Merge branch 'navigator_new_fw' into navigator_new

1 files changed, 263 insertions, 0 deletions

diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
new file mode 100644
index 000000000..199ccb41b
--- /dev/null
+++ b/src/modules/navigator/geofence.cpp
@@ -0,0 +1,263 @@
+/****************************************************************************
+ *
+ *   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
+ * 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
+ */
+#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() : _fence_pub(-1),
+		_altitude_min(0),
+		_altitude_max(0)
+{
+	memset(&_fence, 0, sizeof(_fence));
+}
+
+Geofence::~Geofence()
+{
+
+}
+
+
+bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
+{
+
+	/* Adaptation of algorithm originally presented as
+	 * PNPOLY - Point Inclusion in Polygon Test
+	 * W. Randolph Franklin (WRF) */
+
+	unsigned int i, j, vertices = _fence.count;
+	bool c = false;
+	double lat = vehicle->lat / 1e7d;
+	double lon = vehicle->lon / 1e7d;
+
+	// skip vertex 0 (return point)
+	for (i = 0, j = vertices - 1; i < vertices; j = i++)
+		if (((_fence.vertices[i].lon) >= lon != (_fence.vertices[j].lon >= lon)) &&
+		    (lat <= (_fence.vertices[j].lat - _fence.vertices[i].lat) * (lon - _fence.vertices[i].lon) /
+		     (_fence.vertices[j].lon - _fence.vertices[i].lon) + _fence.vertices[i].lat))
+			c = !c;
+	return c;
+}
+
+bool
+Geofence::loadFromDm(unsigned vertices)
+{
+	struct fence_s temp_fence;
+
+	unsigned i;
+	for (i = 0; i < vertices; i++) {
+		if (dm_read(DM_KEY_FENCE_POINTS, i, temp_fence.vertices + i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
+			break;
+		}
+	}
+
+	temp_fence.count = i;
+
+	if (valid())
+		memcpy(&_fence, &temp_fence, sizeof(_fence));
+	else
+		warnx("Invalid fence file, ignored!");
+
+	return _fence.count != 0;
+}
+
+bool
+Geofence::valid()
+{
+	// NULL fence is valid
+	if (_fence.count == 0) {
+		return true;
+	}
+
+	// Otherwise
+	if ((_fence.count < 4) || (_fence.count > 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 (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);
+
+	/* Re-Load imported geofence from DM */
+	if(gotVertical && pointCounter > 0)
+	{
+		bool fence_valid = loadFromDm(GEOFENCE_MAX_VERTICES);
+		if (fence_valid) {
+			warnx("Geofence: imported and loaded successfully");
+			return OK;
+		} else {
+			warnx("Geofence: datamanager read error");
+			return ERROR;
+		}
+	} else {
+		warnx("Geofence: import error");
+	}
+
+	return ERROR;
+}
+
+int Geofence::clearDm()
+{
+	dm_clear(DM_KEY_FENCE_POINTS);
+}