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  /**
   * @file geofence.h
   * Provides functions for handling the geofence
   *
   * @author Jean Cyr <jean.m.cyr@gmail.com>
   * @author Thomas Gubler <thomasgubler@gmail.com>
   */
  
  #pragma once
  
  #include <float.h>
  
  #include <px4_module_params.h>
  #include <drivers/drv_hrt.h>
  #include <lib/ecl/geo/geo.h>
  #include <px4_defines.h>
  #include <uORB/Subscription.hpp>
  #include <uORB/topics/home_position.h>
  #include <uORB/topics/vehicle_global_position.h>
  #include <uORB/topics/vehicle_gps_position.h>
  #include <uORB/topics/vehicle_air_data.h>
  
  #define GEOFENCE_FILENAME PX4_STORAGEDIR"/etc/geofence.txt"
  
  class Navigator;
  
  class Geofence : public ModuleParams
  {
  public:
  	Geofence(Navigator *navigator);
  	Geofence(const Geofence &) = delete;
  	Geofence &operator=(const Geofence &) = delete;
  	~Geofence();
  
  	/* Altitude mode, corresponding to the param GF_ALTMODE */
  	enum {
  		GF_ALT_MODE_WGS84 = 0,
  		GF_ALT_MODE_AMSL = 1
  	};
  
  	/* Source, corresponding to the param GF_SOURCE */
  	enum {
  		GF_SOURCE_GLOBALPOS = 0,
  		GF_SOURCE_GPS = 1
  	};
  
  	/**
  	 * update the geofence from dataman.
  	 * It's generally not necessary to call this as it will automatically update when the data is changed.
  	 */
  	void updateFence();
  
  	/**
  	 * Return whether the system obeys the geofence.
  	 *
  	 * @return true: system is obeying fence, false: system is violating fence
  	 */
  	bool check(const vehicle_global_position_s &global_position,
  		   const vehicle_gps_position_s &gps_position, const home_position_s home_pos, bool home_position_set);
  
  	/**
  	 * Return whether a mission item obeys the geofence.
  	 *
  	 * @return true: system is obeying fence, false: system is violating fence
  	 */
  	bool check(const struct mission_item_s &mission_item);
  
  	int clearDm();
  
  	bool valid();
  
  	/**
  	 * Load a single inclusion polygon, replacing any already existing polygons.
  	 * The file has one of the following formats:
  	 * - Decimal Degrees:
  	 * 0 900
  	 * 47.475273548913222 8.52672100067138672
  	 * 47.4608261578541359 8.53414535522460938
  	 * 47.4613484218861217 8.56444358825683594
  	 * 47.4830758091035534 8.53470325469970703
  	 *
  	 * - Degree-Minute-Second:
  	 * 0 900
  	 * DMS -26 -34 -10.4304 151 50 14.5428
  	 * DMS -26 -34 -11.8416 151 50 21.8580
  	 * DMS -26 -34 -36.5628 151 50 28.1112
  	 * DMS -26 -34 -37.1640 151 50 24.1620
  	 *
  	 * Where the first line is min, max altitude in meters AMSL.
  	 */
  	int loadFromFile(const char *filename);
  
  	bool isEmpty() { return _num_polygons == 0; }
  
  	int getAltitudeMode() { return _param_gf_altmode.get(); }
  	int getSource() { return _param_gf_source.get(); }
  	int getGeofenceAction() { return _param_gf_action.get(); }
  
  	bool isHomeRequired();
  
  	/**
  	 * print Geofence status to the console
  	 */
  	void printStatus();
  
  private:
  	Navigator	*_navigator{nullptr};
  
  	hrt_abstime _last_horizontal_range_warning{0};
  	hrt_abstime _last_vertical_range_warning{0};
  
  	float _altitude_min{0.0f};
  	float _altitude_max{0.0f};
  
  	struct PolygonInfo {
  		uint16_t fence_type; ///< one of MAV_CMD_NAV_FENCE_* (can also be a circular region)
  		uint16_t dataman_index;
  		union {
  			uint16_t vertex_count;
  			float circle_radius;
  		};
  	};
  	PolygonInfo *_polygons{nullptr};
  	int _num_polygons{0};
  
  	map_projection_reference_s _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]
  
  	DEFINE_PARAMETERS(
  		(ParamInt<px4::params::GF_ACTION>) _param_gf_action,
  		(ParamInt<px4::params::GF_ALTMODE>) _param_gf_altmode,
  		(ParamInt<px4::params::GF_SOURCE>) _param_gf_source,
  		(ParamInt<px4::params::GF_COUNT>) _param_gf_count,
  		(ParamFloat<px4::params::GF_MAX_HOR_DIST>) _param_gf_max_hor_dist,
  		(ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist
  	)
  
  	uORB::SubscriptionData<vehicle_air_data_s>	_sub_airdata;
  
  	int _outside_counter{0};
  	uint16_t _update_counter{0}; ///< dataman update counter: if it does not match, we polygon data was updated
  
  	/**
  	 * implementation of updateFence(), but without locking
  	 */
  	void _updateFence();
  
  	/**
  	 * Check if a point passes the Geofence test.
  	 * This takes all polygons and minimum & maximum altitude into account
  	 *
  	 * The check passes if: (inside(polygon_inclusion_1) || inside(polygon_inclusion_2) || ... ) &&
  	 *                       !inside(polygon_exclusion_1) && !inside(polygon_exclusion_2) && ...
  	 *                       && (altitude within [min, max])
  	 *                  or: no polygon configured
  	 * @return result of the check above (false for a geofence violation)
  	 */
  	bool checkPolygons(double lat, double lon, float altitude);
  
  	/**
  	 * Check if a point passes the Geofence test.
  	 * In addition to checkPolygons(), this takes all additional parameters into account.
  	 *
  	 * @return false for a geofence violation
  	 */
  	bool checkAll(double lat, double lon, float altitude);
  
  	bool checkAll(const vehicle_global_position_s &global_position);
  	bool checkAll(const vehicle_global_position_s &global_position, float baro_altitude_amsl);
  
  	/**
  	 * Check if a single point is within a polygon
  	 * @return true if within polygon
  	 */
  	bool insidePolygon(const PolygonInfo &polygon, double lat, double lon, float altitude);
  
  	/**
  	 * Check if a single point is within a circle
  	 * @param polygon must be a circle!
  	 * @return true if within polygon the circle
  	 */
  	bool insideCircle(const PolygonInfo &polygon, double lat, double lon, float altitude);
  };
  