diff options
Diffstat (limited to 'src/modules/navigator/geofence.cpp')
-rw-r--r-- | src/modules/navigator/geofence.cpp | 299 |
1 files changed, 299 insertions, 0 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp new file mode 100644 index 000000000..9bbaf167a --- /dev/null +++ b/src/modules/navigator/geofence.cpp @@ -0,0 +1,299 @@ +/**************************************************************************** + * + * 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), + _verticesCount(0), + param_geofence_on(NULL, "GF_ON", false) +{ + /* 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 (((temp_vertex_i.lon) >= lon != (temp_vertex_j.lon >= lon)) && + (lat <= (temp_vertex_j.lat - temp_vertex_i.lat) * (lon - temp_vertex_i.lon) / + (temp_vertex_j.lon - temp_vertex_i.lon) + 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); +} + +void Geofence::updateParams() +{ + param_geofence_on.update(); +} |