1 files changed, 298 insertions, 0 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
new file mode 100644
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+++ b/src/modules/navigator/geofence.cpp
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+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * 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
+ *
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+#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() :
+		SuperBlock(NULL, "GF"),
+		_fence_pub(-1),
+		_altitude_min(0),
+		_altitude_max(0),
+		_verticesCount(0),
+		param_geofence_on(this, "ON")
+{
+	/* Load initial params */
+	updateParams();
+}
+
+Geofence::~Geofence()
+{
+
+}
+
+
+bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
+{
+	double lat = vehicle->lat / 1e7d;
+	double lon = vehicle->lon / 1e7d;
+	//float	alt = vehicle->alt;
+
+	return inside(lat, lon, vehicle->alt);
+}
+
+bool Geofence::inside(double lat, double lon, float altitude)
+{
+	/* Return true if geofence is disabled */
+	if (param_geofence_on.get() != 1)
+		return true;
+
+	if (valid()) {
+
+		if (!isEmpty()) {
+			/* Vertical check */
+			if (altitude > _altitude_max || altitude < _altitude_min)
+				return false;
+
+			/*Horizontal check */
+			/* Adaptation of algorithm originally presented as
+			 * PNPOLY - Point Inclusion in Polygon Test
+			 * W. Randolph Franklin (WRF) */
+
+			bool c = false;
+
+			struct fence_vertex_s temp_vertex_i;
+			struct fence_vertex_s temp_vertex_j;
+
+			/* Red until fence is finished */
+			for (unsigned i = 0, j = _verticesCount - 1; i < _verticesCount; j = i++) {
+				if (dm_read(DM_KEY_FENCE_POINTS, i, &temp_vertex_i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
+					break;
+				}
+				if (dm_read(DM_KEY_FENCE_POINTS, j, &temp_vertex_j, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
+					break;
+				}
+
+				// skip vertex 0 (return point)
+				if (((double)temp_vertex_i.lon >= lon) != ((double)temp_vertex_j.lon >= lon) &&
+							(lat <= (double)(temp_vertex_j.lat - temp_vertex_i.lat) * (lon - (double)temp_vertex_i.lon) /
+							 (double)(temp_vertex_j.lon - temp_vertex_i.lon) + (double)temp_vertex_i.lat)) {
+							c = !c;
+				}
+
+			}
+
+			return c;
+		} else {
+			/* Empty fence --> accept all points */
+			return true;
+		}
+
+	} else {
+		/* Invalid fence --> accept all points */
+		return true;
+	}
+}
+
+bool
+Geofence::valid()
+{
+	// NULL fence is valid
+	if (isEmpty())
+		return true;
+
+	// Otherwise
+	if ((_verticesCount < 4) || (_verticesCount > 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 the line starts with DMS, this means that the coordinate is given as degree minute second instead of decimal degrees */
+			if (line[textStart] == 'D' && line[textStart + 1] == 'M' && line[textStart + 2] == 'S') {
+				/* Handle degree minute second format */
+				float lat_d, lat_m, lat_s, lon_d, lon_m, lon_s;
+
+				if (sscanf(line, "DMS %f %f %f %f %f %f", &lat_d, &lat_m, &lat_s, &lon_d, &lon_m, &lon_s) != 6)
+					return ERROR;
+
+//				warnx("Geofence DMS: %.5f %.5f %.5f ; %.5f %.5f %.5f", (double)lat_d, (double)lat_m, (double)lat_s, (double)lon_d, (double)lon_m, (double)lon_s);
+
+				vertex.lat = lat_d + lat_m/60.0f + lat_s/3600.0f;
+				vertex.lon = lon_d + lon_m/60.0f + lon_s/3600.0f;
+
+			} else {
+				/* Handle decimal degree format */
+
+				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);
+
+	/* Check if import was successful */
+	if(gotVertical && pointCounter > 0)
+	{
+		_verticesCount = pointCounter;
+		warnx("Geofence: imported successfully");
+	} else {
+		warnx("Geofence: import error");
+	}
+
+	return ERROR;
+}
+
+int Geofence::clearDm()
+{
+	dm_clear(DM_KEY_FENCE_POINTS);
+	return OK;
+}