/* * allocate and fill the geofence state structure */ void Plane::geofence_load(void) { uint8_t i; if (geofence_state == nullptr) { uint16_t boundary_size = sizeof(Vector2l) * max_fencepoints(); if (hal.util->available_memory() < 100 + boundary_size + sizeof(struct GeofenceState)) { // too risky to enable as we could run out of stack goto failed; } geofence_state = (struct GeofenceState *)calloc(1, sizeof(struct GeofenceState)); if (geofence_state == nullptr) { // not much we can do here except disable it goto failed; } geofence_state->boundary = (Vector2l *)calloc(1, boundary_size); if (geofence_state->boundary == nullptr) { free(geofence_state); geofence_state = nullptr; goto failed; } geofence_state->old_switch_position = 254; } if (g.fence_total <= 0) { g.fence_total.set(0); return; } for (i=0; i<g.fence_total; i++) { geofence_state->boundary[i] = get_fence_point_with_index(i); } geofence_state->num_points = i; if (!Polygon_complete(&geofence_state->boundary[1], geofence_state->num_points-1)) { // first point and last point must be the same goto failed; } if (Polygon_outside(geofence_state->boundary[0], &geofence_state->boundary[1], geofence_state->num_points-1)) { // return point needs to be inside the fence goto failed; } geofence_state->boundary_uptodate = true; geofence_state->fence_triggered = false; gcs_send_text(MAV_SEVERITY_INFO,"Geofence loaded"); gcs_send_message(MSG_FENCE_STATUS); return; failed: g.fence_action.set(FENCE_ACTION_NONE); gcs_send_text(MAV_SEVERITY_WARNING,"Geofence setup error"); }
/* * allocate and fill the geofence state structure */ void Plane::geofence_load(void) { uint8_t i; if (geofence_state == nullptr) { uint16_t boundary_size = sizeof(Vector2l) * max_fencepoints(); if (hal.util->available_memory() < 100 + boundary_size + sizeof(struct GeofenceState)) { // too risky to enable as we could run out of stack geofence_disable_and_send_error_msg("low on memory"); return; } geofence_state = (struct GeofenceState *)calloc(1, sizeof(struct GeofenceState)); if (geofence_state == nullptr) { // not much we can do here except disable it geofence_disable_and_send_error_msg("failed to init state memory"); return; } geofence_state->boundary = (Vector2l *)calloc(1, boundary_size); if (geofence_state->boundary == nullptr) { free(geofence_state); geofence_state = nullptr; geofence_disable_and_send_error_msg("failed to init boundary memory"); return; } geofence_state->old_switch_position = 254; } if (g.fence_total <= 0) { g.fence_total.set(0); return; } for (i=0; i<g.fence_total; i++) { geofence_state->boundary[i] = get_fence_point_with_index(i); } geofence_state->num_points = i; if (!Polygon_complete(&geofence_state->boundary[1], geofence_state->num_points-1)) { geofence_disable_and_send_error_msg("pt[1] and pt[total-1] must match"); return; } if (Polygon_outside(geofence_state->boundary[0], &geofence_state->boundary[1], geofence_state->num_points-1)) { geofence_disable_and_send_error_msg("pt[0] must be inside fence"); return; } geofence_state->boundary_uptodate = true; geofence_state->fence_triggered = false; gcs().send_text(MAV_SEVERITY_INFO,"Geofence loaded"); gcs().send_message(MSG_FENCE_STATUS); }
void AP_Limit_Geofence::update_boundary() { if (!_simple && _fence_total > 0) { for (uint8_t i = 0; i < (uint8_t) _fence_total; i++) { _boundary[i] = get_fence_point_with_index(i); } _boundary_uptodate = true; } }