aboutsummaryrefslogtreecommitdiff
path: root/src/modules/navigator/geofence.cpp
blob: 4a0528b16fc6a55993e43ca49cadf3273193f7d5 (plain) (blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
/****************************************************************************
 *
 *   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>

Geofence::Geofence() : _fence_pub(-1)
{
	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::load(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);
}