geofence.h

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 * modification, are permitted provided that the following conditions
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#pragma once

#include <float.h>

#include <px4_module_params.h>
#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <px4_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
    };

    void updateFence();

    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);

    bool check(const struct mission_item_s &mission_item);

    int clearDm();

    bool valid();

    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();

    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; 
        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 = {}; 

    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::Subscription<vehicle_air_data_s>  _sub_airdata;

    int _outside_counter{0};
    uint16_t _update_counter{0}; 

    void _updateFence();

    bool checkPolygons(double lat, double lon, float altitude);

    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);

    bool insidePolygon(const PolygonInfo &polygon, double lat, double lon, float altitude);

    bool insideCircle(const PolygonInfo &polygon, double lat, double lon, float altitude);
};