geofence.h

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/**
 * @file geofence.h
 * Provides functions for handling the geofence
 *
 * @author Jean Cyr <jean.m.cyr@gmail.com>
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#pragma once

#include <float.h>

#include <px4_platform_common/module_params.h>
#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <px4_platform_common/defines.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_air_data.h>

#define GEOFENCE_FILENAME PX4_STORAGEDIR"/etc/geofence.txt"

class Navigator;

class Geofence : public ModuleParams
{
public:
    Geofence(Navigator *navigator);
    Geofence(const Geofence &) = delete;
    Geofence &operator=(const Geofence &) = delete;
    ~Geofence();

    /* Altitude mode, corresponding to the param GF_ALTMODE */
    enum {
        GF_ALT_MODE_WGS84 = 0,
        GF_ALT_MODE_AMSL = 1
    };

    /* Source, corresponding to the param GF_SOURCE */
    enum {
        GF_SOURCE_GLOBALPOS = 0,
        GF_SOURCE_GPS = 1
    };

    /**
     * update the geofence from dataman.
     * It's generally not necessary to call this as it will automatically update when the data is changed.
     */
    void updateFence();

    /**
     * Return whether the system obeys the geofence.
     *
     * @return true: system is obeying fence, false: system is violating fence
     */
    bool check(const vehicle_global_position_s &global_position,
           const vehicle_gps_position_s &gps_position, const home_position_s home_pos, bool home_position_set);

    /**
     * Return whether a mission item obeys the geofence.
     *
     * @return true: system is obeying fence, false: system is violating fence
     */
    bool check(const struct mission_item_s &mission_item);

    int clearDm();

    bool valid();

    /**
     * Load a single inclusion polygon, replacing any already existing polygons.
     * The file has one of the following formats:
     * - Decimal Degrees:
     * 0 900
     * 47.475273548913222 8.52672100067138672
     * 47.4608261578541359 8.53414535522460938
     * 47.4613484218861217 8.56444358825683594
     * 47.4830758091035534 8.53470325469970703
     *
     * - Degree-Minute-Second:
     * 0 900
     * DMS -26 -34 -10.4304 151 50 14.5428
     * DMS -26 -34 -11.8416 151 50 21.8580
     * DMS -26 -34 -36.5628 151 50 28.1112
     * DMS -26 -34 -37.1640 151 50 24.1620
     *
     * Where the first line is min, max altitude in meters AMSL.
     */
    int loadFromFile(const char *filename);

    bool isEmpty() { return _num_polygons == 0; }

    int getAltitudeMode() { return _param_gf_altmode.get(); }
    int getSource() { return _param_gf_source.get(); }
    int getGeofenceAction() { return _param_gf_action.get(); }

    bool isHomeRequired();

    /**
     * print Geofence status to the console
     */
    void printStatus();

private:
    Navigator   *_navigator{nullptr};

    hrt_abstime _last_horizontal_range_warning{0};
    hrt_abstime _last_vertical_range_warning{0};

    float _altitude_min{0.0f};
    float _altitude_max{0.0f};

    struct PolygonInfo {
        uint16_t fence_type; ///< one of MAV_CMD_NAV_FENCE_* (can also be a circular region)
        uint16_t dataman_index;
        union {
            uint16_t vertex_count;
            float circle_radius;
        };
    };
    PolygonInfo *_polygons{nullptr};
    int _num_polygons{0};

    map_projection_reference_s _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]

    DEFINE_PARAMETERS(
        (ParamInt<px4::params::GF_ACTION>) _param_gf_action,
        (ParamInt<px4::params::GF_ALTMODE>) _param_gf_altmode,
        (ParamInt<px4::params::GF_SOURCE>) _param_gf_source,
        (ParamInt<px4::params::GF_COUNT>) _param_gf_count,
        (ParamFloat<px4::params::GF_MAX_HOR_DIST>) _param_gf_max_hor_dist,
        (ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist
    )

    uORB::SubscriptionData<vehicle_air_data_s>  _sub_airdata;

    int _outside_counter{0};
    uint16_t _update_counter{0}; ///< dataman update counter: if it does not match, we polygon data was updated

    /**
     * implementation of updateFence(), but without locking
     */
    void _updateFence();

    /**
     * Check if a point passes the Geofence test.
     * This takes all polygons and minimum & maximum altitude into account
     *
     * The check passes if: (inside(polygon_inclusion_1) || inside(polygon_inclusion_2) || ... ) &&
     *                       !inside(polygon_exclusion_1) && !inside(polygon_exclusion_2) && ...
     *                       && (altitude within [min, max])
     *                  or: no polygon configured
     * @return result of the check above (false for a geofence violation)
     */
    bool checkPolygons(double lat, double lon, float altitude);

    /**
     * Check if a point passes the Geofence test.
     * In addition to checkPolygons(), this takes all additional parameters into account.
     *
     * @return false for a geofence violation
     */
    bool checkAll(double lat, double lon, float altitude);

    bool checkAll(const vehicle_global_position_s &global_position);
    bool checkAll(const vehicle_global_position_s &global_position, float baro_altitude_amsl);

    /**
     * Check if a single point is within a polygon
     * @return true if within polygon
     */
    bool insidePolygon(const PolygonInfo &polygon, double lat, double lon, float altitude);

    /**
     * Check if a single point is within a circle
     * @param polygon must be a circle!
     * @return true if within polygon the circle
     */
    bool insideCircle(const PolygonInfo &polygon, double lat, double lon, float altitude);
};