ref_app_parking_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_hal_definitions_a121.h"
#include "acc_hal_integration_a121.h"
#include "acc_integration.h"
#include "acc_rss_a121.h"
#include "acc_version.h"
#include "ref_app_parking.h"
 
#define SENSOR_ID (1U)
 
int acconeer_main(int argc, char *argv[]);
 
int acconeer_main(int argc, char *argv[])
{
        (void)argc;
        (void)argv;
 
        ref_app_parking_config_t  parking_config = {0};
        ref_app_parking_handle_t *handle         = NULL;
 
        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;
        }
 
        ref_app_parking_set_config(PARKING_PRESET_GROUND, &parking_config);
 
        handle = ref_app_parking_handle_create(&parking_config, SENSOR_ID);
        if (handle == NULL)
        {
                printf("ref_app_parking_handle_create() failed\n");
                ref_app_parking_handle_destroy(handle);
                return EXIT_FAILURE;
        }
 
        if (!ref_app_parking_sensor_calibration(handle))
        {
                printf("ref_app_parking_sensor_calibration() failed\n");
                ref_app_parking_handle_destroy(handle);
                return EXIT_FAILURE;
        }
 
        if (!ref_app_parking_noise_calibration(handle))
        {
                printf("ref_app_parking_noise_calibration() failed\n");
                ref_app_parking_handle_destroy(handle);
                return EXIT_FAILURE;
        }
 
        if (parking_config.obstruction_detection_enabled)
        {
                if (!ref_app_parking_obstruction_calibration(handle))
                {
                        printf("ref_app_parking_obstruction_calibration() failed\n");
                        ref_app_parking_handle_destroy(handle);
                        return EXIT_FAILURE;
                }
        }
 
        if (!ref_app_parking_sensor_prepare(handle))
        {
                printf("ref_app_parking_sensor_prepare() failed\n");
                ref_app_parking_handle_destroy(handle);
                return EXIT_FAILURE;
        }
 
        if (parking_config.frame_rate_app_driven)
        {
                uint32_t sleep_time_ms = (uint32_t)(1000.0f / parking_config.frame_rate);
                acc_integration_set_periodic_wakeup(sleep_time_ms);
        }
 
        bool obstruction_detected = false;
        bool car_detected         = false;
 
        while (true)
        {
                if (!ref_app_parking_measure(handle, parking_config.frame_rate_app_driven))
                {
                        printf("ref_app_parking_measure() failed\n");
                        ref_app_parking_handle_destroy(handle);
                        return EXIT_FAILURE;
                }
 
                bool data_reliable;
 
                if (!ref_app_parking_handle_indications(handle, &data_reliable))
                {
                        printf("ref_app_parking_handle_indications() failed\n");
                        ref_app_parking_handle_destroy(handle);
                        return EXIT_FAILURE;
                }
 
                if (data_reliable)
                {
                        if (parking_config.obstruction_detection_enabled)
                        {
                                ref_app_parking_obstruction_process(handle, &obstruction_detected);
 
                                printf("obstruction_detected: %s\n", obstruction_detected ? "true" : "false");
                        }
 
                        ref_app_parking_process(handle, &car_detected);
 
                        printf("car_detected: %s\n", car_detected ? "true" : "false");
                }
 
                if (parking_config.frame_rate_app_driven)
                {
                        acc_integration_sleep_until_periodic_wakeup();
                }
        }
 
        ref_app_parking_handle_destroy(handle);
 
        printf("Application finished OK\n");
 
        return EXIT_SUCCESS;
}