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/**
* @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 <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
class Geofence : public control::SuperBlock
{
private:
orb_advert_t _fence_pub; /**< publish fence topic */
float _altitude_min;
float _altitude_max;
unsigned _verticesCount;
/* Params */
control::BlockParamInt param_geofence_on;
public:
Geofence();
~Geofence();
/**
* Return whether craft is inside geofence.
*
* Calculate whether point is inside arbitrary polygon
* @param craft pointer craft coordinates
* @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
* @return true: craft is inside fence, false:craft is outside fence
*/
bool inside(const struct vehicle_global_position_s *craft);
bool inside(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;}
};
#endif /* GEOFENCE_H_ */