Merge pull request #1204 from paparazzi/dynamic_sectors

Dynamic sectors
close #643 
and also close #605 because it is working on concave hulls as well

conf/flight_plans/dynamic_sectors.xml

@@ -0,0 +1,83 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="260" ground_alt="185" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Dynamic sectors demo" qfu="270" security_height="25" home_mode_height="50">
+  <header>
+#include "subsystems/datalink/datalink.h"
+</header>
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="STDBY" x="20" y="80"/>
+    <waypoint name="1" x="44.8" y="102.2"/>
+    <waypoint alt="215.0" name="AF" x="200" y="-10"/>
+    <waypoint alt="185.0" name="TD" x="80.0" y="20.0"/>
+    <waypoint name="BASELEG" x="26.9" y="-23.0"/>
+    <waypoint name="C1" x="-100" y="0"/>
+    <waypoint name="C2" x="-100" y="200"/>
+    <waypoint name="C3" x="100" y="200"/>
+    <waypoint name="C4" x="100" y="0"/>
+    <waypoint name="CLIMB" x="-122.5" y="35.4"/>
+  </waypoints>
+  <sectors>
+    <sector name="Square" type="dynamic">
+      <corner name="C1"/>
+      <corner name="C2"/>
+      <corner name="C3"/>
+      <corner name="C4"/>
+    </sector>
+  </sectors>
+  <exceptions/>
+  <blocks>
+    <block name="Wait GPS">
+      <set value="1" var="kill_throttle"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Geo init">
+      <while cond="LessThan(NavBlockTime(), 10)"/>
+      <call fun="NavSetGroundReferenceHere()"/>
+      <!--call fun="NavSetAltitudeReferenceHere()"/-->
+    </block>
+    <block name="Holding point">
+      <set value="1" var="kill_throttle"/>
+      <attitude roll="0" throttle="0" vmode="throttle"/>
+    </block>
+    <block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
+      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <set value="0" var="kill_throttle"/>
+      <go wp="CLIMB"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <circle radius="nav_radius" wp="STDBY"/>
+    </block>
+    <block name="Fly in Square">
+      <exception cond="! InsideSquare(GetPosX(), GetPosY())" deroute="Come back wp 1"/>
+      <attitude alt="GetAltRef()+75" roll="0" vmode="alt"/>
+    </block>
+    <block name="Come back wp 1">
+      <exception cond="InsideSquare(GetPosX(), GetPosY())" deroute="Fly in Square"/>
+      <go wp="1"/>
+      <deroute block="Fly in Square"/>
+    </block>
+    <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
+      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="land"/>
+    </block>
+    <block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
+      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="land"/>
+    </block>
+    <block name="land">
+      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
+      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
+      <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+    </block>
+    <block name="final">
+      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
+    </block>
+    <block name="flare">
+      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
+      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
+    </block>
+  </blocks>
+</flight_plan>

conf/flight_plans/flight_plan.dtd

@@ -77,7 +77,8 @@ height CDATA #IMPLIED>
 
 <!ATTLIST sector
 name CDATA #REQUIRED
-color CDATA #IMPLIED>
+color CDATA #IMPLIED
+type CDATA #IMPLIED>
 
 <!ATTLIST corner
 name CDATA #REQUIRED>

sw/ground_segment/cockpit/live.ml

@@ -1332,7 +1332,8 @@ let listen_waypoint_moved = fun () ->
     try
       let w = ac.fp_group#get_wp wp_id in
       w#set_ground_alt ground_alt;
-      w#set ~altitude ~update:true geo
+      w#set ~altitude ~update:true geo;
+      ac.fp_group#update_sectors w#name
     with
         Not_found -> () (* Silently ignore unknown waypoints *)
   in

sw/lib/ocaml/mapFP.ml

@@ -180,9 +180,11 @@ let georef_of_xml = fun xml ->
 
 let display_lines = fun ?group color (geomap:MapCanvas.widget) points ->
   let n = Array.length points in
+  let l = ref [] in
   for i = 0 to n - 1 do
-    ignore (geomap#segment ?group ~width:3 ~fill_color:color points.(i) points.((i+1)mod n))
-  done
+    l := !l @ [(geomap#segment ?group ~width:3 ~fill_color:color points.(i) points.((i+1)mod n))]
+  done;
+  !l
 
 let space_regexp = Str.regexp " "
 let comma_regexp = Str.regexp ","
@@ -209,7 +211,7 @@ let display_kml = fun ?group color geomap xml ->
                   [Xml.PCData text] ->
                     let points = Str.split space_regexp text in
                     let points = List.map wgs84_of_kml_point points in
-                    display_lines ?group color geomap (Array.of_list points)
+                    ignore(display_lines ?group color geomap (Array.of_list points))
                 | _ -> failwith "coordinates expected"
             end
 
@@ -257,14 +259,16 @@ class flight_plan = fun ?format_attribs ?editable ~show_moved geomap color fp_dt
       w in
 
   (* The sectors *)
-  let _ =
+  (* Parse sectors and store dynamic ones *)
+  let sectors =
     let waypoints = ExtXml.child xml "waypoints" in
     try
-      List.iter (fun x ->
+      List.fold_left (fun l x ->
         match String.lowercase (Xml.tag x) with
             "kml" ->
               let file = ExtXml.attrib x "file" in
-              display_kml ~group:wpts_group#group color geomap (ExtXml.parse_file (Env.flight_plans_path // file))
+              display_kml ~group:wpts_group#group color geomap (ExtXml.parse_file (Env.flight_plans_path // file));
+              l
           | "sector" ->
             let wgs84 = fun wp_name ->
               let wp_name = Xml.attrib wp_name "name" in
@@ -275,10 +279,15 @@ class flight_plan = fun ?format_attribs ?editable ~show_moved geomap color fp_dt
             let points = List.map wgs84 (Xml.children x) in
             let points = Array.of_list points in
             let color_sector = ExtXml.attrib_or_default x "color" color in
-            display_lines ~group:wpts_group#group color_sector geomap points
+            let segments = display_lines ~group:wpts_group#group color_sector geomap points in
+            let wp_names = List.map (fun wp -> Xml.attrib wp "name") (Xml.children x) in
+            if ExtXml.attrib_or_default x "type" "" = "dynamic" then
+              [(wp_names, segments, color_sector)] @ l
+            else
+              l
           | _ -> failwith "Unknown sectors child")
-        (Xml.children (ExtXml.child xml "sectors"))
-    with Not_found -> () in
+      [] (Xml.children (ExtXml.child xml "sectors"))
+    with Not_found -> [] in
 
   (* The waypoints *)
   let _ = List.iter
@@ -368,6 +377,24 @@ object
 
   method connect_activated = fun cb -> XmlEdit.connect_activated xml_tree_view cb
 
+  method update_sectors = fun wp_name ->
+    List.iter (fun (wps_name, segments, color) ->
+      let wp_in_sector = List.exists (fun name -> name = wp_name) wps_name in
+      if wp_in_sector then begin
+        (* Build WP array *)
+        let points = List.map (fun n -> let (_, w) = Hashtbl.find yaws n in w#pos) wps_name in
+        let points = Array.of_list points in
+        let segments = Array.of_list segments in
+        let n = Array.length points in
+        (* Update segments *)
+        for i = 0 to n - 1 do
+          let (x1, y1) = geomap#world_of points.(i)
+          and (x2, y2) = geomap#world_of (points.((i+1)mod n)) in
+          segments.(i)#set [`POINTS [|x1; y1; x2;  y2 |]]
+        done
+      end
+    ) sectors
+
   initializer (
       (** Create a graphic waypoint when it is created from the xml editor *)
     XmlEdit.connect xml_wpts (function XmlEdit.New_child node -> ignore (create_wp  node) | _ -> ())

sw/lib/ocaml/mapFP.mli

@@ -45,6 +45,7 @@ class flight_plan :
     method insert_path : (MapWaypoints.waypoint * float) list -> unit
     method highlight_stage : int -> int -> unit
     method connect_activated : (XmlEdit.node->unit) -> unit
+    method update_sectors : string -> unit
   end
 
 (** Extracts [lat0] and [Lon0] attributes *)

sw/tools/generators/gen_flight_plan.ml

@@ -698,8 +698,8 @@ let dummy_waypoint =
                [])
 
 
-
 let print_inside_polygon = fun pts ->
+  let (_, pts) = List.split pts in
   let layers = Geometry_2d.slice_polygon (Array.of_list pts) in
   let rec f = fun i j ->
     if i = j then
@@ -723,25 +723,51 @@ let print_inside_polygon = fun pts ->
   in
   f 0 (Array.length layers - 1);;
 
-
-
-let print_inside_sector = fun (s, pts) ->
-  lprintf "static inline bool_t %s(float _x, float _y) { \\\n" (inside_function s);
+let print_inside_polygon_global = fun pts ->
+  lprintf "uint8_t i, j;\n";
+  lprintf "bool_t c = FALSE;\n";
+  (* build array of wp id *)
+  let (ids, _) = List.split pts in
+  lprintf "const uint8_t nb_pts = %d;\n" (List.length pts);
+  lprintf "const uint8_t wps_id[] = { %s };\n\n" (String.concat ", " ids);
+  (* start algo *)
+  lprintf "for (i = 0, j = nb_pts - 1; i < nb_pts; j = i++) {\n";
   right ();
-  print_inside_polygon pts;
+  lprintf "if (((WaypointY(wps_id[i]) > _y) != (WaypointY(wps_id[j]) > _y)) &&\n";
+  lprintf "   (_x < (WaypointX(wps_id[j])-WaypointX(wps_id[i])) * (_y-WaypointY(wps_id[i])) / (WaypointY(wps_id[j])-WaypointY(wps_id[i])) + WaypointX(wps_id[i]))) {\n";
+  right ();
+  lprintf "if (c == TRUE) { c = FALSE; } else { c = TRUE; }\n";
+  left();
+  lprintf "}\n";
+  left();
+  lprintf "}\n";
+  lprintf "return c;\n"
+
+
+type sector_type = StaticSector | DynamicSector
+
+let print_inside_sector = fun t (s, pts) ->
+  lprintf "static inline bool_t %s(float _x, float _y) {\n" (inside_function s);
+  right ();
+  begin
+    match t with
+    | StaticSector -> print_inside_polygon pts
+    | DynamicSector -> print_inside_polygon_global pts
+  end;
   left ();
   lprintf "}\n"
 
 
-let parse_wpt_sector = fun waypoints xml ->
+let parse_wpt_sector = fun indexes waypoints xml ->
   let sector_name = ExtXml.attrib xml "name" in
   let p2D_of = fun x ->
     let name = name_of x in
     try
       let wp = List.find (fun wp -> name_of wp = name) waypoints in
+      let i = get_index_waypoint name indexes in
       let x = float_attrib wp "x"
       and y = float_attrib wp "y" in
-      {G2D.x2D = x; G2D.y2D = y }
+      (i, {G2D.x2D = x; G2D.y2D = y })
     with
         Not_found -> failwith (sprintf "Error: corner '%s' of sector '%s' not found" name sector_name)
   in
@@ -870,16 +896,18 @@ let () =
       Xml2h.define "HOME_MODE_HEIGHT" (sof home_mode_height);
       Xml2h.define "MAX_DIST_FROM_HOME" (sof mdfh);
 
+      lprintf "\n#ifdef NAV_C\n\n";
+
       let index_of_waypoints =
         let i = ref (-1) in
         List.map (fun w -> incr i; (name_of w, !i)) waypoints in
 
       let sectors_element = try ExtXml.child xml "sectors" with Not_found -> Xml.Element ("", [], []) in
       let sectors = List.filter (fun x -> String.lowercase (Xml.tag x) = "sector") (Xml.children sectors_element) in
-      let sectors =  List.map (parse_wpt_sector waypoints) sectors in
-      List.iter print_inside_sector sectors;
+      let sectors_type = List.map (fun x -> match ExtXml.attrib_or_default x "type" "static" with "dynamic" -> DynamicSector | _ -> StaticSector) sectors in
+      let sectors = List.map (parse_wpt_sector index_of_waypoints waypoints) sectors in
+      List.iter2 print_inside_sector sectors_type sectors;
 
-      lprintf "#ifdef NAV_C\n";
       lprintf "\nstatic inline void auto_nav(void) {\n";
       right ();
       List.iter print_exception global_exceptions;