diff options
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 | |
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')
-rw-r--r-- | src/modules/navigator/geofence.cpp | 263 | ||||
-rw-r--r-- | src/modules/navigator/geofence.h | 89 | ||||
-rw-r--r-- | src/modules/navigator/mission_feasibility_checker.cpp | 21 | ||||
-rw-r--r-- | src/modules/navigator/mission_feasibility_checker.h | 11 | ||||
-rw-r--r-- | src/modules/navigator/module.mk | 3 | ||||
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 150 |
6 files changed, 412 insertions, 125 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); +} 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_ */ diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 25b2636bb..aba2dffff 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -48,6 +48,7 @@ #include <stdio.h> #include <fcntl.h> #include <errno.h> +#include <uORB/topics/fence.h> /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -61,7 +62,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab } -bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nItems) +bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) { /* Init if not done yet */ init(); @@ -74,39 +75,39 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_ if (isRotarywing) - return checkMissionFeasibleRotarywing(dm_current, nItems); + return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence); else - return checkMissionFeasibleFixedwing(dm_current, nItems); + return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence); } -bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nItems) +bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) { - return checkGeofence(dm_current, nItems); + return checkGeofence(dm_current, nMissionItems, geofence); } -bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nItems) +bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) { /* Update fixed wing navigation capabilites */ updateNavigationCapabilities(); // warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement); - return (checkFixedWingLanding(dm_current, nItems) && checkGeofence(dm_current, nItems)); + return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence)); } -bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nItems) +bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) { //xxx: check geofence return true; } -bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nItems) +bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems) { /* Go through all mission items and search for a landing waypoint * if landing waypoint is found: the previous waypoint is checked to be at a feasible distance and altitude given the landing slope */ - for (size_t i = 0; i < nItems; i++) { + for (size_t i = 0; i < nMissionItems; i++) { static struct mission_item_s missionitem; const ssize_t len = sizeof(struct mission_item_s); if (dm_read(dm_current, i, &missionitem, len) != len) { diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h index 7d1cc2f8a..7a0b2a296 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -43,6 +43,7 @@ #include <uORB/topics/mission.h> #include <uORB/topics/navigation_capabilities.h> #include <dataman/dataman.h> +#include "geofence.h" class MissionFeasibilityChecker @@ -57,15 +58,15 @@ private: void init(); /* Checks for all airframes */ - bool checkGeofence(dm_item_t dm_current, size_t nItems); + bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); /* Checks specific to fixedwing airframes */ - bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nItems); - bool checkFixedWingLanding(dm_item_t dm_current, size_t nItems); + bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); + bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems); void updateNavigationCapabilities(); /* Checks specific to rotarywing airframes */ - bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nItems); + bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); public: MissionFeasibilityChecker(); @@ -74,7 +75,7 @@ public: /* * Returns true if mission is feasible and false otherwise */ - bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nItems); + bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); }; diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk index 6be4e87a0..b7900e84e 100644 --- a/src/modules/navigator/module.mk +++ b/src/modules/navigator/module.mk @@ -40,6 +40,7 @@ MODULE_COMMAND = navigator SRCS = navigator_main.cpp \ navigator_params.c \ navigator_mission.cpp \ - mission_feasibility_checker.cpp + mission_feasibility_checker.cpp \ + geofence.cpp INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 61de91dce..e52ef16fa 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -75,9 +75,12 @@ #include <mathlib/mathlib.h> #include <dataman/dataman.h> #include <mavlink/mavlink_log.h> +#include <sys/types.h> +#include <sys/stat.h> #include "navigator_mission.h" #include "mission_feasibility_checker.h" +#include "geofence.h" /* oddly, ERROR is not defined for c++ */ @@ -119,14 +122,14 @@ public: void status(); /** - * Load fence parameters. + * Add point to geofence */ - bool load_fence(unsigned vertices); + void add_fence_point(int argc, char *argv[]); /** - * Specify fence vertex position. + * Load fence from file */ - void fence_point(int argc, char *argv[]); + void load_fence_from_file(const char *filename); private: @@ -144,7 +147,6 @@ private: int _capabilities_sub; /**< notification of vehicle capabilities updates */ orb_advert_t _triplet_pub; /**< publish position setpoint triplet */ - orb_advert_t _fence_pub; /**< publish fence topic */ orb_advert_t _mission_result_pub; /**< publish mission result topic */ orb_advert_t _control_mode_pub; /**< publish vehicle control mode topic */ @@ -157,7 +159,7 @@ private: perf_counter_t _loop_perf; /**< loop performance counter */ - struct fence_s _fence; /**< storage for fence vertices */ + Geofence _geofence; bool _fence_valid; /**< flag if fence is valid */ bool _inside_fence; /**< vehicle is inside fence */ @@ -268,12 +270,8 @@ private: */ void task_main() __attribute__((noreturn)); - void publish_fence(unsigned vertices); - void publish_safepoints(unsigned points); - bool fence_valid(const struct fence_s &fence); - /** * Functions that are triggered when a new state is entered. */ @@ -378,7 +376,6 @@ Navigator::Navigator() : /* publications */ _triplet_pub(-1), - _fence_pub(-1), _mission_result_pub(-1), _control_mode_pub(-1), @@ -398,8 +395,6 @@ Navigator::Navigator() : _need_takeoff(true), _do_takeoff(false) { - memset(&_fence, 0, sizeof(_fence)); - _parameter_handles.min_altitude = param_find("NAV_MIN_ALT"); _parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD"); _parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD"); @@ -499,7 +494,7 @@ Navigator::offboard_mission_update(bool isrotaryWing) } else { dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; } - missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count); + missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence); _mission.set_offboard_dataman_id(offboard_mission.dataman_id); _mission.set_current_offboard_mission_index(offboard_mission.current_index); @@ -552,7 +547,22 @@ Navigator::task_main() mavlink_log_info(_mavlink_fd, "[navigator] started"); - _fence_valid = load_fence(GEOFENCE_MAX_VERTICES); + _fence_valid = _geofence.loadFromDm(GEOFENCE_MAX_VERTICES); + + /* Try to load the geofence: + * if /fs/microsd/etc/geofence.txt load from this file + * else clear geofence data in datamanager + */ + struct stat buffer; + if( stat (GEOFENCE_FILENAME, &buffer) == 0 ) { + warnx("Try to load geofence.txt"); + _geofence.loadFromFile(GEOFENCE_FILENAME); + } else { + if (_geofence.clearDm() > 0 ) + warnx("Geofence cleared"); + else + warnx("Could not clear geofence"); + } /* * do subscriptions @@ -814,9 +824,9 @@ Navigator::status() } if (_fence_valid) { warnx("Geofence is valid"); - warnx("Vertex longitude latitude"); - for (unsigned i = 0; i < _fence.count; i++) - warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat); +// warnx("Vertex longitude latitude"); +// for (unsigned i = 0; i < _fence.count; i++) +// warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat); } else { warnx("Geofence not set"); } @@ -840,96 +850,6 @@ Navigator::status() } } -void -Navigator::publish_fence(unsigned vertices) -{ - if (_fence_pub == -1) - _fence_pub = orb_advertise(ORB_ID(fence), &vertices); - else - orb_publish(ORB_ID(fence), _fence_pub, &vertices); -} - -bool -Navigator::fence_valid(const struct fence_s &fence) -{ - // 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; -} - -bool -Navigator::load_fence(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 (fence_valid(temp_fence)) - memcpy(&_fence, &temp_fence, sizeof(_fence)); - else - warnx("Invalid fence file, ignored!"); - - return _fence.count != 0; -} - -void -Navigator::fence_point(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); - publish_fence(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) - publish_fence((unsigned)ix + 1); - return; - } - - errx(1, "can't store fence point"); -} - - - StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { { /* STATE_NONE */ @@ -1582,6 +1502,16 @@ bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const } } +void Navigator::add_fence_point(int argc, char *argv[]) +{ + _geofence.addPoint(argc, argv); +} + +void Navigator::load_fence_from_file(const char *filename) +{ + _geofence.loadFromFile(filename); +} + static void usage() { @@ -1626,7 +1556,9 @@ int navigator_main(int argc, char *argv[]) navigator::g_navigator->status(); } else if (!strcmp(argv[1], "fence")) { - navigator::g_navigator->fence_point(argc - 2, argv + 2); + navigator::g_navigator->add_fence_point(argc - 2, argv + 2); + } else if (!strcmp(argv[1], "fencefile")) { + navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME); } else { usage(); |