example_cargo_main.c

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// Copyright (c) Acconeer AB, 2025
// All rights reserved
// This file is subject to the terms and conditions defined in the file
// 'LICENSES/license_acconeer.txt', (BSD 3-Clause License) which is part
// of this source code package.
 
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
 
#include "acc_config.h"
#include "acc_hal_definitions_a121.h"
#include "acc_hal_integration_a121.h"
#include "acc_integration.h"
#include "acc_integration_log.h"
#include "acc_rss_a121.h"
#include "acc_sensor.h"
#include "acc_version.h"
#include "example_cargo.h"
#include "example_cargo_main.h"
 
#define SENSOR_ID         (1U)
#define SENSOR_TIMEOUT_MS (1000U)
 
/**
 * @brief Frees any allocated resources
 */
static void cleanup(acc_sensor_t *sensor, void *buffer, uint8_t *distance_cal_result_static, cargo_handle_t *handle);
 
/**
 * @brief Performs sensor calibration (with retry)
 */
static bool do_sensor_calibration(acc_sensor_t *sensor, void *buffer, uint32_t buffer_size, acc_cal_result_t *cal_result);
 
/**
 * @brief Performs cargo calibration (with retry)
 */
static bool do_cargo_calibration(acc_sensor_t                      *sensor,
                                 cargo_handle_t                    *cargo_handle,
                                 void                              *buffer,
                                 uint32_t                           buffer_size,
                                 acc_cal_result_t                  *sensor_cal_result,
                                 uint8_t                           *distance_cal_result_static,
                                 uint32_t                           distance_cal_result_static_size,
                                 acc_detector_cal_result_dynamic_t *distance_cal_result_dynamic);
 
/**
 * @brief Print a processor result in a human-readable format
 */
static void print_cargo_result(const cargo_result_t *result, bool result_available);
 
int acconeer_main(int argc, char *argv[])
{
        (void)argc;
        (void)argv;
        acc_sensor_t    *sensor            = NULL;
        acc_cal_result_t sensor_cal_result = {0};
 
        void    *buffer      = NULL;
        uint32_t buffer_size = 0;
 
        uint32_t                          distance_cal_result_static_size = 0U;
        uint8_t                          *distance_cal_result_static      = NULL;
        acc_detector_cal_result_dynamic_t distance_cal_result_dynamic     = {0};
 
        cargo_handle_t *cargo_handle = NULL;
        cargo_result_t  cargo_result = {0};
 
        cargo_config_t cargo_config = {0};
 
        printf("Acconeer software version %s\n", acc_version_get());
 
        const acc_hal_a121_t *hal = acc_hal_rss_integration_get_implementation();
 
        if (!acc_rss_hal_register(hal))
        {
                return EXIT_FAILURE;
        }
 
        cargo_config_initialize(&cargo_config, CARGO_PRESET_NO_LENS);
 
        cargo_config_log(&cargo_config);
 
        cargo_handle = cargo_handle_create(&cargo_config);
        if (cargo_handle == NULL)
        {
                printf("cargo_handle_create() failed\n");
                cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                return EXIT_FAILURE;
        }
 
        acc_detector_presence_metadata_t presence_metadata = {0};
        if (cargo_presence_metadata_get(cargo_handle, &presence_metadata))
        {
                printf("Presence metadata\n");
                printf("presence_metadata.start_m:       %" PRIfloat "\n", ACC_LOG_FLOAT_TO_INTEGER(presence_metadata.start_m));
                printf("presence_metadata.end_m:         %" PRIfloat "\n", ACC_LOG_FLOAT_TO_INTEGER(presence_metadata.end_m));
                printf("presence_metadata.step_length_m: %" PRIfloat "\n", ACC_LOG_FLOAT_TO_INTEGER(presence_metadata.step_length_m));
                printf("presence_metadata.num_points:    %" PRIu16 "\n", presence_metadata.num_points);
        }
        else
        {
                printf("Cargo is not configured to have presence activated.\n");
        }
 
        if (!cargo_get_buffer_size(cargo_handle, &buffer_size))
        {
                printf("cargo_get_buffer_size() failed\n");
                cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                return EXIT_FAILURE;
        }
 
        if (!cargo_get_distance_cal_result_static_size(cargo_handle, &distance_cal_result_static_size))
        {
                printf("cargo_get_distance_cal_result_static_size() failed\n");
                cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                return EXIT_FAILURE;
        }
 
        buffer = acc_integration_mem_alloc(buffer_size);
        if (buffer == NULL)
        {
                printf("buffer allocation failed\n");
                cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                return EXIT_FAILURE;
        }
 
        if (distance_cal_result_static_size > 0U)
        {
                distance_cal_result_static = acc_integration_mem_alloc(distance_cal_result_static_size);
                if (distance_cal_result_static == NULL)
                {
                        printf("distance_cal_result_static buffer allocation failed\n");
                        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                        return EXIT_FAILURE;
                }
        }
 
        acc_hal_integration_sensor_supply_on(SENSOR_ID);
        acc_hal_integration_sensor_enable(SENSOR_ID);
 
        sensor = acc_sensor_create(SENSOR_ID);
        if (sensor == NULL)
        {
                printf("acc_sensor_create() failed\n");
                cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                return EXIT_FAILURE;
        }
 
        if (!do_sensor_calibration(sensor, buffer, buffer_size, &sensor_cal_result))
        {
                printf("do_sensor_calibration() failed\n");
                acc_sensor_status(sensor);
                cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                return EXIT_FAILURE;
        }
 
        // Reset sensor after calibration by disabling/enabling it
        acc_hal_integration_sensor_disable(SENSOR_ID);
        acc_hal_integration_sensor_enable(SENSOR_ID);
 
        if (!do_cargo_calibration(sensor,
                                  cargo_handle,
                                  buffer,
                                  buffer_size,
                                  &sensor_cal_result,
                                  distance_cal_result_static,
                                  distance_cal_result_static_size,
                                  &distance_cal_result_dynamic))
        {
                printf("do_cargo_calibration() failed\n");
                acc_sensor_status(sensor);
                cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                return EXIT_FAILURE;
        }
 
        while (true)
        {
                if (cargo_config.activate_utilization_level)
                {
                        if (!cargo_prepare_utilization(cargo_handle, sensor, &sensor_cal_result, buffer, buffer_size))
                        {
                                printf("cargo_prepare_utilization() failed\n");
                                acc_sensor_status(sensor);
                                cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                return EXIT_FAILURE;
                        }
 
                        do
                        {
                                if (!acc_sensor_measure(sensor))
                                {
                                        printf("acc_sensor_measure() failed\n");
                                        acc_sensor_status(sensor);
                                        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                        return EXIT_FAILURE;
                                }
 
                                if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
                                {
                                        printf("Sensor interrupt timeout\n");
                                        acc_sensor_status(sensor);
                                        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                        return EXIT_FAILURE;
                                }
 
                                if (!acc_sensor_read(sensor, buffer, buffer_size))
                                {
                                        printf("acc_sensor_read() failed\n");
                                        acc_sensor_status(sensor);
                                        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                        return EXIT_FAILURE;
                                }
 
                                bool result_available = false;
                                if (!cargo_process_utilization(cargo_handle,
                                                               distance_cal_result_static,
                                                               &distance_cal_result_dynamic,
                                                               buffer,
                                                               &cargo_result,
                                                               &result_available,
                                                               NULL))
                                {
                                        printf("cargo_process_utilization() failed\n");
                                        acc_sensor_status(sensor);
                                        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                        return EXIT_FAILURE;
                                }
 
                                print_cargo_result(&cargo_result, result_available);
 
                        } while (cargo_current_mode_get(cargo_handle) == CARGO_MODE_UTILIZATION);
                }
                if (cargo_config.activate_presence)
                {
                        if (!cargo_prepare_presence(cargo_handle, sensor, &sensor_cal_result, buffer, buffer_size))
                        {
                                printf("cargo_prepare_presence() failed\n");
                                acc_sensor_status(sensor);
                                cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                return EXIT_FAILURE;
                        }
 
                        do
                        {
                                if (!acc_sensor_measure(sensor))
                                {
                                        printf("acc_sensor_measure() failed\n");
                                        acc_sensor_status(sensor);
                                        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                        return EXIT_FAILURE;
                                }
 
                                if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
                                {
                                        printf("Sensor interrupt timeout\n");
                                        acc_sensor_status(sensor);
                                        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                        return EXIT_FAILURE;
                                }
 
                                if (!acc_sensor_read(sensor, buffer, buffer_size))
                                {
                                        printf("acc_sensor_read() failed\n");
                                        acc_sensor_status(sensor);
                                        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                        return EXIT_FAILURE;
                                }
 
                                if (!cargo_process_presence(cargo_handle, buffer, &cargo_result, NULL))
                                {
                                        printf("cargo_process_presence() failed\n");
                                        acc_sensor_status(sensor);
                                        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
                                        return EXIT_FAILURE;
                                }
 
                                print_cargo_result(&cargo_result, true);
 
                        } while (cargo_current_mode_get(cargo_handle) == CARGO_MODE_PRESENCE);
                }
        }
 
        cleanup(sensor, buffer, distance_cal_result_static, cargo_handle);
 
        printf("Application finished OK\n");
 
        return EXIT_SUCCESS;
}
 
static void cleanup(acc_sensor_t *sensor, void *buffer, uint8_t *distance_cal_result_static, cargo_handle_t *handle)
{
        acc_hal_integration_sensor_disable(SENSOR_ID);
        acc_hal_integration_sensor_supply_off(SENSOR_ID);
 
        if (sensor != NULL)
        {
                acc_sensor_destroy(sensor);
        }
 
        if (buffer != NULL)
        {
                acc_integration_mem_free(buffer);
        }
 
        if (distance_cal_result_static != NULL)
        {
                acc_integration_mem_free(distance_cal_result_static);
        }
 
        if (handle != NULL)
        {
                cargo_handle_destroy(handle);
        }
}
 
static bool do_sensor_calibration(acc_sensor_t *sensor, void *buffer, uint32_t buffer_size, acc_cal_result_t *cal_result)
{
        bool           status              = false;
        bool           cal_complete        = false;
        const uint16_t calibration_retries = 1U;
 
        // Random disturbances may cause the calibration to fail. At failure, retry at least once.
        for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
        {
                // Reset sensor before calibration by disabling/enabling it
                acc_hal_integration_sensor_disable(SENSOR_ID);
                acc_hal_integration_sensor_enable(SENSOR_ID);
 
                do
                {
                        status = acc_sensor_calibrate(sensor, &cal_complete, cal_result, buffer, buffer_size);
 
                        if (status && !cal_complete)
                        {
                                status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
                        }
                } while (status && !cal_complete);
        }
 
        return status;
}
 
static bool do_cargo_calibration(acc_sensor_t                      *sensor,
                                 cargo_handle_t                    *cargo_handle,
                                 void                              *buffer,
                                 uint32_t                           buffer_size,
                                 acc_cal_result_t                  *sensor_cal_result,
                                 uint8_t                           *distance_cal_result_static,
                                 uint32_t                           distance_cal_result_static_size,
                                 acc_detector_cal_result_dynamic_t *distance_cal_result_dynamic)
{
        bool status           = true;
        bool calibration_done = false;
 
        while (status && !calibration_done)
        {
                status = cargo_calibrate(cargo_handle,
                                         sensor,
                                         sensor_cal_result,
                                         buffer,
                                         buffer_size,
                                         distance_cal_result_static,
                                         distance_cal_result_static_size,
                                         distance_cal_result_dynamic,
                                         &calibration_done);
 
                if (status && !calibration_done)
                {
                        status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
                }
        }
 
        return status;
}
 
static void print_cargo_result(const cargo_result_t *result, bool result_available)
{
        static uint32_t frameno = 0U;
        frameno++;
 
        printf("frameno %" PRIu32 "\n", frameno);
 
        if (result_available)
        {
                if (result->utilization_valid)
                {
                        printf("distance:             %" PRIfloat "\n", ACC_LOG_FLOAT_TO_INTEGER(result->distance));
                        printf("level_m:              %" PRIfloat "\n", ACC_LOG_FLOAT_TO_INTEGER(result->level_m));
                        printf("level_percent:        %" PRIfloat "\n", ACC_LOG_FLOAT_TO_INTEGER(result->level_percent));
                }
 
                if (result->presence_valid)
                {
                        printf("presence_detected:    %s\n", result->presence_detected ? "true" : "false");
                        printf("inter_presence_score: %" PRIfloat "\n", ACC_LOG_FLOAT_TO_INTEGER(result->inter_presence_score));
                        printf("intra_presence_score: %" PRIfloat "\n", ACC_LOG_FLOAT_TO_INTEGER(result->intra_presence_score));
                }
        }
}