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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file geofence.h
* Provides functions for handling the geofence
*
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef GEOFENCE_H_
#define GEOFENCE_H_
#include <uORB/topics/fence.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/home_position.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <drivers/drv_hrt.h>
#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
class Geofence : public control::SuperBlock
{
public:
Geofence();
~Geofence();
/* Altitude mode, corresponding to the param GF_ALTMODE */
enum {
GF_ALT_MODE_WGS84 = 0,
GF_ALT_MODE_AMSL = 1
};
/* Source, corresponding to the param GF_SOURCE */
enum {
GF_SOURCE_GLOBALPOS = 0,
GF_SOURCE_GPS = 1
};
/**
* Return whether system is inside geofence.
*
* Calculate whether point is inside arbitrary polygon
* @param craft pointer craft coordinates
* @return true: system is inside fence, false: system is outside fence
*/
bool inside(const struct vehicle_global_position_s &global_position,
const struct vehicle_gps_position_s &gps_position, float baro_altitude_amsl,
const struct home_position_s home_pos, bool home_position_set);
bool inside_polygon(double lat, double lon, float altitude);
int clearDm();
bool valid();
/**
* Specify fence vertex position.
*/
void addPoint(int argc, char *argv[]);
void publishFence(unsigned vertices);
int loadFromFile(const char *filename);
bool isEmpty() {return _verticesCount == 0;}
int getAltitudeMode() { return _param_altitude_mode.get(); }
int getSource() { return _param_source.get(); }
void setMavlinkFd(int value) { _mavlinkFd = value; }
private:
orb_advert_t _fence_pub; /**< publish fence topic */
home_position_s _home_pos;
bool _home_pos_set;
hrt_abstime _last_horizontal_range_warning;
hrt_abstime _last_vertical_range_warning;
float _altitude_min;
float _altitude_max;
unsigned _verticesCount;
/* Params */
control::BlockParamInt _param_geofence_mode;
control::BlockParamInt _param_altitude_mode;
control::BlockParamInt _param_source;
control::BlockParamInt _param_counter_threshold;
control::BlockParamInt _param_max_hor_distance;
control::BlockParamInt _param_max_ver_distance;
uint8_t _outside_counter;
int _mavlinkFd;
bool inside(double lat, double lon, float altitude);
bool inside(const struct vehicle_global_position_s &global_position);
bool inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl);
};
#endif /* GEOFENCE_H_ */
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