/****************************************************************************
 *
 *   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
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 ****************************************************************************/
/**
 * @file geofence.cpp
 * Provides functions for handling the geofence
 */
#include "geofence.h"

#include <uORB/topics/vehicle_global_position.h>

Geofence::Geofence()
{

}

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;
}