#pragma once #include #include #include #include "AP_OAVisGraph.h" #include /* * Dijkstra's algorithm for path planning around polygon fence */ class AP_OADijkstra { public: AP_OADijkstra(AP_Int16 &options); CLASS_NO_COPY(AP_OADijkstra); /* Do not allow copies */ // set fence margin (in meters) used when creating "safe positions" within the polygon fence void set_fence_margin(float margin) { _polyfence_margin = MAX(margin, 0.0f); } // trigger Dijkstra's to recalculate shortest path based on current location void recalculate_path() { _shortest_path_ok = false; } // update return status enum enum AP_OADijkstra_State : uint8_t { DIJKSTRA_STATE_NOT_REQUIRED = 0, DIJKSTRA_STATE_ERROR, DIJKSTRA_STATE_SUCCESS }; // calculate a destination to avoid the polygon fence // returns DIJKSTRA_STATE_SUCCESS and populates origin_new, destination_new and next_destination_new if avoidance is required // next_destination_new will be non-zero if there is a next destination // dest_to_next_dest_clear will be set to true if the path from (the input) destination to (input) next_destination is clear AP_OADijkstra_State update(const Location ¤t_loc, const Location &destination, const Location &next_destination, Location& origin_new, Location& destination_new, Location& next_destination_new, bool& dest_to_next_dest_clear); private: // returns true if at least one inclusion or exclusion zone is enabled bool some_fences_enabled() const; enum class AP_OADijkstra_Error : uint8_t { DIJKSTRA_ERROR_NONE = 0, DIJKSTRA_ERROR_OUT_OF_MEMORY, DIJKSTRA_ERROR_OVERLAPPING_POLYGON_POINTS, DIJKSTRA_ERROR_FAILED_TO_BUILD_INNER_POLYGON, DIJKSTRA_ERROR_OVERLAPPING_POLYGON_LINES, DIJKSTRA_ERROR_FENCE_DISABLED, DIJKSTRA_ERROR_TOO_MANY_FENCE_POINTS, DIJKSTRA_ERROR_NO_POSITION_ESTIMATE, DIJKSTRA_ERROR_COULD_NOT_FIND_PATH } _error_id; // return error message for a given error id const char* get_error_msg(AP_OADijkstra_Error error_id) const; // report error to ground station void report_error(AP_OADijkstra_Error error_id); // // inclusion polygon methods // // check if inclusion polygons have been updated since create_inclusion_polygon_with_margin was run // returns true if changed bool check_inclusion_polygon_updated() const; // create polygons inside the existing inclusion polygons // returns true on success. returns false on failure and err_id is updated bool create_inclusion_polygon_with_margin(float margin_cm, AP_OADijkstra_Error &err_id); // // exclusion polygon methods // // check if exclusion polygons have been updated since create_exclusion_polygon_with_margin was run // returns true if changed bool check_exclusion_polygon_updated() const; // create polygons around existing exclusion polygons // returns true on success. returns false on failure and err_id is updated bool create_exclusion_polygon_with_margin(float margin_cm, AP_OADijkstra_Error &err_id); // // exclusion circle methods // // check if exclusion circles have been updated since create_exclusion_circle_with_margin was run // returns true if changed bool check_exclusion_circle_updated() const; // create polygons around existing exclusion circles // returns true on success. returns false on failure and err_id is updated bool create_exclusion_circle_with_margin(float margin_cm, AP_OADijkstra_Error &err_id); // // other methods // // returns total number of points across all fence types uint16_t total_numpoints() const; // get a single point across the total list of points from all fence types // also returns the type of point bool get_point(uint16_t index, Vector2f& point) const; // returns true if line segment intersects polygon or circular fence bool intersects_fence(const Vector2f &seg_start, const Vector2f &seg_end) const; // create visibility graph for all fence (with margin) points // returns true on success. returns false on failure and err_id is updated bool create_fence_visgraph(AP_OADijkstra_Error &err_id); // calculate shortest path from origin to destination // returns true on success. returns false on failure and err_id is updated // requires create_polygon_fence_with_margin and create_polygon_fence_visgraph to have been run // resulting path is stored in _shortest_path array as vector offsets from EKF origin bool calc_shortest_path(const Location &origin, const Location &destination, AP_OADijkstra_Error &err_id); // shortest path state variables bool _inclusion_polygon_with_margin_ok; bool _exclusion_polygon_with_margin_ok; bool _exclusion_circle_with_margin_ok; bool _polyfence_visgraph_ok; bool _shortest_path_ok; Location _destination_prev; // destination of previous iterations (used to determine if path should be re-calculated) Location _next_destination_prev;// next_destination of previous iterations (used to determine if path should be re-calculated) uint8_t _path_idx_returned; // index into _path array which gives location vehicle should be currently moving towards bool _dest_to_next_dest_clear; // true if path from dest to next_dest is clear (i.e. does not intersects a fence) // inclusion polygon (with margin) related variables float _polyfence_margin = 10; // margin around polygon defaults to 10m but is overriden with set_fence_margin AP_ExpandingArray _inclusion_polygon_pts; // array of nodes corresponding to inclusion polygon points plus a margin uint8_t _inclusion_polygon_numpoints; // number of points held in above array uint32_t _inclusion_polygon_update_ms; // system time of boundary update from AC_Fence (used to detect changes to polygon fence) // exclusion polygon related variables AP_ExpandingArray _exclusion_polygon_pts; // array of nodes corresponding to exclusion polygon points plus a margin uint8_t _exclusion_polygon_numpoints; // number of points held in above array uint32_t _exclusion_polygon_update_ms; // system time exclusion polygon was updated (used to detect changes) // exclusion circle related variables AP_ExpandingArray _exclusion_circle_pts; // array of nodes surrounding exclusion circles plus a margin uint8_t _exclusion_circle_numpoints; // number of points held in above array uint32_t _exclusion_circle_update_ms; // system time exclusion circles were updated (used to detect changes) // visibility graphs AP_OAVisGraph _fence_visgraph; // holds distances between all inclusion/exclusion fence points (with margin) AP_OAVisGraph _source_visgraph; // holds distances from source point to all other nodes AP_OAVisGraph _destination_visgraph; // holds distances from the destination to all other nodes // updates visibility graph for a given position which is an offset (in cm) from the ekf origin // to add an additional position (i.e. the destination) set add_extra_position = true and provide the position in the extra_position argument // requires create_polygon_fence_with_margin to have been run // returns true on success bool update_visgraph(AP_OAVisGraph& visgraph, const AP_OAVisGraph::OAItemID& oaid, const Vector2f &position, bool add_extra_position = false, Vector2f extra_position = Vector2f(0,0)); typedef uint8_t node_index; // indices into short path data struct ShortPathNode { AP_OAVisGraph::OAItemID id; // unique id for node (combination of type and id number) bool visited; // true if all this node's neighbour's distances have been updated node_index distance_from_idx; // index into _short_path_data from where distance was updated (or 255 if not set) float distance_cm; // distance from source (number is tentative until this node is the current node and/or visited = true) }; AP_ExpandingArray _short_path_data; node_index _short_path_data_numpoints; // number of elements in _short_path_data array // update total distance for all nodes visible from current node // curr_node_idx is an index into the _short_path_data array void update_visible_node_distances(node_index curr_node_idx); // find a node's index into _short_path_data array from it's id (i.e. id type and id number) // returns true if successful and node_idx is updated bool find_node_from_id(const AP_OAVisGraph::OAItemID &id, node_index &node_idx) const; // find index of node with lowest tentative distance (ignore visited nodes) // returns true if successful and node_idx argument is updated bool find_closest_node_idx(node_index &node_idx) const; // final path variables and functions AP_ExpandingArray _path; // ids of points on return path in reverse order (i.e. destination is first element) uint8_t _path_numpoints; // number of points on return path Vector2f _path_source; // source point used in shortest path calculations (offset in cm from EKF origin) Vector2f _path_destination; // destination position used in shortest path calculations (offset in cm from EKF origin) // return number of points on path uint8_t get_shortest_path_numpoints() const { return _path_numpoints; } // return point from final path as an offset (in cm) from the ekf origin bool get_shortest_path_point(uint8_t point_num, Vector2f& pos) const; // find the position of a node as an offset (in cm) from the ekf origin // returns true if successful and pos is updated bool convert_node_to_point(const AP_OAVisGraph::OAItemID& id, Vector2f& pos) const; AP_OADijkstra_Error _error_last_id; // last error id sent to GCS uint32_t _error_last_report_ms; // last time an error message was sent to GCS #if HAL_LOGGING_ENABLED // Logging functions void Write_OADijkstra(const uint8_t state, const uint8_t error_id, const uint8_t curr_point, const uint8_t tot_points, const Location &final_dest, const Location &oa_dest) const; void Write_Visgraph_point(const uint8_t version, const uint8_t point_num, const int32_t Lat, const int32_t Lon) const; #else void Write_OADijkstra(const uint8_t state, const uint8_t error_id, const uint8_t curr_point, const uint8_t tot_points, const Location &final_dest, const Location &oa_dest) const {} void Write_Visgraph_point(const uint8_t version, const uint8_t point_num, const int32_t Lat, const int32_t Lon) const {} #endif uint8_t _log_num_points; uint8_t _log_visgraph_version; // reference to AP_OAPathPlanner options param AP_Int16 &_options; };