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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-04 14:28:05 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-04 14:28:05 +0100 |
commit | a65de1e0b9412708c862fbe87d459250a7a3d5fd (patch) | |
tree | 0c1ca8efbf81839a6a771150c4ae4c1291d1e397 /src/modules/navigator/geofence.h | |
parent | 220011914c01ef4050ca487059b0d317e6b53fb7 (diff) | |
parent | a48264d5d44018412b9443b245e6974d3f54b20d (diff) | |
download | px4-firmware-a65de1e0b9412708c862fbe87d459250a7a3d5fd.tar.gz px4-firmware-a65de1e0b9412708c862fbe87d459250a7a3d5fd.tar.bz2 px4-firmware-a65de1e0b9412708c862fbe87d459250a7a3d5fd.zip |
Merge branch 'navigator_new_fw' into navigator_new
Diffstat (limited to 'src/modules/navigator/geofence.h')
-rw-r--r-- | src/modules/navigator/geofence.h | 89 |
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_ */ |