path: root/src/modules/navigator/geofence.cpp

/****************************************************************************
 *
 *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
 *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
 *           @author Thomas Gubler <thomasgubler@gmail.com>
 *
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 * modification, are permitted provided that the following conditions
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 *
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 *    notice, this list of conditions and the following disclaimer in
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 *    distribution.
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 *    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
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/**
 * @file geofence.cpp
 * Provides functions for handling the geofence
 */
#include "geofence.h"

#include <uORB/topics/vehicle_global_position.h>
#include <string.h>
#include <dataman/dataman.h>
#include <systemlib/err.h>
#include <stdlib.h>
#include <stdio.h>
#include <ctype.h>
#include <nuttx/config.h>
#include <unistd.h>


/* Oddly, ERROR is not defined for C++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;

Geofence::Geofence() : _fence_pub(-1),
		_altitude_min(0),
		_altitude_max(0)
{
	memset(&_fence, 0, sizeof(_fence));
}

Geofence::~Geofence()
{

}


bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
{
	double lat = vehicle->lat / 1e7d;
	double lon = vehicle->lon / 1e7d;

	return inside(lat, lon);
}

bool Geofence::inside(double lat, double lon)
{
	/* Adaptation of algorithm originally presented as
	 * PNPOLY - Point Inclusion in Polygon Test
	 * W. Randolph Franklin (WRF) */

	unsigned int i, j, vertices = _fence.count;
	bool c = false;

	// skip vertex 0 (return point)
	for (i = 0, j = vertices - 1; i < vertices; j = i++)
		if (((_fence.vertices[i].lon) >= lon != (_fence.vertices[j].lon >= lon)) &&
		    (lat <= (_fence.vertices[j].lat - _fence.vertices[i].lat) * (lon - _fence.vertices[i].lon) /
		     (_fence.vertices[j].lon - _fence.vertices[i].lon) + _fence.vertices[i].lat))
			c = !c;
	return c;
}

bool
Geofence::loadFromDm(unsigned vertices)
{
	struct fence_s temp_fence;

	unsigned i;
	for (i = 0; i < vertices; i++) {
		if (dm_read(DM_KEY_FENCE_POINTS, i, temp_fence.vertices + i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
			break;
		}
	}

	temp_fence.count = i;

	if (valid())
		memcpy(&_fence, &temp_fence, sizeof(_fence));
	else
		warnx("Invalid fence file, ignored!");

	return _fence.count != 0;
}

bool
Geofence::valid()
{
	// NULL fence is valid
	if (_fence.count == 0) {
		return true;
	}

	// Otherwise
	if ((_fence.count < 4) || (_fence.count > GEOFENCE_MAX_VERTICES)) {
		warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
		return false;
	}

	return true;
}

void
Geofence::addPoint(int argc, char *argv[])
{
	int ix, last;
	double lon, lat;
	struct fence_vertex_s vertex;
	char *end;

	if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
		dm_clear(DM_KEY_FENCE_POINTS);
		publishFence(0);
		return;
	}

	if (argc < 3)
		errx(1, "Specify: -clear | sequence latitude longitude [-publish]");

	ix = atoi(argv[0]);
	if (ix >= DM_KEY_FENCE_POINTS_MAX)
		errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);

	lat = strtod(argv[1], &end);
	lon = strtod(argv[2], &end);

	last = 0;
	if ((argc > 3) && (strcmp(argv[3], "-publish") == 0))
		last = 1;

	vertex.lat = (float)lat;
	vertex.lon = (float)lon;

	if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
		if (last)
			publishFence((unsigned)ix + 1);
		return;
	}

	errx(1, "can't store fence point");
}

void
Geofence::publishFence(unsigned vertices)
{
	if (_fence_pub == -1)
		_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
	else
		orb_publish(ORB_ID(fence), _fence_pub, &vertices);
}

int
Geofence::loadFromFile(const char *filename)
{
	FILE		*fp;
	char		line[120];
	int			pointCounter = 0;
	bool		gotVertical = false;
	const char commentChar = '#';

	/* Make sure no data is left in the datamanager */
	clearDm();

	/* open the mixer definition file */
	fp = fopen(GEOFENCE_FILENAME, "r");
	if (fp == NULL) {
		return ERROR;
	}

	/* create geofence points from valid lines and store in DM */
	for (;;) {

		/* get a line, bail on error/EOF */
		if (fgets(line, sizeof(line), fp) == NULL)
			break;

		/* Trim leading whitespace */
		size_t textStart = 0;
		while((textStart < sizeof(line)/sizeof(char)) && isspace(line[textStart])) textStart++;

		/* if the line starts with #, skip */
		if (line[textStart] == commentChar)
			continue;

		if (gotVertical) {
			/* Parse the line as a geofence point */
			struct fence_vertex_s vertex;

			if (sscanf(line, "%f %f", &(vertex.lat), &(vertex.lon)) != 2)
				return ERROR;


			if (dm_write(DM_KEY_FENCE_POINTS, pointCounter, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) != sizeof(vertex))
				return ERROR;

			warnx("Geofence: point: %d, lat %.5f: lon: %.5f", pointCounter,  (double)vertex.lat, (double)vertex.lon);

			pointCounter++;
		} else {
			/* Parse the line as the vertical limits */
			if (sscanf(line, "%f %f", &_altitude_min, &_altitude_max) != 2)
				return ERROR;


			warnx("Geofence: alt min: %.4f, alt_max: %.4f", (double)_altitude_min, (double)_altitude_max);
			gotVertical = true;
		}


	}

	fclose(fp);

	/* Re-Load imported geofence from DM */
	if(gotVertical && pointCounter > 0)
	{
		bool fence_valid = loadFromDm(GEOFENCE_MAX_VERTICES);
		if (fence_valid) {
			warnx("Geofence: imported and loaded successfully");
			return OK;
		} else {
			warnx("Geofence: datamanager read error");
			return ERROR;
		}
	} else {
		warnx("Geofence: import error");
	}

	return ERROR;
}

int Geofence::clearDm()
{
	dm_clear(DM_KEY_FENCE_POINTS);
}