// This tests the different lockout strategies.
static char *run_lockout_tests(catcierge_grb_t *grb, int obstruct,
catcierge_lockout_method_t lockout_method)
{
catcierge_args_t *args = &grb->args;
switch (lockout_method)
{
case OBSTRUCT_OR_TIMER_3:
if (obstruct == 1)
{
// Obstruct and then un-obstruct.
catcierge_test_STATUS("Lockout method: Obstruct or timer. Obstruct,"
" then un-obstruct should result in unlock");
load_test_image_and_run(grb, 1, 2); // Obstruct.
mu_assert("Expected LOCKOUT state after obstruction",
(grb->state == catcierge_state_lockout));
load_test_image_and_run(grb, 1, 5); // Clear frame.
mu_assert("Expected WAITING state after clear frame",
(grb->state == catcierge_state_waiting));
}
else if (obstruct == 2)
{
// Keep on obstructing. Timer should unlock.
catcierge_test_STATUS("Lockout method: Obstruct or timer. "
"Continous obstruction, %d second timer should result in unlock",
args->lockout_time + 1);
load_test_image_and_run(grb, 1, 2); // Obstruct.
mu_assert("Expected LOCKOUT state after obstruction",
(grb->state == catcierge_state_lockout));
sleep(args->lockout_time + 1);
//catcierge_run_state(grb);
load_test_image_and_run(grb, 1, 2);
mu_assert("Expected WAITING state after timeout",
(grb->state == catcierge_state_waiting));
}
else
{
catcierge_test_STATUS("Lockout method: Obstruct or timer. "
"No obstruction. Sleeping %d seconds should result in unlock",
args->lockout_time + 1);
sleep(args->lockout_time + 1);
// Clear frame.
load_test_image_and_run(grb, 1, 5);
mu_assert("Expected WAITING stat after timeout",
(grb->state == catcierge_state_waiting));
}
break;
case OBSTRUCT_THEN_TIMER_2:
if (obstruct == 1)
{
catcierge_test_STATUS("Lockout method: Obstruct then Timer. "
"%d second timer should start after obstruction has ended",
args->lockout_time + 1);
load_test_image_and_run(grb, 1, 2); // Obstruct.
mu_assert("Expected LOCKOUT state after obstruction",
(grb->state == catcierge_state_lockout));
load_test_image_and_run(grb, 1, 5); // Clear frame.
mu_assert("Expected LOCKOUT state after clear frame",
(grb->state == catcierge_state_lockout));
sleep(1);
mu_assert("Expected LOCKOUT state after 1 second clear frame",
(grb->state == catcierge_state_lockout));
sleep(args->lockout_time);
load_test_image_and_run(grb, 1, 5); // Clear frame.
mu_assert("Expected WAITING state after clear frame and timeout",
(grb->state == catcierge_state_waiting));
catcierge_test_STATUS("Lockout timer value: %f seconds\n",
catcierge_timer_get(&grb->lockout_timer));
}
else if (obstruct == 2)
{
catcierge_test_STATUS("Lockout method: Obstruct then Timer. "
"Continous obstruction. Unlock should never happen");
load_test_image_and_run(grb, 1, 2); // Obstruct.
mu_assert("Expected LOCKOUT state after obstruction",
(grb->state == catcierge_state_lockout));
sleep(args->lockout_time + 1);
load_test_image_and_run(grb, 1, 2); // Obstruct.
mu_assert("Expected LOCKOUT state after timeout and"
"continous obstruction",
(grb->state == catcierge_state_lockout));
catcierge_set_state(grb, catcierge_state_waiting);
}
else
{
catcierge_test_STATUS("Lockout method: Obstruct then Timer. "
"No obstruction. %d second timer should unlock.",
args->lockout_time + 1);
load_test_image_and_run(grb, 1, 5); // Clear frame.
mu_assert("Expected LOCKOUT state after clear frame",
(grb->state == catcierge_state_lockout));
sleep(args->lockout_time + 1);
load_test_image_and_run(grb, 1, 5); // Clear frame.
mu_assert("Expected WAITING state after clear frame and timeout",
(grb->state == catcierge_state_waiting));
}
break;
case TIMER_ONLY_1:
// Sleep for unlock time and make sure we've unlocked.
catcierge_test_STATUS("Lockout method: Timer only, sleep %d seconds",
args->lockout_time + 1);
sleep(args->lockout_time + 1);
catcierge_run_state(grb);
mu_assert("Expected WAITING state after timeout",
(grb->state == catcierge_state_waiting));
break;
}
return NULL;
}
int main(int argc, char **argv)
{
catcierge_args_t *args = &grb.args;
fprintf(stderr, "\nCatcierge Grabber v" CATCIERGE_VERSION_STR " (" CATCIERGE_GIT_HASH_SHORT "");
// Was this built with changes in the git sources?
#ifdef CATCIERGE_GIT_TAINTED
fprintf(stderr, "-tainted");
#endif
fprintf(stderr, ")\n(C) Joakim Soderberg 2013-2016\n\n");
fprintf(stderr, "Library versions:\n");
fprintf(stderr, " OpenCV v%d.%d.%d\n", CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION);
#ifdef WITH_ZMQ
fprintf(stderr, " CZMQ v%d.%d.%d\n", CZMQ_VERSION_MAJOR, CZMQ_VERSION_MINOR, CZMQ_VERSION_PATCH);
#endif
fprintf(stderr, "\n");
// TODO: Enable specifying pid path on command line.
#ifndef _WIN32
pid_fd = create_pid_file(argv[0], PID_PATH, FD_CLOEXEC);
#endif
if (catcierge_grabber_init(&grb))
{
fprintf(stderr, "Failed to init\n");
return -1;
}
if (catcierge_args_init(args, argv[0]))
{
fprintf(stderr, "Failed to init args\n");
return -1;
}
if (catcierge_args_parse(args, argc, argv))
{
return -1;
}
if (args->nocolor)
{
catcierge_nocolor = 1;
}
catcierge_print_settings(args);
setup_sig_handlers();
if (args->log_path)
{
if (!(grb.log_file = fopen(args->log_path, "a+")))
{
CATERR("Failed to open log file \"%s\"\n", args->log_path);
}
}
#ifdef RPI
if (catcierge_setup_gpio(&grb))
{
CATERR("Failed to setup GPIO pins\n");
return -1;
}
CATLOG("Initialized GPIO pins\n");
#endif // RPI
assert((args->matcher_type == MATCHER_TEMPLATE)
|| (args->matcher_type == MATCHER_HAAR));
if (catcierge_matcher_init(&grb.matcher, catcierge_get_matcher_args(args)))
{
CATERR("Failed to init %s matcher\n", grb.matcher->name);
return -1;
}
CATLOG("Initialized catcierge image recognition\n");
if (catcierge_output_init(&grb, &grb.output))
{
CATERR("Failed to init output template system\n");
return -1;
}
if (catcierge_output_load_templates(&grb.output,
args->inputs, args->input_count))
{
CATERR("Failed to load output templates\n");
return -1;
}
CATLOG("Initialized output templates\n");
#ifdef WITH_RFID
catcierge_init_rfid_readers(&grb);
#endif
catcierge_setup_camera(&grb);
#ifdef WITH_ZMQ
catcierge_zmq_init(&grb);
#endif
CATLOG("Starting detection!\n");
// TODO: Create a catcierge_grb_start(grb) function that does this instead.
catcierge_fsm_start(&grb);
// Run the program state machine.
do
{
if (!catcierge_timer_isactive(&grb.frame_timer))
{
catcierge_timer_start(&grb.frame_timer);
}
// Always feed the RFID readers.
#ifdef WITH_RFID
if ((args->rfid_inner_path || args->rfid_outer_path)
&& catcierge_rfid_ctx_service(&grb.rfid_ctx))
{
CATERRFPS("Failed to service RFID readers\n");
}
#endif // WITH_RFID
grb.img = catcierge_get_frame(&grb);
catcierge_run_state(&grb);
catcierge_print_spinner(&grb);
} while (
grb.running
#ifdef WITH_ZMQ
&& !zctx_interrupted
#endif
);
catcierge_matcher_destroy(&grb.matcher);
catcierge_output_destroy(&grb.output);
catcierge_destroy_camera(&grb);
#ifdef WITH_ZMQ
catcierge_zmq_destroy(&grb);
#endif
catcierge_grabber_destroy(&grb);
catcierge_args_destroy(&grb.args);
if (grb.log_file)
{
fclose(grb.log_file);
}
#ifndef _WIN32
if (pid_fd > 0)
{
close(pid_fd);
unlink(PID_PATH);
}
#endif
return 0;
}
