def area_to_tile_list(self, lat, lon, width, height, ground_width, zoom=None): '''return a list of TileInfoScaled objects needed for an area of land, with ground_width in meters, and width/height in pixels. lat/lon is the top left corner. If unspecified, the zoom is automatically chosen to avoid having to grow the tiles ''' pixel_width = ground_width / float(width) ground_height = ground_width * (height/(float(width))) top_right = mp_util.gps_newpos(lat, lon, 90, ground_width) bottom_left = mp_util.gps_newpos(lat, lon, 180, ground_height) bottom_right = mp_util.gps_newpos(bottom_left[0], bottom_left[1], 90, ground_width) # choose a zoom level if not provided if zoom is None: zooms = range(self.min_zoom, self.max_zoom+1) else: zooms = [zoom] for zoom in zooms: tile_min = self.coord_to_tile(lat, lon, zoom) (twidth,theight) = tile_min.size() tile_pixel_width = twidth / float(TILES_WIDTH) scale = pixel_width / tile_pixel_width if scale >= 1.0: break scaled_tile_width = int(TILES_WIDTH / scale) scaled_tile_height = int(TILES_HEIGHT / scale) # work out the bottom right tile tile_max = self.coord_to_tile(bottom_right[0], bottom_right[1], zoom) ofsx = int(tile_min.offsetx / scale) ofsy = int(tile_min.offsety / scale) srcy = ofsy dsty = 0 ret = [] # place the tiles for y in range(tile_min.y, tile_max.y+1): srcx = ofsx dstx = 0 for x in range(tile_min.x, tile_max.x+1): if dstx < width and dsty < height: ret.append(TileInfoScaled((x,y), zoom, scale, (srcx,srcy), (dstx,dsty))) dstx += scaled_tile_width-srcx srcx = 0 dsty += scaled_tile_height-srcy srcy = 0 return ret
def re_center(self, x, y, lat, lon):
'''re-center view for pixel x,y'''
state = self.state
(lat2,lon2) = self.coordinates(x, y)
distance = mp_util.gps_distance(lat2, lon2, lat, lon)
bearing = mp_util.gps_bearing(lat2, lon2, lat, lon)
(state.lat, state.lon) = mp_util.gps_newpos(state.lat, state.lon, bearing, distance)
def on_mouse(self, event):
'''handle mouse events'''
state = self.state
pos = event.GetPosition()
if event.Leaving():
self.mouse_pos = None
else:
self.mouse_pos = pos
self.update_position()
if event.ButtonIsDown(wx.MOUSE_BTN_ANY) or event.ButtonUp():
# send any event with a mouse button to the parent
latlon = self.coordinates(pos.x, pos.y)
selected = self.selected_objects(pos)
state.event_queue.put(SlipMouseEvent(latlon, event, selected))
if event.LeftDown():
self.mouse_down = pos
self.last_click_pos = self.click_pos
self.click_pos = self.coordinates(pos.x, pos.y)
if event.Dragging() and event.ButtonIsDown(wx.MOUSE_BTN_LEFT):
# drag map to new position
newpos = pos
dx = (self.mouse_down.x - newpos.x)
dy = -(self.mouse_down.y - newpos.y)
pdist = math.sqrt(dx**2 + dy**2)
if pdist > state.drag_step:
bearing = math.degrees(math.atan2(dx, dy))
distance = (state.ground_width/float(state.width)) * pdist
newlatlon = mp_util.gps_newpos(state.lat, state.lon, bearing, distance)
(state.lat, state.lon) = newlatlon
self.mouse_down = newpos
self.redraw_map()
def on_mouse(self, event):
'''handle mouse events'''
state = self.state
pos = event.GetPosition()
if event.Leaving():
self.mouse_pos = None
else:
self.mouse_pos = pos
self.update_position()
if event.ButtonIsDown(wx.MOUSE_BTN_ANY) or event.ButtonUp():
# send any event with a mouse button to the parent
latlon = self.coordinates(pos.x, pos.y)
selected = self.selected_objects(pos)
state.event_queue.put(SlipMouseEvent(latlon, event, selected))
if event.LeftDown():
self.mouse_down = pos
self.last_click_pos = self.click_pos
self.click_pos = self.coordinates(pos.x, pos.y)
if event.Dragging() and event.ButtonIsDown(wx.MOUSE_BTN_LEFT):
# drag map to new position
newpos = pos
dx = (self.mouse_down.x - newpos.x)
dy = -(self.mouse_down.y - newpos.y)
pdist = math.sqrt(dx**2 + dy**2)
if pdist > state.drag_step:
bearing = math.degrees(math.atan2(dx, dy))
distance = (state.ground_width / float(state.width)) * pdist
newlatlon = mp_util.gps_newpos(state.lat, state.lon, bearing,
distance)
(state.lat, state.lon) = newlatlon
self.mouse_down = newpos
self.redraw_map()
def re_center(self, x, y, lat, lon):
'''re-center view for pixel x,y'''
state = self.state
if lat is None or lon is None:
return
(lat2, lon2) = self.coordinates(x, y)
distance = mp_util.gps_distance(lat2, lon2, lat, lon)
bearing = mp_util.gps_bearing(lat2, lon2, lat, lon)
(state.lat, state.lon) = mp_util.gps_newpos(state.lat, state.lon,
bearing, distance)
def mavlink_packet(m):
'''handle an incoming mavlink packet'''
state = mpstate.map_state
if m.get_type() == "SIMSTATE":
if not mpstate.map_state.have_simstate:
mpstate.map_state.have_simstate = True
create_blueplane()
mpstate.map.set_position('blueplane', (m.lat, m.lng), rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and not mpstate.map_state.have_simstate:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if state.lat is not None and (mpstate.map_state.have_blueplane or
mp_util.gps_distance(lat, lon, state.lat, state.lon) > 10):
create_blueplane()
mpstate.map.set_position('blueplane', (lat, lon), rotation=m.cog*0.01)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if mpstate.master().flightmode == "AUTO":
trajectory = [ (state.lat, state.lon),
mp_util.gps_newpos(state.lat, state.lon, m.target_bearing, m.wp_dist) ]
mpstate.map.add_object(mp_slipmap.SlipPolygon('trajectory', trajectory, layer='Trajectory',
linewidth=2, colour=(255,0,180)))
else:
mpstate.map.add_object(mp_slipmap.SlipClearLayer('Trajectory'))
if m.get_type() == 'GLOBAL_POSITION_INT':
(state.lat, state.lon, state.heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01)
else:
return
if state.lat != 0 or state.lon != 0:
mpstate.map.set_position('plane', (state.lat, state.lon), rotation=state.heading)
# if the waypoints have changed, redisplay
if state.wp_change_time != mpstate.status.wploader.last_change:
state.wp_change_time = mpstate.status.wploader.last_change
display_waypoints()
# if the fence has changed, redisplay
if state.fence_change_time != mpstate.status.fenceloader.last_change:
state.fence_change_time = mpstate.status.fenceloader.last_change
points = mpstate.status.fenceloader.polygon()
if len(points) > 1:
mpstate.map.add_object(mp_slipmap.SlipPolygon('fence', points, layer=1, linewidth=2, colour=(0,255,0)))
# check for any events from the map
mpstate.map.check_events()
max_zoom=opts.max_zoom,
elevation=opts.elevation,
tile_delay=opts.delay)
if opts.boundary:
boundary = mp_util.polygon_load(opts.boundary)
sm.add_object(SlipPolygon('boundary', boundary, layer=1, linewidth=2, colour=(0,255,0)))
if opts.thumbnail:
thumb = cv.LoadImage(opts.thumbnail)
sm.add_object(SlipThumbnail('thumb', (opts.lat,opts.lon), layer=1, img=thumb, border_width=2, border_colour=(255,0,0)))
if opts.icon:
icon = cv.LoadImage(opts.icon)
sm.add_object(SlipIcon('icon', (opts.lat,opts.lon), icon, layer=3, rotation=90, follow=True))
sm.set_position('icon', mp_util.gps_newpos(opts.lat,opts.lon, 180, 100), rotation=45)
sm.add_object(SlipInfoImage('detail', icon))
sm.add_object(SlipInfoText('detail text', 'test text'))
for flag in opts.flag:
(lat,lon) = flag.split(',')
icon = sm.icon('flag.png')
sm.add_object(SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False))
while sm.is_alive():
while sm.event_count() > 0:
obj = sm.get_event()
if isinstance(obj, SlipMouseEvent):
print("Mouse event at %s (X/Y=%u/%u) for %u objects" % (obj.latlon,
obj.event.X, obj.event.Y,
len(obj.selected)))
def mavlink_packet(m):
'''handle an incoming mavlink packet'''
state = mpstate.map_state
if m.get_type() == "SIMSTATE":
if not mpstate.map_state.have_simstate:
mpstate.map_state.have_simstate = True
create_blueplane()
mpstate.map.set_position('blueplane', (m.lat, m.lng),
rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and not mpstate.map_state.have_simstate:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if state.lat is not None and (
mpstate.map_state.have_blueplane
or mp_util.gps_distance(lat, lon, state.lat, state.lon) > 10):
create_blueplane()
mpstate.map.set_position('blueplane', (lat, lon),
rotation=m.cog * 0.01)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if mpstate.master().flightmode == "AUTO":
trajectory = [(state.lat, state.lon),
mp_util.gps_newpos(state.lat, state.lon,
m.target_bearing, m.wp_dist)]
mpstate.map.add_object(
mp_slipmap.SlipPolygon('trajectory',
trajectory,
layer='Trajectory',
linewidth=2,
colour=(255, 0, 180)))
else:
mpstate.map.add_object(mp_slipmap.SlipClearLayer('Trajectory'))
if m.get_type() == 'GLOBAL_POSITION_INT':
(state.lat, state.lon, state.heading) = (m.lat * 1.0e-7,
m.lon * 1.0e-7, m.hdg * 0.01)
else:
return
if state.lat != 0 or state.lon != 0:
mpstate.map.set_position('plane', (state.lat, state.lon),
rotation=state.heading)
# if the waypoints have changed, redisplay
if state.wp_change_time != mpstate.status.wploader.last_change:
state.wp_change_time = mpstate.status.wploader.last_change
display_waypoints()
# if the fence has changed, redisplay
if state.fence_change_time != mpstate.status.fenceloader.last_change:
state.fence_change_time = mpstate.status.fenceloader.last_change
points = mpstate.status.fenceloader.polygon()
if len(points) > 1:
mpstate.map.add_object(
mp_slipmap.SlipPolygon('fence',
points,
layer=1,
linewidth=2,
colour=(0, 255, 0)))
# check for any events from the map
mpstate.map.check_events()
SlipThumbnail('thumb', (opts.lat, opts.lon),
layer=1,
img=thumb,
border_width=2,
border_colour=(255, 0, 0)))
if opts.icon:
icon = cv.LoadImage(opts.icon)
sm.add_object(
SlipIcon('icon', (opts.lat, opts.lon),
icon,
layer=3,
rotation=90,
follow=True))
sm.set_position('icon',
mp_util.gps_newpos(opts.lat, opts.lon, 180, 100),
rotation=45)
sm.add_object(SlipInfoImage('detail', icon))
sm.add_object(SlipInfoText('detail text', 'test text'))
for flag in opts.flag:
(lat, lon) = flag.split(',')
icon = sm.icon('flag.png')
sm.add_object(
SlipIcon('icon - %s' % str(flag), (float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
while sm.is_alive():
def area_to_tile_list(self,
lat,
lon,
width,
height,
ground_width,
zoom=None):
'''return a list of TileInfoScaled objects needed for
an area of land, with ground_width in meters, and
width/height in pixels.
lat/lon is the top left corner. If unspecified, the
zoom is automatically chosen to avoid having to grow
the tiles
'''
pixel_width = ground_width / float(width)
ground_height = ground_width * (height / (float(width)))
top_right = mp_util.gps_newpos(lat, lon, 90, ground_width)
bottom_left = mp_util.gps_newpos(lat, lon, 180, ground_height)
bottom_right = mp_util.gps_newpos(bottom_left[0], bottom_left[1], 90,
ground_width)
# choose a zoom level if not provided
if zoom is None:
zooms = range(self.min_zoom, self.max_zoom + 1)
else:
zooms = [zoom]
for zoom in zooms:
tile_min = self.coord_to_tile(lat, lon, zoom)
(twidth, theight) = tile_min.size()
tile_pixel_width = twidth / float(TILES_WIDTH)
scale = pixel_width / tile_pixel_width
if scale >= 1.0:
break
scaled_tile_width = int(TILES_WIDTH / scale)
scaled_tile_height = int(TILES_HEIGHT / scale)
# work out the bottom right tile
tile_max = self.coord_to_tile(bottom_right[0], bottom_right[1], zoom)
ofsx = int(tile_min.offsetx / scale)
ofsy = int(tile_min.offsety / scale)
srcy = ofsy
dsty = 0
ret = []
# place the tiles
for y in range(tile_min.y, tile_max.y + 1):
srcx = ofsx
dstx = 0
for x in range(tile_min.x, tile_max.x + 1):
if dstx < width and dsty < height:
ret.append(
TileInfoScaled((x, y), zoom, scale, (srcx, srcy),
(dstx, dsty)))
dstx += scaled_tile_width - srcx
srcx = 0
dsty += scaled_tile_height - srcy
srcy = 0
return ret