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

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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 <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_ */