/*
* polygon tests
*/
void setup(void)
{
unsigned i, count;
bool all_passed = true;
uint32_t start_time;
hal.console->println("polygon unit tests\n");
if (!Polygon_complete(OBC_boundary, ARRAY_SIZE(OBC_boundary))) {
hal.console->println("OBC boundary is not complete!");
all_passed = false;
}
if (Polygon_complete(OBC_boundary, ARRAY_SIZE(OBC_boundary)-1)) {
hal.console->println("Polygon_complete test failed");
all_passed = false;
}
for (i=0; i<ARRAY_SIZE(test_points); i++) {
bool result;
result = Polygon_outside(test_points[i].point,
OBC_boundary, ARRAY_SIZE(OBC_boundary));
hal.console->printf_P(PSTR("%10f,%10f %s %s\n"),
1.0e-7f*test_points[i].point.x,
1.0e-7f*test_points[i].point.y,
result ? "OUTSIDE" : "INSIDE ",
result == test_points[i].outside ? "PASS" : "FAIL");
if (result != test_points[i].outside) {
all_passed = false;
}
}
hal.console->println(all_passed ? "TEST PASSED" : "TEST FAILED");
hal.console->println("Speed test:");
start_time = hal.scheduler->micros();
for (count=0; count<1000; count++) {
for (i=0; i<ARRAY_SIZE(test_points); i++) {
bool result;
result = Polygon_outside(test_points[i].point,
OBC_boundary, ARRAY_SIZE(OBC_boundary));
if (result != test_points[i].outside) {
all_passed = false;
}
}
}
hal.console->printf("%u usec/call\n", (unsigned)((hal.scheduler->micros()
- start_time)/(count*ARRAY_SIZE(test_points))));
hal.console->println(all_passed ? "ALL TESTS PASSED" : "TEST FAILED");
}
bool AP_Limit_Geofence::boundary_correct() {
if (Polygon_complete(&_boundary[1], _fence_total - 1) &&
!Polygon_outside(_boundary[0], &_boundary[1], _fence_total - 1)) {
return true;
} else return false;
}
bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2<T>* points) const
{
// exit immediate if no points
if (points == nullptr) {
return false;
}
// start from 2nd point as boundary contains return point (as first point)
uint8_t start_num = 1;
// a boundary requires at least 4 point (a triangle and last point equals first)
if (num_points < start_num + 4) {
return false;
}
// point 1 and last point must be the same. Note: 0th point is reserved as the return point
if (!Polygon_complete(&points[start_num], num_points-start_num)) {
return false;
}
// check return point is within the fence
if (Polygon_outside(points[0], &points[1], num_points-start_num)) {
return false;
}
return true;
}
/*
* 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);
}
