example_detector_presence_multiple_configurations.c

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// Copyright (c) Acconeer AB, 2022-2025
// 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 <stdint.h>
#include <stdio.h>
#include <stdlib.h>
 
#include "acc_definitions_a121.h"
#include "acc_definitions_common.h"
#include "acc_detector_presence.h"
#include "acc_hal_definitions_a121.h"
#include "acc_hal_integration_a121.h"
#include "acc_integration.h"
#include "acc_rss_a121.h"
#include "acc_sensor.h"
 
#include "acc_version.h"
 
/** \example example_detector_presence_multiple_configurations.c
 * @brief This is an example on how the Detector Presence API can be used
 * @n
 * The example executes as follows:
 *   - Create a first presence configuration
 *   - Create a second presence configuration
 *   - Create a sensor instance
 *   - Calibrate the sensor
 *   - Loop forever:
 *     - Loop configurations (i):
 *       - Create a detector instance with the i:th configuration
 *       - Prepare the detector with the i:th configuration
 *       - Loop nbr iterations per configuration:
 *         - Perform a sensor measurement and read out the data
 *         - Process the measurement and get detector result
 *       - Destroy the detector instance
 *   - Destroy the configuration
 *   - Destroy the sensor instance
 */
 
#define SENSOR_ID                 (1U)
#define SENSOR_TIMEOUT_MS         (1000U)
#define NBR_CONFIGS               (2U)
#define NBR_ITERATIONS_PER_CONFIG (20U)
 
typedef struct example_config
{
        char *name;
        float start;
        float end;
        float frame_rate;
        bool  reset_filters_on_prepare;
} example_config_t;
 
static void print_result(acc_detector_presence_result_t *result, const char *config_name);
 
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);
 
int acconeer_main(int argc, char *argv[]);
 
int acconeer_main(int argc, char *argv[])
{
        (void)argc;
        (void)argv;
        acc_detector_presence_config_t  *presence_config[NBR_CONFIGS] = {NULL};
        acc_detector_presence_handle_t  *presence_handle[NBR_CONFIGS] = {NULL};
        acc_detector_presence_metadata_t metadata[NBR_CONFIGS];
        acc_sensor_t                    *sensor      = NULL;
        void                            *buffer      = NULL;
        uint32_t                         buffer_size = 0U;
 
        example_config_t example_configurations[] = {
            {
                .name       = "zone1",
                .start      = 1.0f,
                .end        = 2.0f,
                .frame_rate = 5.0f,
                /**
                 * Detector filters and states are reset on prepare (reconfiguration) to avoid risk of false detections
                 * when switching back to a zone.
                 */
                .reset_filters_on_prepare = true,
            },
            {
                .name       = "zone2",
                .start      = 0.2f,
                .end        = 1.0f,
                .frame_rate = 10.0f,
                /**
                 * Detector filters and states are reset on prepare (reconfiguration) to avoid risk of false detections
                 * when switching back to a zone.
                 */
                .reset_filters_on_prepare = true,
            },
        };
 
        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;
        }
 
        for (uint32_t cfg = 0U; cfg < NBR_CONFIGS; cfg++)
        {
                presence_config[cfg] = acc_detector_presence_config_create();
                if (presence_config[cfg] == NULL)
                {
                        printf("acc_detector_presence_config_create() failed\n");
                        cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                        return EXIT_FAILURE;
                }
 
                acc_detector_presence_config_start_set(presence_config[cfg], example_configurations[cfg].start);
                acc_detector_presence_config_end_set(presence_config[cfg], example_configurations[cfg].end);
                acc_detector_presence_config_frame_rate_set(presence_config[cfg], example_configurations[cfg].frame_rate);
                acc_detector_presence_config_reset_filters_on_prepare_set(presence_config[cfg], example_configurations[cfg].reset_filters_on_prepare);
 
                uint32_t current_buffer_size = 0;
 
                presence_handle[cfg] = acc_detector_presence_create(presence_config[cfg], &metadata[cfg]);
                if (presence_handle[cfg] == NULL)
                {
                        printf("acc_detector_presence_create() failed\n");
                        cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                        return EXIT_FAILURE;
                }
 
                if (!acc_detector_presence_get_buffer_size(presence_handle[cfg], &current_buffer_size))
                {
                        printf("acc_detector_presence_get_buffer_size() failed\n");
                        cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                        return EXIT_FAILURE;
                }
 
                if (buffer_size < current_buffer_size)
                {
                        buffer_size = current_buffer_size;
                }
        }
 
        buffer = acc_integration_mem_alloc(buffer_size);
        if (buffer == NULL)
        {
                printf("buffer allocation failed\n");
                cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                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(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                return EXIT_FAILURE;
        }
 
        bool             status;
        bool             cal_complete = false;
        acc_cal_result_t cal_result;
 
        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);
 
        if (!status)
        {
                printf("acc_sensor_calibrate() failed\n");
                cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                return EXIT_FAILURE;
        }
 
        // Reset sensor after calibration by disabling it
        acc_hal_integration_sensor_disable(SENSOR_ID);
        acc_hal_integration_sensor_enable(SENSOR_ID);
 
        while (true)
        {
                for (uint32_t cfg = 0U; cfg < NBR_CONFIGS; cfg++)
                {
                        acc_detector_presence_result_t result;
 
                        if (!acc_detector_presence_prepare(presence_handle[cfg], presence_config[cfg], sensor, &cal_result, buffer, buffer_size))
                        {
                                printf("acc_detector_presence_prepare() failed\n");
                                cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                                return EXIT_FAILURE;
                        }
 
                        for (uint32_t i = 0U; i < NBR_ITERATIONS_PER_CONFIG; i++)
                        {
                                if (!acc_sensor_measure(sensor))
                                {
                                        printf("acc_sensor_measure failed\n");
                                        cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                                        return EXIT_FAILURE;
                                }
 
                                if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
                                {
                                        printf("Sensor interrupt timeout\n");
                                        cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                                        return EXIT_FAILURE;
                                }
 
                                if (!acc_sensor_read(sensor, buffer, buffer_size))
                                {
                                        printf("acc_sensor_read failed\n");
                                        cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                                        return EXIT_FAILURE;
                                }
 
                                if (!acc_detector_presence_process(presence_handle[cfg], buffer, &result))
                                {
                                        printf("acc_detector_presence_process failed\n");
                                        cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
                                        return EXIT_FAILURE;
                                }
 
                                /* The depthwise inter and intra score arrays that are part of the 'result',
                                 * points to memory inside the 'buffer'. So they need to be handled before
                                 * the 'buffer' is used again (for example in @ref acc_sensor_read or
                                 * @ref acc_detector_presence_process).
                                 */
                                print_result(&result, example_configurations[cfg].name);
                        }
                }
        }
 
        cleanup(presence_handle, presence_config, sensor, buffer, NBR_CONFIGS);
 
        printf("Application finished OK\n");
 
        return EXIT_SUCCESS;
}
 
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)
{
        acc_hal_integration_sensor_disable(SENSOR_ID);
        acc_hal_integration_sensor_supply_off(SENSOR_ID);
 
        for (uint32_t cfg = 0U; cfg < nbr_configs; cfg++)
        {
                if (presence_config[cfg] != NULL)
                {
                        acc_detector_presence_config_destroy(presence_config[cfg]);
                        presence_config[cfg] = NULL;
                }
 
                if (presence_handle[cfg] != NULL)
                {
                        acc_detector_presence_destroy(presence_handle[cfg]);
                        presence_handle[cfg] = NULL;
                }
        }
 
        if (sensor != NULL)
        {
                acc_sensor_destroy(sensor);
        }
 
        if (buffer != NULL)
        {
                acc_integration_mem_free(buffer);
        }
}
 
static void print_result(acc_detector_presence_result_t *result, const char *config_name)
{
        if (result->presence_detected)
        {
                printf("Motion\n");
        }
        else
        {
                printf("No motion\n");
        }
 
        // Score and distance are multiplied by 1000 to avoid printing floats
        printf("%s - Intra presence score: %d, Inter presence score: %d, Distance (mm): %d\n",
               config_name,
               (int)(result->intra_presence_score * 1000.0f),
               (int)(result->inter_presence_score * 1000.0f),
               (int)(result->presence_distance * 1000.0f));
 
        printf("%s - Depthwise Intra Presence Scores: \t", config_name);
        for (uint16_t i = 0; i < result->depthwise_presence_scores_length; i++)
        {
                // Score is multiplied by 1000 to avoid printing floats
                printf("%5i", (int)(result->depthwise_intra_presence_scores[i] * 1000));
        }
 
        printf("\n");
        printf("%s - Depthwise Inter Presence Scores: \t", config_name);
        for (uint16_t i = 0; i < result->depthwise_presence_scores_length; i++)
        {
                // Score is multiplied by 1000 to avoid printing floats
                printf("%5i", (int)(result->depthwise_inter_presence_scores[i] * 1000));
        }
 
        printf("\n");
}