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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 <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#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);
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 */
float _altitude_min;
float _altitude_max;
unsigned _verticesCount;
/* Params */
control::BlockParamInt _param_geofence_on;
control::BlockParamInt _param_altitude_mode;
control::BlockParamInt _param_source;
control::BlockParamInt _param_counter_threshold;
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_ */