create geofence class and start moving fence functionality to this class

src/lib/geo/geo.c

@@ -503,27 +503,3 @@ __EXPORT float _wrap_360(float bearing)
 
 	return bearing;
 }
-
-__EXPORT bool inside_geofence(const struct vehicle_global_position_s *vehicle, const struct fence_s *fence)
-{
-
-	/* Adaptation of algorithm originally presented as
-	 * PNPOLY - Point Inclusion in Polygon Test
-	 * W. Randolph Franklin (WRF) */
-
-	unsigned int i, j, vertices = fence->count;
-	bool c = false;
-	double lat = vehicle->lat / 1e7d;
-	double lon = vehicle->lon / 1e7d;
-
-	// skip vertex 0 (return point)
-	for (i = 0, j = vertices - 1; i < vertices; j = i++)
-		if (((fence->vertices[i].lon) >= lon != (fence->vertices[j].lon >= lon)) &&
-		    (lat <= (fence->vertices[j].lat - fence->vertices[i].lat) * (lon - fence->vertices[i].lon) /
-		     (fence->vertices[j].lon - fence->vertices[i].lon) + fence->vertices[i].lat))
-			c = !c;
-	return c;
-}
-
-
-

src/lib/geo/geo.h

@@ -143,15 +143,4 @@ __EXPORT float _wrap_360(float bearing);
 __EXPORT float _wrap_pi(float bearing);
 __EXPORT float _wrap_2pi(float bearing);
 
-/**
- * Return whether craft is inside geofence.
- *
- * Calculate whether point is inside arbitrary polygon
- * @param craft pointer craft coordinates
- * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
- * @return true: craft is inside fence, false:craft is outside fence
- */
-__EXPORT bool inside_geofence(const struct vehicle_global_position_s *craft, const struct fence_s *fence);
-
-
 __END_DECLS

src/modules/navigator/geofence.cpp

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
+ *           @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file geofence.cpp
+ * Provides functions for handling the geofence
+ */
+#include "geofence.h"
+
+#include <uORB/topics/vehicle_global_position.h>
+
+Geofence::Geofence()
+{
+
+}
+
+Geofence::~Geofence()
+{
+
+}
+
+
+bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
+{
+
+	/* Adaptation of algorithm originally presented as
+	 * PNPOLY - Point Inclusion in Polygon Test
+	 * W. Randolph Franklin (WRF) */
+
+	unsigned int i, j, vertices = _fence.count;
+	bool c = false;
+	double lat = vehicle->lat / 1e7d;
+	double lon = vehicle->lon / 1e7d;
+
+	// skip vertex 0 (return point)
+	for (i = 0, j = vertices - 1; i < vertices; j = i++)
+		if (((_fence.vertices[i].lon) >= lon != (_fence.vertices[j].lon >= lon)) &&
+		    (lat <= (_fence.vertices[j].lat - _fence.vertices[i].lat) * (lon - _fence.vertices[i].lon) /
+		     (_fence.vertices[j].lon - _fence.vertices[i].lon) + _fence.vertices[i].lat))
+			c = !c;
+	return c;
+}

src/modules/navigator/geofence.h

@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
+ *           @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file geofence.h
+ * Provides functions for handling the geofence
+ */
+
+#ifndef GEOFENCE_H_
+#define GEOFENCE_H_
+
+#include <uORB/topics/fence.h>
+
+class Geofence {
+private:
+	struct fence_s _fence;
+public:
+	Geofence();
+	~Geofence();
+
+	/**
+	 * Return whether craft is inside geofence.
+	 *
+	 * Calculate whether point is inside arbitrary polygon
+	 * @param craft pointer craft coordinates
+	 * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
+	 * @return true: craft is inside fence, false:craft is outside fence
+	 */
+	bool inside(const struct vehicle_global_position_s *craft);
+};
+
+
+#endif /* GEOFENCE_H_ */

src/modules/navigator/module.mk

@@ -40,6 +40,7 @@ MODULE_COMMAND	= navigator
 SRCS		= navigator_main.cpp \
 		  navigator_params.c \
 		  navigator_mission.cpp \
-		  mission_feasibility_checker.cpp
+		  mission_feasibility_checker.cpp \
+		  geofence.cpp
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink

src/modules/navigator/navigator_main.cpp

@@ -78,6 +78,7 @@
 
 #include "navigator_mission.h"
 #include "mission_feasibility_checker.h"
+#include "geofence.h"
 
 
 /* oddly, ERROR is not defined for c++ */
@@ -157,6 +158,7 @@ private:
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	
+	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 */