Rover: fence moved to vehicle

Rover/AP_Rally.cpp

@@ -21,8 +21,10 @@
 
 bool AP_Rally_Rover::is_valid(const Location &rally_point) const
 {
-    if (!rover.g2.fence.check_destination_within_fence(rally_point)) {
+#if AC_FENCE
+    if (!rover.fence.check_destination_within_fence(rally_point)) {
         return false;
     }
+#endif
     return true;
 }

Rover/Parameters.cpp

@@ -478,10 +478,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("FRAME_CLASS", 16, ParametersG2, frame_class, 1),
 
-    // @Group: FENCE_
-    // @Path: ../libraries/AC_Fence/AC_Fence.cpp
-    AP_SUBGROUPINFO(fence, "FENCE_", 17, ParametersG2, AC_Fence),
-
 #if HAL_PROXIMITY_ENABLED
     // @Group: PRX
     // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
@@ -847,7 +843,7 @@ void Rover::load_parameters(void)
                                                       AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
 #endif
 
-#if AP_AIRSPEED_ENABLED | AP_AIS_ENABLED
+#if AP_AIRSPEED_ENABLED | AP_AIS_ENABLED | AC_FENCE
     // Find G2's Top Level Key
     AP_Param::ConversionInfo info;
     if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
@@ -866,4 +862,9 @@ void Rover::load_parameters(void)
 #if AP_AIS_ENABLED
     AP_Param::convert_class(info.old_key, &ais, ais.var_info, 50, 114, false);
 #endif
+
+// PARAMETER_CONVERSION - Added: Mar-2022
+#if AC_FENCE
+    AP_Param::convert_class(info.old_key, &fence, fence.var_info, 17, 4049, false);
+#endif
 }

Rover/Parameters.h

@@ -334,9 +334,6 @@ public:
     // frame class for vehicle
     AP_Int8 frame_class;
 
-    // fence library
-    AC_Fence fence;
-
 #if HAL_PROXIMITY_ENABLED
     // proximity library
     AP_Proximity proximity;

Rover/Rover.cpp

@@ -82,7 +82,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Proximity,        &rover.g2.proximity,     update,         50,  200,  27),
 #endif
     SCHED_TASK_CLASS(AP_WindVane,         &rover.g2.windvane,      update,         20,  100,  30),
-    SCHED_TASK_CLASS(AC_Fence,            &rover.g2.fence,         update,         10,  100,  33),
     SCHED_TASK(update_wheel_encoder,   50,    200,  36),
     SCHED_TASK(update_compass,         10,    200,  39),
     SCHED_TASK(update_logging1,        10,    200,  45),

Rover/failsafe.cpp

@@ -149,6 +149,6 @@ void Rover::handle_battery_failsafe(const char* type_str, const int8_t action)
 void Rover::afs_fs_check(void)
 {
     // perform AFS failsafe checks
-    g2.afs.check(g2.fence.get_breaches() != 0, failsafe.last_valid_rc_ms);
+    g2.afs.check(fence.get_breaches() != 0, failsafe.last_valid_rc_ms);
 }
 #endif

Rover/fence.cpp

@@ -3,11 +3,12 @@
 // fence_check - ask fence library to check for breaches and initiate the response
 void Rover::fence_check()
 {
+#if AC_FENCE
     uint8_t new_breaches;  // the type of fence that has been breached
-    const uint8_t orig_breaches = g2.fence.get_breaches();
+    const uint8_t orig_breaches = fence.get_breaches();
 
     // check for a breach
-    new_breaches = g2.fence.check();
+    new_breaches = fence.check();
 
     // return immediately if motors are not armed
     if (!arming.is_armed()) {
@@ -17,10 +18,10 @@ void Rover::fence_check()
     // if there is a new breach take action
     if (new_breaches) {
         // if the user wants some kind of response and motors are armed
-        if (g2.fence.get_action() != Failsafe_Action_None) {
+        if (fence.get_action() != Failsafe_Action_None) {
             // if within 100m of the fence, it will take the action specified by the FENCE_ACTION parameter
-            if (g2.fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
+            if (fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
-                switch (g2.fence.get_action()) {
+                switch (fence.get_action()) {
                 case Failsafe_Action_None:
                     break;
                 case Failsafe_Action_RTL:
@@ -56,4 +57,5 @@ void Rover::fence_check()
         AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE,
                                  LogErrorCode::ERROR_RESOLVED);
     }
+#endif // AC_FENCE
 }

Rover/mode_auto.cpp

@@ -481,13 +481,15 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 
     case MAV_CMD_DO_FENCE_ENABLE:
+#if AC_FENCE
         if (cmd.p1 == 0) {  //disable
-            g2.fence.enable(false);
+            rover.fence.enable(false);
             gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
         } else {  //enable fence
-            g2.fence.enable(true);
+            rover.fence.enable(true);
             gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
         }
+#endif
         break;
 
     case MAV_CMD_DO_GUIDED_LIMITS:

Rover/system.cpp

@@ -29,8 +29,6 @@ void Rover::init_ardupilot()
     g2.gripper.init();
 #endif
 
-    g2.fence.init();
-
     // initialise notify system
     notify.init();
     notify_mode(control_mode);
@@ -222,10 +220,12 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
 
     control_mode = &new_mode;
 
+#if AC_FENCE
     // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
     // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
     // but it should be harmless to disable the fence temporarily in these situations as well
-    g2.fence.manual_recovery_start();
+    fence.manual_recovery_start();
+#endif
 
 #if CAMERA == ENABLED
     camera.set_is_auto_mode(control_mode->mode_number() == Mode::Number::AUTO);

Rover/wscript

@@ -17,7 +17,6 @@ def build(bld):
             'AP_AdvancedFailsafe',
             'AP_WheelEncoder',
             'AP_SmartRTL',
-            'AC_Fence',
             'AC_AttitudeControl',
             'AP_LTM_Telem',
             'AP_Devo_Telem',