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95 lines
3.1 KiB
C++
95 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file geofence.h
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* Provides functions for handling the geofence
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*
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* @author Jean Cyr <jean.m.cyr@gmail.com>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#ifndef GEOFENCE_H_
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#define GEOFENCE_H_
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#include <uORB/topics/fence.h>
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#include <controllib/blocks.hpp>
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#include <controllib/block/BlockParam.hpp>
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#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
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class Geofence : public control::SuperBlock
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{
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private:
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orb_advert_t _fence_pub; /**< publish fence topic */
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float _altitude_min;
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float _altitude_max;
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unsigned _verticesCount;
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/* Params */
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control::BlockParamInt param_geofence_on;
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public:
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Geofence();
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~Geofence();
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/**
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* Return whether craft is inside geofence.
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*
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* Calculate whether point is inside arbitrary polygon
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* @param craft pointer craft coordinates
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* @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
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* @return true: craft is inside fence, false:craft is outside fence
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*/
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bool inside(const struct vehicle_global_position_s *craft);
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bool inside(double lat, double lon, float altitude);
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int clearDm();
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bool valid();
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/**
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* Specify fence vertex position.
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*/
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void addPoint(int argc, char *argv[]);
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void publishFence(unsigned vertices);
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int loadFromFile(const char *filename);
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bool isEmpty() {return _verticesCount == 0;}
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};
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#endif /* GEOFENCE_H_ */
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