Merge branch 'navigator_new_fw' into navigator_new

1 files changed, 89 insertions, 0 deletions

diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
new file mode 100644
index 000000000..8a1d06e71
--- /dev/null
+++ b/src/modules/navigator/geofence.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   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.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:
+	struct fence_s	_fence;
+	orb_advert_t	_fence_pub;			/**< publish fence topic */
+
+	float			_altitude_min;
+	float			_altitude_max;
+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);
+
+
+	/**
+	 * Load fence parameters.
+	 */
+	bool loadFromDm(unsigned vertices);
+
+	int clearDm();
+
+	bool valid();
+
+	/**
+	 * Specify fence vertex position.
+	 */
+	void addPoint(int argc, char *argv[]);
+
+	void publishFence(unsigned vertices);
+
+	int loadFromFile(const char *filename);
+};
+
+
+#endif /* GEOFENCE_H_ */