navigator/geofence: move more functions to geofence class (WIP)

src/modules/navigator/geofence.cpp

@@ -39,10 +39,14 @@
 #include "geofence.h"
 
 #include <uORB/topics/vehicle_global_position.h>
+#include <string.h>
+#include <dataman/dataman.h>
+#include <systemlib/err.h>
+#include <stdlib.h>
 
-Geofence::Geofence()
+Geofence::Geofence() : _fence_pub(-1)
 {
-
+	memset(&_fence, 0, sizeof(_fence));
 }
 
 Geofence::~Geofence()
@@ -71,3 +75,92 @@ bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
 			c = !c;
 	return c;
 }
+
+bool
+Geofence::load(unsigned vertices)
+{
+	struct fence_s temp_fence;
+
+	unsigned i;
+	for (i = 0; i < vertices; i++) {
+		if (dm_read(DM_KEY_FENCE_POINTS, i, temp_fence.vertices + i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
+			break;
+		}
+	}
+
+	temp_fence.count = i;
+
+	if (valid())
+		memcpy(&_fence, &temp_fence, sizeof(_fence));
+	else
+		warnx("Invalid fence file, ignored!");
+
+	return _fence.count != 0;
+}
+
+bool
+Geofence::valid()
+{
+	// NULL fence is valid
+	if (_fence.count == 0) {
+		return true;
+	}
+
+	// Otherwise
+	if ((_fence.count < 4) || (_fence.count > GEOFENCE_MAX_VERTICES)) {
+		warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
+		return false;
+	}
+
+	return true;
+}
+
+void
+Geofence::addPoint(int argc, char *argv[])
+{
+	int ix, last;
+	double lon, lat;
+	struct fence_vertex_s vertex;
+	char *end;
+
+	if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
+		dm_clear(DM_KEY_FENCE_POINTS);
+		publishFence(0);
+		return;
+	}
+
+	if (argc < 3)
+		errx(1, "Specify: -clear | sequence latitude longitude [-publish]");
+
+	ix = atoi(argv[0]);
+	if (ix >= DM_KEY_FENCE_POINTS_MAX)
+		errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
+
+	lat = strtod(argv[1], &end);
+	lon = strtod(argv[2], &end);
+
+	last = 0;
+	if ((argc > 3) && (strcmp(argv[3], "-publish") == 0))
+		last = 1;
+
+	vertex.lat = (float)lat;
+	vertex.lon = (float)lon;
+
+	if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
+		if (last)
+			publishFence((unsigned)ix + 1);
+		return;
+	}
+
+	errx(1, "can't store fence point");
+}
+
+void
+Geofence::publishFence(unsigned vertices)
+{
+	if (_fence_pub == -1)
+		_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
+	else
+		orb_publish(ORB_ID(fence), _fence_pub, &vertices);
+}
+

src/modules/navigator/geofence.h

@@ -45,6 +45,7 @@
 class Geofence {
 private:
 	struct fence_s _fence;
+	orb_advert_t	_fence_pub;			/**< publish fence topic */
 public:
 	Geofence();
 	~Geofence();
@@ -58,6 +59,21 @@ public:
 	 * @return true: craft is inside fence, false:craft is outside fence
 	 */
 	bool inside(const struct vehicle_global_position_s *craft);
+
+
+	/**
+	 * Load fence parameters.
+	 */
+	bool load(unsigned vertices);
+
+	bool valid();
+
+	/**
+	 * Specify fence vertex position.
+	 */
+	void addPoint(int argc, char *argv[]);
+
+	void publishFence(unsigned vertices);
 };
 
 

src/modules/navigator/mission_feasibility_checker.cpp

@@ -62,7 +62,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
 }
 
 
-bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
+bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 	/* Init if not done yet */
 	init();
@@ -75,27 +75,27 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 
 
 	if (isRotarywing)
-		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, fence);
+		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence);
 	else
-		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, fence);
+		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
+bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 
-	return checkGeofence(dm_current, nMissionItems, fence);
+	return checkGeofence(dm_current, nMissionItems, geofence);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
+bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 	/* Update fixed wing navigation capabilites */
 	updateNavigationCapabilities();
 //	warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);
 
-	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, fence));
+	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence));
 }
 
-bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
+bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 	//xxx: check geofence
 	return true;

src/modules/navigator/mission_feasibility_checker.h

@@ -43,6 +43,7 @@
 #include <uORB/topics/mission.h>
 #include <uORB/topics/navigation_capabilities.h>
 #include <dataman/dataman.h>
+#include "geofence.h"
 
 
 class MissionFeasibilityChecker
@@ -57,15 +58,15 @@ private:
 	void init();
 
 	/* Checks for all airframes */
-	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence);
+	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 
 	/* Checks specific to fixedwing airframes */
-	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence);
+	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 	bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
 	void updateNavigationCapabilities();
 
 	/* Checks specific to rotarywing airframes */
-	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence);
+	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 public:
 
 	MissionFeasibilityChecker();
@@ -74,7 +75,7 @@ public:
 	/*
 	 * Returns true if mission is feasible and false otherwise
 	 */
-	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence);
+	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 
 };
 

src/modules/navigator/navigator_main.cpp

@@ -120,14 +120,9 @@ public:
 	void		status();
 
 	/**
-	 * Load fence parameters.
+	 * Add point to geofence
 	 */
-	bool		load_fence(unsigned vertices);
+	void add_fence_point(int argc, char *argv[]);
-
-	/**
-	 * Specify fence vertex position.
-	 */
-	void		fence_point(int argc, char *argv[]);
 
 private:
 
@@ -145,7 +140,6 @@ private:
 	int		_capabilities_sub;		/**< notification of vehicle capabilities updates */
 
 	orb_advert_t	_triplet_pub;			/**< publish position setpoint triplet */
-	orb_advert_t	_fence_pub;			/**< publish fence topic */ 
 	orb_advert_t	_mission_result_pub;		/**< publish mission result topic */
 	orb_advert_t	_control_mode_pub;			/**< publish vehicle control mode topic */
 
@@ -158,8 +152,7 @@ private:
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	
-	Geofence					geofence;
+	Geofence					_geofence;
-	struct fence_s 					_fence;			/**< storage for fence vertices */
 	bool						_fence_valid;		/**< flag if fence is valid */
         bool						_inside_fence;		/**< vehicle is inside fence */
 
@@ -252,12 +245,8 @@ private:
 	 */
 	void		task_main() __attribute__((noreturn));
 
-	void		publish_fence(unsigned vertices);
-
 	void		publish_safepoints(unsigned points);
 
-	bool		fence_valid(const struct fence_s &fence);
-
 	/**
 	 * Functions that are triggered when a new state is entered.
 	 */
@@ -347,7 +336,6 @@ Navigator::Navigator() :
 
 /* publications */
 	_triplet_pub(-1),
-	_fence_pub(-1),
 	_mission_result_pub(-1),
 	_control_mode_pub(-1),
 
@@ -365,8 +353,6 @@ Navigator::Navigator() :
 	_time_first_inside_orbit(0),
 	_set_nav_state_timestamp(0)
 {
-	memset(&_fence, 0, sizeof(_fence));
-
 	_parameter_handles.min_altitude = param_find("NAV_MIN_ALT");
 	_parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD");
 	_parameter_handles.onboard_mission_enabled = param_find("NAV_ONB_MIS_EN");
@@ -458,7 +444,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
 		} else {
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
 		}
-		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _fence);
+		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence);
 
 		_mission.set_offboard_dataman_id(offboard_mission.dataman_id);
 		_mission.set_current_offboard_mission_index(offboard_mission.current_index);
@@ -511,7 +497,7 @@ Navigator::task_main()
 
 	mavlink_log_info(_mavlink_fd, "[navigator] started");
 
-	_fence_valid = load_fence(GEOFENCE_MAX_VERTICES);
+	_fence_valid = _geofence.load(GEOFENCE_MAX_VERTICES);
 
 	/*
 	 * do subscriptions
@@ -782,9 +768,9 @@ Navigator::status()
 	}
 	if (_fence_valid) {
 		warnx("Geofence is valid");
-		warnx("Vertex longitude latitude");
+//		warnx("Vertex longitude latitude");
-		for (unsigned i = 0; i < _fence.count; i++)
+//		for (unsigned i = 0; i < _fence.count; i++)
-		warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
+//		warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
 	} else {
 		warnx("Geofence not set");
 	}
@@ -808,96 +794,6 @@ Navigator::status()
 	}
 }
 
-void
-Navigator::publish_fence(unsigned vertices)
-{
-	if (_fence_pub == -1)
-		_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
-	else
-		orb_publish(ORB_ID(fence), _fence_pub, &vertices);
-}
-
-bool
-Navigator::fence_valid(const struct fence_s &fence)
-{
-	// NULL fence is valid
-	if (fence.count == 0) {
-		return true;
-	}
-
-	// Otherwise
-	if ((fence.count < 4) || (fence.count > GEOFENCE_MAX_VERTICES)) {
-		warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
-		return false;
-	}
-
-	return true;
-}
-
-bool
-Navigator::load_fence(unsigned vertices)
-{
-	struct fence_s temp_fence;
-
-	unsigned i;
-	for (i = 0; i < vertices; i++) {
-		if (dm_read(DM_KEY_FENCE_POINTS, i, temp_fence.vertices + i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
-			break;
-		}
-	}
-
-	temp_fence.count = i;
-
-	if (fence_valid(temp_fence))
-		memcpy(&_fence, &temp_fence, sizeof(_fence));
-	else
-		warnx("Invalid fence file, ignored!");
-
-	return _fence.count != 0;
-}
-
-void
-Navigator::fence_point(int argc, char *argv[])
-{
-	int ix, last;
-	double lon, lat;
-	struct fence_vertex_s vertex;
-	char *end;
-
-	if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
-		dm_clear(DM_KEY_FENCE_POINTS);
-		publish_fence(0);
-		return;
-	}
-
-	if (argc < 3)
-		errx(1, "Specify: -clear | sequence latitude longitude [-publish]");
-
-	ix = atoi(argv[0]);
-	if (ix >= DM_KEY_FENCE_POINTS_MAX)
-		errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
-
-	lat = strtod(argv[1], &end);
-	lon = strtod(argv[2], &end);
-
-	last = 0;
-	if ((argc > 3) && (strcmp(argv[3], "-publish") == 0))
-		last = 1;
-
-	vertex.lat = (float)lat;
-	vertex.lon = (float)lon;
-
-	if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
-		if (last)
-			publish_fence((unsigned)ix + 1);
-		return;
-	}
-
-	errx(1, "can't store fence point");
-}
-
-
-
 StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 	{	
 							/* STATE_NONE */
@@ -1351,6 +1247,11 @@ bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const
 	}
 }
 
+void Navigator::add_fence_point(int argc, char *argv[])
+{
+	_geofence.addPoint(argc, argv);
+}
+
 
 static void usage()
 {
@@ -1395,7 +1296,7 @@ int navigator_main(int argc, char *argv[])
 		navigator::g_navigator->status();
 
 	} else if (!strcmp(argv[1], "fence")) {
-		navigator::g_navigator->fence_point(argc - 2, argv + 2);
+		navigator::g_navigator->add_fence_point(argc - 2, argv + 2);
 
 	} else {
 		usage();