/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* 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
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*
****************************************************************************/
/**
* @file geofence.h
* Provides functions for handling the geofence
*/
#ifndef GEOFENCE_H_
#define GEOFENCE_H_
#include <uORB/topics/fence.h>
#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
class Geofence {
private:
orb_advert_t _fence_pub; /**< publish fence topic */
float _altitude_min;
float _altitude_max;
unsigned _verticesCount;
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_ */
