ardupilot/libraries/AC_Fence/AC_Fence.h

200 lines
9.6 KiB
C++

#pragma once
#include <inttypes.h>
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS.h>
#include <AC_Fence/AC_PolyFence_loader.h>
#include <AP_Common/Location.h>
// bit masks for enabled fence types. Used for TYPE parameter
#define AC_FENCE_TYPE_ALT_MAX 1 // high alt fence which usually initiates an RTL
#define AC_FENCE_TYPE_CIRCLE 2 // circular horizontal fence (usually initiates an RTL)
#define AC_FENCE_TYPE_POLYGON 4 // polygon horizontal fence
// valid actions should a fence be breached
#define AC_FENCE_ACTION_REPORT_ONLY 0 // report to GCS that boundary has been breached but take no further action
#define AC_FENCE_ACTION_RTL_AND_LAND 1 // return to launch and, if that fails, land
#define AC_FENCE_ACTION_ALWAYS_LAND 2 // always land
#define AC_FENCE_ACTION_SMART_RTL 3 // smartRTL, if that fails, RTL, it that still fails, land
#define AC_FENCE_ACTION_BRAKE 4 // brake, if that fails, land
// default boundaries
#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m
#define AC_FENCE_ALT_MIN_DEFAULT -10.0f // default maximum depth in meters
#define AC_FENCE_CIRCLE_RADIUS_DEFAULT 300.0f // default circular fence radius is 300m
#define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further out
#define AC_FENCE_MARGIN_DEFAULT 2.0f // default distance in meters that autopilot's should maintain from the fence to avoid a breach
// give up distance
#define AC_FENCE_GIVE_UP_DISTANCE 100.0f // distance outside the fence at which we should give up and just land. Note: this is not used by library directly but is intended to be used by the main code
#define AC_FENCE_MANUAL_RECOVERY_TIME_MIN 10000 // pilot has 10seconds to recover during which time the autopilot will not attempt to re-take control
class AC_Fence
{
public:
AC_Fence();
/* Do not allow copies */
AC_Fence(const AC_Fence &other) = delete;
AC_Fence &operator=(const AC_Fence&) = delete;
/// enable - allows fence to be enabled/disabled. Note: this does not update the eeprom saved value
void enable(bool value);
/// enabled - returns true if fence is enabled
bool enabled() const { return _enabled; }
/// get_enabled_fences - returns bitmask of enabled fences
uint8_t get_enabled_fences() const;
/// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
bool pre_arm_check(const char* &fail_msg) const;
///
/// methods to check we are within the boundaries and recover
///
/// check - returns the fence type that has been breached (if any)
uint8_t check();
// returns true if the destination is within fence (used to reject waypoints outside the fence)
bool check_destination_within_fence(const Location& loc);
/// get_breaches - returns bit mask of the fence types that have been breached
uint8_t get_breaches() const { return _breached_fences; }
/// get_breach_time - returns time the fence was breached
uint32_t get_breach_time() const { return _breach_time; }
/// get_breach_count - returns number of times we have breached the fence
uint16_t get_breach_count() const { return _breach_count; }
/// get_breach_distance - returns maximum distance in meters outside
/// of the given fences. fence_type is a bitmask here.
float get_breach_distance(uint8_t fence_type) const;
/// get_action - getter for user requested action on limit breach
uint8_t get_action() const { return _action.get(); }
/// get_safe_alt - returns maximum safe altitude (i.e. alt_max - margin)
float get_safe_alt_max() const { return _alt_max - _margin; }
/// get_safe_alt_min - returns the minimum safe altitude (i.e. alt_min - margin)
float get_safe_alt_min() const { return _alt_min + _margin; }
/// get_radius - returns the fence radius in meters
float get_radius() const { return _circle_radius.get(); }
/// get_margin - returns the fence margin in meters
float get_margin() const { return _margin.get(); }
/// manual_recovery_start - caller indicates that pilot is re-taking manual control so fence should be disabled for 10 seconds
/// should be called whenever the pilot changes the flight mode
/// has no effect if no breaches have occurred
void manual_recovery_start();
///
/// polygon related methods
///
/// returns true if polygon fence is valid (i.e. has at least 3 sides)
bool is_polygon_valid() const { return _boundary_valid; }
/// returns pointer to array of polygon points and num_points is filled in with the total number
/// points are offsets from EKF origin in NE frame
Vector2f* get_boundary_points(uint16_t& num_points) const;
/// returns true if we've breached the polygon boundary. simple passthrough to underlying _poly_loader object
bool boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points) const;
/// handler for polygon fence messages with GCS
void handle_msg(GCS_MAVLINK &link, const mavlink_message_t &msg);
/// return system time of last update to the boundary (allows external detection of boundary changes)
uint32_t get_boundary_update_ms() const { return _boundary_update_ms; }
static const struct AP_Param::GroupInfo var_info[];
// methods for mavlink SYS_STATUS message (send_sys_status)
bool sys_status_present() const;
bool sys_status_enabled() const;
bool sys_status_failed() const;
// get singleton instance
static AC_Fence *get_singleton() { return _singleton; }
private:
static AC_Fence *_singleton;
/// check_fence_alt_max - true if alt fence has been newly breached
bool check_fence_alt_max();
/// check_fence_polygon - true if polygon fence has been newly breached
bool check_fence_polygon();
/// check_fence_circle - true if circle fence has been newly breached
bool check_fence_circle();
/// record_breach - update breach bitmask, time and count
void record_breach(uint8_t fence_type);
/// clear_breach - update breach bitmask, time and count
void clear_breach(uint8_t fence_type);
// additional checks for the different fence types:
bool pre_arm_check_polygon(const char* &fail_msg) const;
bool pre_arm_check_circle(const char* &fail_msg) const;
bool pre_arm_check_alt(const char* &fail_msg) const;
/// load polygon points stored in eeprom into boundary array and perform validation. returns true if load successfully completed
bool load_polygon_from_eeprom();
// returns true if we have breached the fence:
bool polygon_fence_is_breached();
// parameters
AP_Int8 _enabled; // top level enable/disable control
AP_Int8 _enabled_fences; // bit mask holding which fences are enabled
AP_Int8 _action; // recovery action specified by user
AP_Float _alt_max; // altitude upper limit in meters
AP_Float _alt_min; // altitude lower limit in meters
AP_Float _circle_radius; // circle fence radius in meters
AP_Float _margin; // distance in meters that autopilot's should maintain from the fence to avoid a breach
AP_Int8 _total; // number of polygon points saved in eeprom
// backup fences
float _alt_max_backup; // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away
float _circle_radius_backup; // backup circle fence radius in meters used to refire the breach if the vehicle continues to move further away
// breach distances
float _alt_max_breach_distance; // distance above the altitude max
float _circle_breach_distance; // distance beyond the circular fence
// other internal variables
float _home_distance; // distance from home in meters (provided by main code)
float _curr_alt;
// breach information
uint8_t _breached_fences; // bitmask holding the fence type that was breached (i.e. AC_FENCE_TYPE_ALT_MIN, AC_FENCE_TYPE_CIRCLE)
uint32_t _breach_time; // time of last breach in milliseconds
uint16_t _breach_count; // number of times we have breached the fence
uint32_t _manual_recovery_start_ms; // system time in milliseconds that pilot re-took manual control
// polygon fence variables
AC_PolyFence_loader _poly_loader; // helper for loading/saving polygon points
Vector2f *_boundary = nullptr; // array of boundary points. Note: point 0 is the return point
uint8_t _boundary_num_points = 0; // number of points in the boundary array (should equal _total parameter after load has completed)
bool _boundary_create_attempted = false; // true if we have attempted to create the boundary array
bool _boundary_valid = false; // true if boundary forms a closed polygon
uint32_t _boundary_update_ms; // system time of last update to the boundary
};
namespace AP {
AC_Fence *fence();
};