example_hand_motion_detection_main.c

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// Copyright (c) Acconeer AB, 2024
// 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_processing.h"
#include "acc_rss_a121.h"
#include "acc_sensor.h"
#include "acc_version.h"
#include "example_hand_motion_detection.h"
#include "example_hand_motion_detection_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, hand_motion_detection_config_t *config, hand_motion_detection_handle_t *handle);
 
/**
 * @brief Performs sensor calibration (with retry)
 */
static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size);
 
/**
 * @brief Handle sensor indications
 */
static bool handle_indications(hand_motion_detection_handle_t *handle,
                               hand_motion_detection_result_t *result,
                               acc_sensor_t                   *sensor,
                               acc_cal_result_t               *cal_result,
                               void                           *buffer,
                               uint32_t                        buffer_size,
                               bool                           *data_reliable);
 
/**
 * @brief Print a processor result in a human-readable format
 */
static void print_hand_motion_detection_result(const hand_motion_detection_result_t *result);
 
static bool enter_hibernate(acc_sensor_t *sensor);
 
static bool exit_hibernate(acc_sensor_t *sensor);
 
int acconeer_main(int argc, char *argv[])
{
        (void)argc;
        (void)argv;
        acc_sensor_t    *sensor = NULL;
        acc_cal_result_t cal_result;
        void            *buffer      = NULL;
        uint32_t         buffer_size = 0;
 
        hand_motion_detection_config_t *hand_motion_detection_config = NULL;
        hand_motion_detection_handle_t *hand_motion_detection_handle = NULL;
        hand_motion_detection_result_t  hand_motion_detection_result = {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;
        }
 
        hand_motion_detection_config = hand_motion_detection_config_create();
 
        if (hand_motion_detection_config == NULL)
        {
                printf("hand_motion_detection_config_create() failed\n");
                cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_handle);
                return EXIT_FAILURE;
        }
 
        hand_motion_detection_set_config(HAND_MOTION_DETECTION_PRESET_FAUCET, hand_motion_detection_config);
 
        hand_motion_detection_handle = hand_motion_detection_handle_create(hand_motion_detection_config, SENSOR_ID);
        if (hand_motion_detection_handle == NULL)
        {
                printf("hand_motion_detection_handle_create() failed\n");
                cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_handle);
                return EXIT_FAILURE;
        }
 
        hand_motion_detection_config_log(hand_motion_detection_handle);
 
        if (!hand_motion_detection_get_buffer_size(hand_motion_detection_handle, &buffer_size))
        {
                printf("acc_rss_get_buffer_size() failed\n");
                cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_handle);
                return EXIT_FAILURE;
        }
 
        buffer = acc_integration_mem_alloc(buffer_size);
        if (buffer == NULL)
        {
                printf("buffer allocation failed\n");
                cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_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, hand_motion_detection_config, hand_motion_detection_handle);
                return EXIT_FAILURE;
        }
 
        if (!do_sensor_calibration(sensor, &cal_result, buffer, buffer_size))
        {
                printf("do_sensor_calibration() failed\n");
                acc_sensor_status(sensor);
                cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_handle);
                return EXIT_FAILURE;
        }
 
        while (true)
        {
                if (!hand_motion_detection_prepare(hand_motion_detection_handle, sensor, &cal_result, buffer, buffer_size, false))
                {
                        printf("hand_motion_detection_prepare() failed\n");
                        cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_handle);
                        return EXIT_FAILURE;
                }
 
                if (!acc_sensor_measure(sensor))
                {
                        printf("acc_sensor_measure failed\n");
                        acc_sensor_status(sensor);
                        cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_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, hand_motion_detection_config, hand_motion_detection_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, hand_motion_detection_config, hand_motion_detection_handle);
                        return EXIT_FAILURE;
                }
 
                if (!enter_hibernate(sensor))
                {
                        printf("enter_hibernate failed\n");
                        cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_handle);
                        return EXIT_FAILURE;
                }
 
                hand_motion_detection_process(hand_motion_detection_handle, buffer, &hand_motion_detection_result);
 
                bool data_reliable;
 
                if (!handle_indications(hand_motion_detection_handle,
                                        &hand_motion_detection_result,
                                        sensor,
                                        &cal_result,
                                        buffer,
                                        buffer_size,
                                        &data_reliable))
                {
                        printf("handle_indications() failed\n");
                        cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_handle);
                        return EXIT_FAILURE;
                }
 
                if (data_reliable)
                {
                        print_hand_motion_detection_result(&hand_motion_detection_result);
                }
 
                acc_integration_sleep_until_periodic_wakeup();
 
                if (!exit_hibernate(sensor))
                {
                        printf("exit_hibernate failed\n");
                        return EXIT_FAILURE;
                }
        }
 
        cleanup(sensor, buffer, hand_motion_detection_config, hand_motion_detection_handle);
 
        printf("Application finished OK\n");
 
        return EXIT_SUCCESS;
}
 
static void cleanup(acc_sensor_t *sensor, void *buffer, hand_motion_detection_config_t *config, hand_motion_detection_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 (config != NULL)
        {
                hand_motion_detection_config_destroy(config);
        }
 
        if (handle != NULL)
        {
                hand_motion_detection_handle_destroy(handle);
        }
}
 
static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
{
        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);
        }
 
        if (status)
        {
                // Reset sensor after calibration by disabling/enabling it
                acc_hal_integration_sensor_disable(SENSOR_ID);
                acc_hal_integration_sensor_enable(SENSOR_ID);
        }
 
        return status;
}
 
static bool handle_indications(hand_motion_detection_handle_t *handle,
                               hand_motion_detection_result_t *result,
                               acc_sensor_t                   *sensor,
                               acc_cal_result_t               *cal_result,
                               void                           *buffer,
                               uint32_t                        buffer_size,
                               bool                           *data_reliable)
{
        bool status = true;
 
        *data_reliable = true;
 
        if (result->proc_result.data_saturated)
        {
                *data_reliable = false;
 
                printf("Data saturated. Try to reduce the sensor gain.\n");
        }
 
        if (result->proc_result.frame_delayed)
        {
                printf("Frame delayed. Could not read data fast enough.\n");
                printf("Try lowering the frame rate or call 'acc_sensor_read' more frequently.\n");
        }
 
        if (result->proc_result.calibration_needed)
        {
                printf("The current calibration is not valid for the current temperature.\n");
                printf("Re-calibrating sensor...\n");
 
                if (!exit_hibernate(sensor))
                {
                        printf("exit_hibernate failed\n");
                        status = false;
                }
 
                if (status)
                {
                        if (!do_sensor_calibration(sensor, cal_result, buffer, buffer_size))
                        {
                                printf("do_sensor_calibration() failed\n");
                                acc_sensor_status(sensor);
                                status = false;
                        }
                        else
                        {
                                printf("Sensor recalibration done!\n");
                        }
                }
 
                if (status)
                {
                        if (!hand_motion_detection_prepare(handle, sensor, cal_result, buffer, buffer_size, true))
                        {
                                printf("hand_motion_detection_prepare() failed\n");
                                status = false;
                        }
                }
 
                if (status)
                {
                        if (!enter_hibernate(sensor))
                        {
                                printf("enter_hibernate failed\n");
                                status = false;
                        }
                }
 
                *data_reliable = false;
 
                printf("The sensor was successfully re-calibrated.\n");
        }
 
        return status;
}
 
static void print_hand_motion_detection_result(const hand_motion_detection_result_t *result)
{
        printf("App mode: %s\n", result->app_mode == HAND_MOTION_DETECTION_APP_MODE_PRESENCE ? "presence" : "handmotion");
 
        if (result->algo_result_available)
        {
                printf("Detection state: ");
 
                switch (result->algo_result.detection_state)
                {
                        case HAND_MOTION_DETECTION_STATE_NO_DETECTION:
                                printf("No detection\n");
                                break;
                        case HAND_MOTION_DETECTION_STATE_DETECTION:
                                printf("Detection\n");
                                break;
                        case HAND_MOTION_DETECTION_STATE_RETENTION:
                                printf("Retention\n");
                                break;
                }
        }
}
 
static bool enter_hibernate(acc_sensor_t *sensor)
{
        bool status = true;
 
        if (!acc_sensor_hibernate_on(sensor))
        {
                printf("acc_sensor_hibernate_on failed\n");
                acc_sensor_status(sensor);
                status = false;
        }
 
        acc_hal_integration_sensor_disable(SENSOR_ID);
        return status;
}
 
static bool exit_hibernate(acc_sensor_t *sensor)
{
        bool status = true;
 
        acc_hal_integration_sensor_enable(SENSOR_ID);
        if (!acc_sensor_hibernate_off(sensor))
        {
                printf("acc_sensor_hibernate_off failed\n");
                acc_sensor_status(sensor);
                status = false;
        }
 
        return status;
}