an integration.
acc_sensor.h
acc_detector_presence_result_t
Presence detector results container.
Definition: acc_detector_presence.h:50
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_detector_presence_multiple_configurations.c:72
acc_detector_presence_config_destroy
void acc_detector_presence_config_destroy(acc_detector_presence_config_t *presence_config)
Destroy a presence detector configuration.
acc_detector_presence_metadata_t
Definition: acc_detector_presence.h:93
acc_hal_integration_wait_for_sensor_interrupt
bool acc_hal_integration_wait_for_sensor_interrupt(acc_sensor_id_t sensor_id, uint32_t timeout_ms)
Wait for a sensor interrupt.
Definition: acc_hal_integration_stm32cube_xm.c:142
acc_hal_integration_a121.h
acc_detector_presence_config_end_set
void acc_detector_presence_config_end_set(acc_detector_presence_config_t *presence_config, float end)
Set the end point of measurement interval in meters.
acc_version_get
const char * acc_version_get(void)
Get the version of the Acconeer software.
printf
#define printf
Definition: printf.h:60
example_config::name
char * name
Definition: example_detector_presence_multiple_configurations.c:51
acc_detector_presence_result_t::intra_presence_score
float intra_presence_score
Definition: acc_detector_presence.h:59
acc_hal_integration_sensor_enable
void acc_hal_integration_sensor_enable(acc_sensor_id_t sensor_id)
Enable sensor.
Definition: acc_hal_integration_stm32cube_xm.c:119
acc_detector_presence_result_t::depthwise_intra_presence_scores
float * depthwise_intra_presence_scores
Definition: acc_detector_presence.h:72
acc_hal_definitions_a121.h
acc_detector_presence_process
bool acc_detector_presence_process(acc_detector_presence_handle_t *presence_handle, void *buffer, acc_detector_presence_result_t *result)
Process the data according to the configuration used in acc_detector_presence_config_create.
example_config::frame_rate
float frame_rate
Definition: example_detector_presence_multiple_configurations.c:54
acc_detector_presence_config_reset_filters_on_prepare_set
void acc_detector_presence_config_reset_filters_on_prepare_set(acc_detector_presence_config_t *presence_config, bool enable)
Set if the presence filters should reset on prepare.
acc_detector_presence_result_t::depthwise_inter_presence_scores
float * depthwise_inter_presence_scores
Definition: acc_detector_presence.h:77
acc_hal_integration_sensor_disable
void acc_hal_integration_sensor_disable(acc_sensor_id_t sensor_id)
Disable sensor.
Definition: acc_hal_integration_stm32cube_xm.c:130
acc_detector_presence_config_t
struct acc_detector_presence_config acc_detector_presence_config_t
Definition: acc_detector_presence.h:44
example_config_t
struct example_config example_config_t
cleanup
static void cleanup(acc_detector_presence_handle_t **presence_handle, acc_detector_presence_config_t **presence_config, acc_sensor_t *sensor, void *buffer, uint32_t nbr_configs)
Definition: example_detector_presence_multiple_configurations.c:262
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_detector_presence_multiple_configurations.c:44
example_config::end
float end
Definition: example_detector_presence_multiple_configurations.c:53
SENSOR_ID
#define SENSOR_ID
Definition: example_detector_presence_multiple_configurations.c:43
example_config::start
float start
Definition: example_detector_presence_multiple_configurations.c:52
acc_detector_presence_result_t::presence_distance
float presence_distance
Definition: acc_detector_presence.h:67
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:644
acc_definitions_common.h
acc_detector_presence_create
acc_detector_presence_handle_t * acc_detector_presence_create(acc_detector_presence_config_t *presence_config, acc_detector_presence_metadata_t *metadata)
Create a presence detector with the provided configuration.
acc_detector_presence_handle_t
struct acc_detector_presence_handle acc_detector_presence_handle_t
Definition: acc_detector_presence.h:36
acc_sensor_calibrate
bool acc_sensor_calibrate(acc_sensor_t *sensor, bool *cal_complete, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Calibrate a sensor.
acc_detector_presence_config_create
acc_detector_presence_config_t * acc_detector_presence_config_create(void)
Create a configuration for a presence detector.
acc_detector_presence_config_start_set
void acc_detector_presence_config_start_set(acc_detector_presence_config_t *presence_config, float start)
Set the start point of measurement interval in meters.
acc_detector_presence.h
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
acc_sensor_t
struct acc_sensor acc_sensor_t
Definition: acc_sensor.h:31
acc_sensor_destroy
void acc_sensor_destroy(acc_sensor_t *sensor)
Destroy a sensor instance freeing any resources allocated.
acc_definitions_a121.h
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.