?? demo.m
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function demo(config);
%Wirless Image Sensor Networks Demo Application.
% DEMO(CONFIG);
%
% Input Parameters:
% ================
%
% config ------------> Network configuration (positive integer):
% 1 - Agilent ADCM-1670 camera module on serial port.
% 2 - Agilent ADNS-3060 mouse sensor on parallel port.
% 3 - Chipcon CC2420DB wireless mote on serial port,
% Agilent ADCM-1670 camera module on serial port, and one
% stand-alone Chipcon CC2420DB wireless mote.
%
% Output Parameters:
% =================
%
% NONE.
%
% See also IMAGE_SENSOR_API, WIRELESS_MOTE_API.
%
% Instructions:
% ============
%
% Press ESC to exit the application.
% Stephan Hengstler
% Stanford Wireless Sensor Networks Lab
% January 11, 2005
%
% Last modified: 03-03-2005
clc, % warning off
%******************* Wireless Image Sensor Networks Demo Application **********************
% parse input arguments (currently not used)
if (exist('arguments') == 1)
switch arguments(1:2)
case '-d'
debug = 1;
end
end
%--- Section: System Parameters -----------------------------------------------------------
% choose network configuration
switch (config)
case 1
SENSOR = 'ADCM-1670'; % image sensor device
SPORT = 'COM2'; % image sensor port
Th = 256; % pixel threshold
case 2
SENSOR = 'ADNS-3060'; % image sensor device
SPORT = '0378'; % image sensor port
Th = 16; % pixel threshold
case 3
MOTE = 'CC2420DB'; % wirless mote device
MPORT = 'COM1'; % wireless mote port
PhyInfo.Channel = 26; % PHY Layer: ISM channel.
PhyInfo.Address = hex2dec('0000');% PHY Layer: Node address.
PhyInfo.PanId = hex2dec('2420');% PHY Layer: Personal Area Network (PAN) ID.
psi = 55*pi/180; % field of view
SENSOR = 'ADCM-1670'; % image sensor device
SPORT = 'COM2'; % image sensor port
TxMacPckt.destPanId = hex2dec('2420');% MAC Layer: Destination PAN ID.
TxMacPckt.destAddr = hex2dec('0815');% MAC Layer: Destination node address.
TxMacPckt.ackRequest = 1; % MAC Layer: Acknowledge request.
otherwise
disp('ERROR: Invalid network configuration.')
disp('Type "help main" for more information.')
return;
end
%--- Section: Application Main ------------------------------------------------------------
% initialize figure (optimal for 1024x768 screen resolution)
figure(1), clf, set(gcf,'Position',[1 29 1024 672])
colormap gray;
release = version;
if (hex2dec(release(1)) > 5)
set(gcf,'currentcharacter',' ')
end
%--- Example: Image Sensor - Target Detection ---------------------------------------------
if ((config == 1) | (config == 2))
% open communications session
shandle = image_sensor_api(SENSOR,'open',SPORT);
% check for error
if ~(shandle > 0)
error('ERROR: Open communications session failed.')
end
% initialize image sensor
status = image_sensor_api(SENSOR,'init',shandle);
% check for error
if (status < 0)
status = image_sensor_api(SENSOR,'close',shandle);
error('ERROR: Initialize image sensor failed.')
end
% initialize frame counter
frame = 1;
% initialize memory ping-pong
pong = 0;
% repeat until break
while(1)
% capture current frame
imager = image_sensor_api(SENSOR,'frame',shandle);
% check for error (this will not work yet; it is just a place holder at this point)
if (isempty(imager))
status = image_sensor_api(SENSOR,'close',shandle);
error('ERROR: Capture current frame failed.')
end
% RGB frame?
if (size(imager,3) == 3)
% rotate image array
for i = 1:3
imager(:,:,i)= rot90(imager(:,:,i));
end
end
% display image array
figure(1)
subplot(2,2,1)
if (size(imager,3) == 1)
status = pcolor(imager);
shading flat
else
status = image(uint8(imager));
axis equal
end
axis([1 size(imager,1) 1 size(imager,2)])
title(['\bf',SENSOR,' Image Sensor: Frame = ',int2str(frame)])
xlabel('\bf--- PRESS ESC TO EXIT ---')
% RGB frame?
if (size(imager,3) == 3)
% convert to gray scale image
imager = sum(imager,3);
end
% store image array in correlation memory
cmem(:,:,pong+1) = imager;
% perform target detection function
if (frame > 1)
% compute difference image
cmem_dif = abs(cmem(:,:,not(pong)+1)-cmem(:,:,pong+1));
% determine number of pixels above threshold
N_E(frame) = sum(sum(cmem_dif > Th));
% display number of pixels
subplot(2,2,2)
plot([0:frame-1],N_E,'bx-')
grid on
title(['\bfTarget Detection Using Pixel Differences'])
xlabel('\bfFrame Number')
ylabel('\bfNumber of Pixels N_E')
end
% increment frame counter
frame = frame + 1;
% allow display to update
pause(1e-3)
% ping-pong correlation memories
pong = not(pong);
% check user input
key = double(get(gcf,'currentcharacter'));
% exit loop?
if (~isempty(key) & (key == 27))
break
end
end
% close communications session
status = image_sensor_api(SENSOR,'close',shandle);
% check for error
if (status < 0)
error('ERROR: Close communications session failed.')
end
%--- Example: Wireless Mote with Image Sensor - Network Localization ----------------------
elseif (config == 3)
% open communications session
mhandle = wireless_mote_api(MOTE,'open',MPORT);
% check for error
if ~(mhandle > 0)
error('ERROR: Open communications session failed.')
end
% open communications session
shandle = image_sensor_api(SENSOR,'open',SPORT);
% check for error
if ~(shandle > 0)
error('ERROR: Open communications session failed.')
end
% initialize wirless mote
status = wireless_mote_api(MOTE,'init',mhandle,PhyInfo);
% check for error
if (status < 0)
status = image_sensor_api(SENSOR,'close',shandle);
status = wireless_mote_api(MOTE,'close',mhandle);
error('ERROR: Initialize wireless mote failed.')
end
% initialize image sensor
status = image_sensor_api(SENSOR,'init',shandle);
% check for error
if (status < 0)
status = wireless_mote_api(MOTE,'close',mhandle);
status = image_sensor_api(SENSOR,'close',shandle);
error('ERROR: Initialize image sensor failed.')
end
% initialize frame counter
frame = 1;
% initialize memory ping-pong
pong = 0;
% repeat until break
while(1)
% capture current frame
imager = image_sensor_api(SENSOR,'frame',shandle);
% check for error (this will not work yet; it is just a place holder at this point)
if (isempty(imager))
status = wireless_mote_api(MOTE,'close',mhandle);
status = image_sensor_api(SENSOR,'close',shandle);
error('ERROR: Capture current frame failed.')
end
% remotely toggle neighboring node's location led
TxMacPckt.pPayload = sprintf('t\n');
TxMacPckt.length = length(TxMacPckt.pPayload);
timeout = 0;
while (timeout < 5)
% send transmit packet
status = wireless_mote_api(MOTE,'send',mhandle,TxMacPckt);
% check for received packet
RxMacPckt = wireless_mote_api(MOTE,'recv',mhandle);
if (isstruct(RxMacPckt))
break;
end
% increment timeout counter
timeout = timeout + 1;
end
% determine received signal strength indicator
if (isstruct(RxMacPckt))
rssi(frame) = RxMacPckt.rssi;
else
rssi(frame) = -128;
end
% determine neighboring node's distance
distance(frame)= 3e3*(1/(rssi(frame)+128)^2);
% RGB frame?
if (size(imager,3) == 3)
% rotate image array
for i = 1:3
imager(:,:,i)= rot90(imager(:,:,i),2);
end
end
% display image array
figure(1)
subplot(2,2,1)
if (size(imager,3) == 1)
status = pcolor(imager);
shading flat
else
status = image(uint8(imager));
axis equal
end
axis([1 size(imager,1) 1 size(imager,2)])
title(['\bf',SENSOR,' Image Sensor: Frame = ',int2str(frame)])
xlabel('\bf--- PRESS ESC TO EXIT ---')
% RGB frame?
if (size(imager,3) == 3)
% use green color layer only
imager = imager(:,:,2);
end
% store image array in correlation memory
cmem(:,:,pong+1) = flipud(imager);
% perform node localization function
if (frame > 1)
% compute difference image
cmem_dif = abs(cmem(:,:,not(pong)+1)-cmem(:,:,pong+1));
% determine neighboring node's led position
threshold = max(mean(mean(cmem_dif))+(std(std(cmem_dif))),0.5*max(max(cmem_dif)));
[x,y] = find(cmem_dif > threshold);
if ((~isempty(x)) & (~isempty(y)))
d_i(frame) = mean(y) + j*mean(x);
else
d_i(frame) = -1 - j;
end
% compute neighboring node's estimated angular orientation
D = size(imager,1);
phi_i(frame)= -atan(2*(real(d_i(frame))-D/2)/D*tan(psi/2));
% display difference image
subplot(2,2,3)
status = pcolor(cmem_dif);
shading flat
axis equal
axis([1 size(imager,1) 1 size(imager,2)])
title(['\bf',SENSOR,' Difference Image'])
% display received signal strength and estimated angular orientation
subplot(2,2,2)
plot([0:frame-1],rssi,'b-',[0:frame-1],phi_i*180/pi,'r-')
axis([0 frame-1 -psi/2*180/pi +psi/2*180/pi]), grid on
title(['\bfReceived Signal Strength and Estimated Angular Orientation'])
xlabel('\bfFrame Number')
ylabel('\bfSignal Strength/Angular Orientation')
% display network localization
subplot(2,2,4)
plot(0,0,'ko',0,0,'kx',[0 0],[0 0.1],'k-',0,0.1,'k^'), hold on
circle = distance(frame)*exp(j*2*pi*[0:0.01:1+0.1]);
if ((real(d_i(frame)) > 0) & (imag(d_i(frame)) > 0))
plot(real(circle),imag(circle),'r--')
secant = sqrt(2)*[0:1]*exp(j*(phi_i(frame)+pi/2));
plot(real(secant),imag(secant),'r--')
location = distance(frame)*exp(j*(phi_i(frame)+pi/2));
plot(real(location),imag(location),'bo',real(location),imag(location),'bx')
else
plot(real(circle),imag(circle),'b-')
end
hold off
axis([-1 +1 -1 +1]), grid on
title(['\bfNetwork Localization'])
xlabel('\bfHorizontal Axis [unit length]')
ylabel('\bfVertical Axis [unit length]')
end
% increment frame counter
frame = frame + 1;
% allow display to update
pause(1e-3)
% ping-pong correlation memories
pong = not(pong);
% check user input
key = double(get(gcf,'currentcharacter'));
% exit loop?
if (~isempty(key) & (key == 27))
break
end
end
% close communications session
status = image_sensor_api(SENSOR,'close',shandle);
% check for error
if (status < 0)
status = wireless_mote_api(MOTE,'close',mhandle);
error('ERROR: Close communications session failed.')
end
% close communications session
status = wireless_mote_api(MOTE,'close',mhandle);
% check for error
if (status < 0)
error('ERROR: Close communications session failed.')
end
end
% close figure
close(gcf)
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