/****************************************************************************
*
* 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.cpp
* Provides functions for handling the geofence
*
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#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() :
SuperBlock(NULL, "GF"),
_fence_pub(-1),
_altitude_min(0),
_altitude_max(0),
_verticesCount(0),
param_geofence_on(this, "ON")
{
/* Load initial params */
updateParams();
}
Geofence::~Geofence()
{
}
bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
{
double lat = vehicle->lat / 1e7d;
double lon = vehicle->lon / 1e7d;
//float alt = vehicle->alt;
return inside(lat, lon, vehicle->alt);
}
bool Geofence::inside(double lat, double lon, float altitude)
{
/* Return true if geofence is disabled */
if (param_geofence_on.get() != 1)
return true;
if (valid()) {
if (!isEmpty()) {
/* Vertical check */
if (altitude > _altitude_max || altitude < _altitude_min)
return false;
/*Horizontal check */
/* Adaptation of algorithm originally presented as
* PNPOLY - Point Inclusion in Polygon Test
* W. Randolph Franklin (WRF) */
bool c = false;
struct fence_vertex_s temp_vertex_i;
struct fence_vertex_s temp_vertex_j;
/* Red until fence is finished */
for (unsigned i = 0, j = _verticesCount - 1; i < _verticesCount; j = i++) {
if (dm_read(DM_KEY_FENCE_POINTS, i, &temp_vertex_i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
break;
}
if (dm_read(DM_KEY_FENCE_POINTS, j, &temp_vertex_j, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
break;
}
// skip vertex 0 (return point)
if (((double)temp_vertex_i.lon >= lon) != ((double)temp_vertex_j.lon >= lon) &&
(lat <= (double)(temp_vertex_j.lat - temp_vertex_i.lat) * (lon - (double)temp_vertex_i.lon) /
(double)(temp_vertex_j.lon - temp_vertex_i.lon) + (double)temp_vertex_i.lat)) {
c = !c;
}
}
return c;
} else {
/* Empty fence --> accept all points */
return true;
}
} else {
/* Invalid fence --> accept all points */
return true;
}
}
bool
Geofence::valid()
{
// NULL fence is valid
if (isEmpty())
return true;
// Otherwise
if ((_verticesCount < 4) || (_verticesCount > 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 the line starts with DMS, this means that the coordinate is given as degree minute second instead of decimal degrees */
if (line[textStart] == 'D' && line[textStart + 1] == 'M' && line[textStart + 2] == 'S') {
/* Handle degree minute second format */
float lat_d, lat_m, lat_s, lon_d, lon_m, lon_s;
if (sscanf(line, "DMS %f %f %f %f %f %f", &lat_d, &lat_m, &lat_s, &lon_d, &lon_m, &lon_s) != 6)
return ERROR;
// warnx("Geofence DMS: %.5f %.5f %.5f ; %.5f %.5f %.5f", (double)lat_d, (double)lat_m, (double)lat_s, (double)lon_d, (double)lon_m, (double)lon_s);
vertex.lat = lat_d + lat_m/60.0f + lat_s/3600.0f;
vertex.lon = lon_d + lon_m/60.0f + lon_s/3600.0f;
} else {
/* Handle decimal degree format */
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);
/* Check if import was successful */
if(gotVertical && pointCounter > 0)
{
_verticesCount = pointCounter;
warnx("Geofence: imported successfully");
} else {
warnx("Geofence: import error");
}
return ERROR;
}
int Geofence::clearDm()
{
dm_clear(DM_KEY_FENCE_POINTS);
return OK;
}