enhanced geofencing

buzz_scripts/include/act/naviguation.bzz

@@ -2,44 +2,31 @@ GOTO_MAXVEL = 1.5 # m/steps
 GOTO_MAXDIST = 150 # m.
 GOTODIST_TOL = 0.4  # m.
 GOTOANG_TOL = 0.1 # rad.
-GPSlimit = {.1={.lat=45.510386, .lng=-73.610400},
+GPSlimit = {.1={.lat=45.510400, .lng=-73.610421},
-			.2={.lat=45.509839, .lng=-73.610047},
+			.2={.lat=45.510896, .lng=-73.608731},
-			.3={.lat=45.510859, .lng=-73.608714},
+			.3={.lat=45.510355, .lng=-73.608404},
-			.4={.lat=45.510327, .lng=-73.608393}}
+			.4={.lat=45.509840, .lng=-73.610072}}
 
 # Core naviguation function to travel to a GPS target location.
 function goto_gps(transf) {
-	if(Geofence()) {
+	m_navigation = vec_from_gps(cur_goal.latitude, cur_goal.longitude, 0)
-		m_navigation = vec_from_gps(cur_goal.latitude, cur_goal.longitude, 0)
+	#print(" has to move ", math.vec2.length(m_navigation), math.vec2.angle(m_navigation))
-		#print(" has to move ", math.vec2.length(m_navigation), math.vec2.angle(m_navigation))
+	if(math.vec2.length(m_navigation)>GOTO_MAXDIST)
-		if(math.vec2.length(m_navigation)>GOTO_MAXDIST)
+		log("Sorry this is too far (", math.vec2.length(m_navigation), " / ", GOTO_MAXDIST, " )")
-			log("Sorry this is too far (", math.vec2.length(m_navigation), " / ", GOTO_MAXDIST, " )")
+	else if(math.vec2.length(m_navigation) < GOTODIST_TOL and math.vec2.angle(m_navigation) < GOTOANG_TOL){ # reached destination
-		else if(math.vec2.length(m_navigation) < GOTODIST_TOL and math.vec2.angle(m_navigation) < GOTOANG_TOL){ # reached destination
+			transf()
-				transf()
+	} else {
-		} else {
+		m_navigation = LimitSpeed(m_navigation, 1.0)
-			m_navigation = LimitSpeed(m_navigation, 1.0)
+		table_print(m_navigation)
-			#m_navigation = LCA(m_navigation)
+		gf = {.0=m_navigation, .1=vec_from_gps(GPSlimit[1].lat, GPSlimit[1].lng, 0), .2=vec_from_gps(GPSlimit[2].lat, GPSlimit[2].lng, 0), .3=vec_from_gps(GPSlimit[3].lat, GPSlimit[3].lng, 0), .4=vec_from_gps(GPSlimit[4].lat, GPSlimit[4].lng, 0)}
-			goto_abs(m_navigation.x, m_navigation.y, cur_goal.altitude - pose.position.altitude, 0.0)
+		geofence(gf)
-		}
+		#m_navigation = LCA(m_navigation)
-	} else
+		goto_abs(m_navigation.x, m_navigation.y, cur_goal.altitude - pose.position.altitude, 0.0)
-		log("Geofencing prevents from going to that location!")
+	}
 }
 
 function LimitSpeed(vel_vec, factor){
   if(math.vec2.length(vel_vec)>GOTO_MAXVEL*factor)
   	vel_vec = math.vec2.scale(vel_vec, GOTO_MAXVEL*factor/math.vec2.length(vel_vec))
 	return vel_vec
-}
-
-function Geofence(){ #TODO: rotate the fence box to really fit the coordinates
-	if(cur_goal.latitude > GPSlimit[1].lat and cur_goal.latitude > GPSlimit[2].lat and cur_goal.latitude > GPSlimit[3].lat and cur_goal.latitude > GPSlimit[4].lat)
-		return 0;
-	if(cur_goal.latitude < GPSlimit[1].lat and cur_goal.latitude < GPSlimit[2].lat and cur_goal.latitude < GPSlimit[3].lat and cur_goal.latitude < GPSlimit[4].lat)
-		return 0;
-	if(cur_goal.longitude > GPSlimit[1].lng and cur_goal.longitude > GPSlimit[2].lng and cur_goal.longitude > GPSlimit[3].lng and cur_goal.longitude > GPSlimit[4].lng)
-		return 0;
-	if(cur_goal.longitude < GPSlimit[1].lng and cur_goal.longitude < GPSlimit[2].lng and cur_goal.longitude < GPSlimit[3].lng and cur_goal.longitude < GPSlimit[4].lng)
-		return 0;
-
-	return 1
 }

buzz_scripts/main.bzz

@@ -12,7 +12,7 @@ include "utils/takeoff_heights.bzz"
 
 #State launched after takeoff
 
-AUTO_LAUNCH_STATE = "IDLE"
+AUTO_LAUNCH_STATE = "DEPLOY"
 TARGET     = 9.0
 EPSILON    = 30.0
 ROOT_ID = 3
@@ -44,7 +44,7 @@ function init() {
 	nei_cmd_listen()
 
     # Starting state: TURNEDOFF to wait for user input.
-	BVMSTATE = "TURNEDOFF"
+	BVMSTATE = "LAUNCH"
 }
 
 # Executed at each time step.

include/buzzuav_closures.h

@@ -154,6 +154,7 @@ int buzzuav_land(buzzvm_t vm);
  * Command the UAV to go to home location
  */
 int buzzuav_gohome(buzzvm_t vm);
+int buzzuav_geofence(buzzvm_t vm);
 
 /*
  * Updates battery information in Buzz

src/buzz_utility.cpp

@@ -243,6 +243,9 @@ static int buzz_register_hooks()
   buzzvm_pushs(VM, buzzvm_string_register(VM, "voronoi", 1));
   buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::voronoi_center));
   buzzvm_gstore(VM);
+  buzzvm_pushs(VM, buzzvm_string_register(VM, "geofence", 1));
+  buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_geofence));
+  buzzvm_gstore(VM);
 
   return VM->state;
 }

src/buzzuav_closures.cpp

@@ -376,6 +376,152 @@ int voronoi_center(buzzvm_t vm) {
   return buzzvm_ret0(vm);
 }
 
+/*
+ *  Geofence(): test for a point in a polygon
+ *     TAKEN from https://www.geeksforgeeks.org/how-to-check-if-a-given-point-lies-inside-a-polygon/  
+ */
+struct Point 
+{ 
+    int x; 
+    int y; 
+};
+// Given three colinear points p, q, r, the function checks if 
+// point q lies on line segment 'pr' 
+bool onSegment(Point p, Point q, Point r) 
+{ 
+    if (q.x <= max(p.x, r.x) && q.x >= min(p.x, r.x) && 
+            q.y <= max(p.y, r.y) && q.y >= min(p.y, r.y)) 
+        return true; 
+    return false; 
+}
+// To find orientation of ordered triplet (p, q, r). 
+// The function returns following values 
+// 0 --> p, q and r are colinear 
+// 1 --> Clockwise 
+// 2 --> Counterclockwise 
+int orientation(Point p, Point q, Point r) 
+{ 
+    int val = (q.y - p.y) * (r.x - q.x) - 
+              (q.x - p.x) * (r.y - q.y); 
+  
+    if (val == 0) return 0;  // colinear 
+    return (val > 0)? 1: 2; // clock or counterclock wise 
+}
+// The function that returns true if line segment 'p1q1' 
+// and 'p2q2' intersect. 
+bool doIntersect(Point p1, Point q1, Point p2, Point q2) 
+{ 
+    // Find the four orientations needed for general and 
+    // special cases 
+    int o1 = orientation(p1, q1, p2); 
+    int o2 = orientation(p1, q1, q2); 
+    int o3 = orientation(p2, q2, p1); 
+    int o4 = orientation(p2, q2, q1); 
+  
+    // General case 
+    if (o1 != o2 && o3 != o4) 
+        return true; 
+  
+    // Special Cases 
+    // p1, q1 and p2 are colinear and p2 lies on segment p1q1 
+    if (o1 == 0 && onSegment(p1, p2, q1)) return true; 
+  
+    // p1, q1 and p2 are colinear and q2 lies on segment p1q1 
+    if (o2 == 0 && onSegment(p1, q2, q1)) return true; 
+  
+    // p2, q2 and p1 are colinear and p1 lies on segment p2q2 
+    if (o3 == 0 && onSegment(p2, p1, q2)) return true; 
+  
+     // p2, q2 and q1 are colinear and q1 lies on segment p2q2 
+    if (o4 == 0 && onSegment(p2, q1, q2)) return true; 
+  
+    return false; // Doesn't fall in any of the above cases 
+}
+int buzzuav_geofence(buzzvm_t vm)
+{
+    bool onedge = false;
+    Point P;
+    Point V[4];
+    int tmp;
+    buzzvm_lnum_assert(vm, 1);
+    // Get the parameter
+    buzzvm_lload(vm, 1);
+    buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);    // dictionary
+    buzzobj_t t = buzzvm_stack_at(vm, 1);
+
+    if(buzzdict_size(t->t.value) != 5) {
+      ROS_ERROR("Wrong Geofence input size (%i).", buzzdict_size(t->t.value));
+      return buzzvm_ret0(vm);
+    }
+    for(int32_t i = 0; i < buzzdict_size(t->t.value); ++i) {
+      buzzvm_dup(vm);
+      buzzvm_pushi(vm, i);
+      buzzvm_tget(vm);
+    
+      buzzvm_dup(vm);
+      buzzvm_pushs(vm, buzzvm_string_register(vm, "x", 1));
+      buzzvm_tget(vm);
+      tmp = round(buzzvm_stack_at(vm, 1)->f.value*10);
+      ROS_INFO("[%i]---x-->%i",buzz_utility::get_robotid(), tmp);
+      if(i==0)
+        P.x = tmp;
+      else
+        V[i-1].x = tmp;
+      buzzvm_pop(vm);
+      buzzvm_dup(vm);
+      buzzvm_pushs(vm, buzzvm_string_register(vm, "y", 1));
+      buzzvm_tget(vm);
+      tmp = round(buzzvm_stack_at(vm, 1)->f.value*10);
+      ROS_INFO("[%i]---x-->%i",buzz_utility::get_robotid(), tmp);
+      if(i==0)
+        P.y = tmp;
+      else
+        V[i-1].y = tmp;
+      buzzvm_pop(vm);
+
+      buzzvm_pop(vm);
+    }
+
+    // simple polygon: rectangle, 4 points
+    int n = 4;
+    // Create a point for line segment from p to infinite 
+    Point extreme = {10000, P.y}; 
+  
+    // Count intersections of the above line with sides of polygon 
+    int count = 0, i = 0; 
+    do
+    {
+        int next = (i+1)%n;
+  
+        // Check if the line segment from 'p' to 'extreme' intersects 
+        // with the line segment from 'polygon[i]' to 'polygon[next]' 
+        if (doIntersect(V[i], V[next], P, extreme)) 
+        { 
+            // If the point 'p' is colinear with line segment 'i-next', 
+            // then check if it lies on segment. If it lies, return true, 
+            // otherwise false 
+            if (orientation(V[i], P, V[next]) == 0) {
+              onedge = onSegment(V[i], P, V[next]);
+              if(onedge)
+                break;
+            }
+  
+            count++; 
+        }
+      i = next; 
+    } while (i != 0); 
+  
+  ROS_INFO("[%i] Geofence: %i, %i",buzz_utility::get_robotid(),count, onedge);
+
+  if((count%2 == 0) || onedge) {
+    goto_gpsgoal[0] = cur_pos[0];
+    goto_gpsgoal[1] = cur_pos[1];
+    ROS_WARN("Geofencing trigered, not going any further!");
+  }
+
+  return buzzvm_ret0(vm);
+}
+
 int buzzuav_moveto(buzzvm_t vm)
 /*
 / Buzz closure to move following a 3D vector + Yaw
@@ -457,8 +603,8 @@ int buzzuav_addNeiStatus(buzzvm_t vm)
   buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);
   buzzobj_t t = buzzvm_stack_at(vm, 1);
   if(buzzdict_size(t->t.value) != 5) {
-    ROS_WARN("Wrong neighbor status size.");
+    ROS_ERROR("Wrong neighbor status size.");
-    return vm->state;
+    return buzzvm_ret0(vm);
   }
 
   buzz_utility::neighbors_status newRS;