example_waste_level_main.c

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// Copyright (c) Acconeer AB, 2024-2025
// 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_processing.h"
#include "acc_rss_a121.h"
#include "acc_sensor.h"
#include "acc_version.h"
#include "example_waste_level.h"
#include "example_waste_level_main.h"
 
#define SENSOR_ID         (1U)
#define SENSOR_TIMEOUT_MS (1000U)
 
/**
 * @brief Frees any allocated resources
 */
static void cleanup(acc_processing_t         *processing,
                    acc_sensor_t             *sensor,
                    void                     *buffer,
                    waste_level_handle_t     *handle,
                    waste_level_app_config_t *app_config);
 
/**
 * @brief Performs sensor calibration (with retry) and sensor prepare
 */
static bool do_sensor_calibration_and_prepare(acc_sensor_t *sensor, acc_config_t *config, void *buffer, uint32_t buffer_size);
 
/**
 * @brief Print a processor result in a human-readable format
 */
static void print_waste_level_result(const waste_level_result_t *result);
 
int acconeer_main(int argc, char *argv[])
{
        (void)argc;
        (void)argv;
        acc_processing_t         *processing  = NULL;
        acc_sensor_t             *sensor      = NULL;
        void                     *buffer      = NULL;
        uint32_t                  buffer_size = 0;
        acc_processing_metadata_t proc_meta;
        acc_processing_result_t   proc_result;
 
        waste_level_handle_t     *waste_level_handle = NULL;
        waste_level_app_config_t *app_config         = NULL;
 
        waste_level_result_t waste_level_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;
        }
 
        app_config = waste_level_app_config_create();
        if (app_config == NULL)
        {
                printf("waste_level_app_config_create() failed\n");
                cleanup(processing, sensor, buffer, waste_level_handle, app_config);
                return EXIT_FAILURE;
        }
 
        waste_level_app_config_set_preset(WASTE_LEVEL_PRESET_PLASTIC_WASTE_BIN, app_config);
 
        waste_level_processing_config_log(&app_config->processing_config);
 
        acc_config_log(app_config->sensor_config);
 
        waste_level_handle = waste_level_handle_create(app_config);
        if (waste_level_handle == NULL)
        {
                printf("waste_level_handle_create() failed\n");
                cleanup(processing, sensor, buffer, waste_level_handle, app_config);
                return EXIT_FAILURE;
        }
 
        processing = acc_processing_create(app_config->sensor_config, &proc_meta);
        if (processing == NULL)
        {
                printf("acc_processing_create() failed\n");
                cleanup(processing, sensor, buffer, waste_level_handle, app_config);
                return EXIT_FAILURE;
        }
 
        if (!acc_rss_get_buffer_size(app_config->sensor_config, &buffer_size))
        {
                printf("acc_rss_get_buffer_size() failed\n");
                cleanup(processing, sensor, buffer, waste_level_handle, app_config);
                return EXIT_FAILURE;
        }
 
        buffer = acc_integration_mem_alloc(buffer_size);
        if (buffer == NULL)
        {
                printf("buffer allocation failed\n");
                cleanup(processing, sensor, buffer, waste_level_handle, app_config);
                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(processing, sensor, buffer, waste_level_handle, app_config);
                return EXIT_FAILURE;
        }
 
        if (!do_sensor_calibration_and_prepare(sensor, app_config->sensor_config, buffer, buffer_size))
        {
                printf("do_sensor_calibration_and_prepare() failed\n");
                acc_sensor_status(sensor);
                cleanup(processing, sensor, buffer, waste_level_handle, app_config);
                return EXIT_FAILURE;
        }
 
        while (true)
        {
                if (!acc_sensor_measure(sensor))
                {
                        printf("acc_sensor_measure failed\n");
                        acc_sensor_status(sensor);
                        cleanup(processing, sensor, buffer, waste_level_handle, app_config);
                        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(processing, sensor, buffer, waste_level_handle, app_config);
                        return EXIT_FAILURE;
                }
 
                if (!acc_sensor_read(sensor, buffer, buffer_size))
                {
                        printf("acc_sensor_read failed\n");
                        acc_sensor_status(sensor);
                        cleanup(processing, sensor, buffer, waste_level_handle, app_config);
                        return EXIT_FAILURE;
                }
 
                acc_processing_execute(processing, buffer, &proc_result);
 
                if (proc_result.calibration_needed)
                {
                        printf("The current calibration is not valid for the current temperature.\n");
                        printf("The sensor needs to be re-calibrated.\n");
 
                        if (!do_sensor_calibration_and_prepare(sensor, app_config->sensor_config, buffer, buffer_size))
                        {
                                printf("do_sensor_calibration_and_prepare() failed\n");
                                acc_sensor_status(sensor);
                                cleanup(processing, sensor, buffer, waste_level_handle, app_config);
                                return EXIT_FAILURE;
                        }
 
                        printf("The sensor was successfully re-calibrated.\n");
                }
                else if (proc_result.data_saturated)
                {
                        printf("Data is saturated. Try to reduce the sensor gain\n");
                }
                else
                {
                        waste_level_process(waste_level_handle, app_config, &proc_meta, proc_result.frame, &waste_level_result);
 
                        print_waste_level_result(&waste_level_result);
                }
        }
 
        cleanup(processing, sensor, buffer, waste_level_handle, app_config);
 
        printf("Application finished OK\n");
 
        return EXIT_SUCCESS;
}
 
static void cleanup(acc_processing_t         *processing,
                    acc_sensor_t             *sensor,
                    void                     *buffer,
                    waste_level_handle_t     *handle,
                    waste_level_app_config_t *app_config)
{
        acc_hal_integration_sensor_disable(SENSOR_ID);
        acc_hal_integration_sensor_supply_off(SENSOR_ID);
 
        if (sensor != NULL)
        {
                acc_sensor_destroy(sensor);
        }
 
        if (processing != NULL)
        {
                acc_processing_destroy(processing);
        }
 
        if (buffer != NULL)
        {
                acc_integration_mem_free(buffer);
        }
 
        if (app_config != NULL)
        {
                waste_level_app_config_destroy(app_config);
        }
 
        if (handle != NULL)
        {
                waste_level_handle_destroy(handle);
        }
}
 
static bool do_sensor_calibration_and_prepare(acc_sensor_t *sensor, acc_config_t *config, void *buffer, uint32_t buffer_size)
{
        bool             status       = false;
        bool             cal_complete = false;
        acc_cal_result_t cal_result;
        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);
 
                status = acc_sensor_prepare(sensor, config, &cal_result, buffer, buffer_size);
        }
 
        return status;
}
 
static void print_waste_level_result(const waste_level_result_t *result)
{
        if (result->level_found)
        {
                printf("Fill level %" PRIu16 "%% (%" PRIfloat "m)\n", result->level_percent, ACC_LOG_FLOAT_TO_INTEGER(result->level_m));
        }
        else
        {
                printf("No level found\n");
        }
}