def create_vehicle_icon(self, name, colour, follow=False, vehicle_type=None):
'''add a vehicle to the map'''
if vehicle_type is None:
vehicle_type = self.vehicle_type_name
if name in self.have_vehicle and self.have_vehicle[name] == vehicle_type:
return
self.have_vehicle[name] = vehicle_type
icon = self.mpstate.map.icon(colour + vehicle_type + '.png')
self.mpstate.map.add_object(mp_slipmap.SlipIcon(name, (0,0), icon, layer=3, rotation=0, follow=follow,
trail=mp_slipmap.SlipTrail()))
def create_blueplane():
'''add the blue plane to the map'''
if mpstate.map_state.have_blueplane:
return
mpstate.map_state.have_blueplane = True
icon = mpstate.map.icon('blueplane.png')
mpstate.map.add_object(
mp_slipmap.SlipIcon('blueplane', (0, 0),
icon,
layer=3,
rotation=0,
trail=mp_slipmap.SlipTrail()))
def init(_mpstate):
'''initialise module'''
global mpstate
mpstate = _mpstate
mpstate.map_state = module_state()
mpstate.map = mp_slipmap.MPSlipMap(service='GoogleSat',
elevation=True,
title='Map')
# setup a plane icon
plane = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..',
'data', 'planetracker.png')
icon = cv.LoadImage(plane)
mpstate.map.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
def init(_mpstate):
'''initialise module'''
global mpstate
mpstate = _mpstate
mpstate.map_state = module_state()
mpstate.map = mp_slipmap.MPSlipMap(service='GoogleSat',
elevation=True,
title='Map')
# setup a plane icon
icon = mpstate.map.icon('planetracker.png')
mpstate.map.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
mpstate.map.add_callback(functools.partial(map_callback))
mpstate.command_map['map'] = (cmd_map, "map control")
def cmd_map(self, args):
'''map commands'''
if args[0] == "icon":
if len(args) < 3:
print("Usage: map icon <lat> <lon> <icon>")
else:
lat = args[1]
lon = args[2]
flag = 'flag.png'
if len(args) > 3:
flag = args[3] + '.png'
icon = self.mpstate.map.icon(flag)
self.mpstate.map.add_object(mp_slipmap.SlipIcon('icon - %s [%u]' % (str(flag),self.icon_counter),
(float(lat),float(lon)),
icon, layer=3, rotation=0, follow=False))
self.icon_counter += 1
elif args[0] == "set":
self.map_settings.command(args[1:])
self.mpstate.map.add_object(mp_slipmap.SlipBrightness(self.map_settings.brightness))
else:
print("usage: map <icon|set>")
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if m.get_type() == "HEARTBEAT":
from pymavlink import mavutil
if m.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING]:
self.vehicle_type_name = 'plane'
elif m.type in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT,
mavutil.mavlink.MAV_TYPE_SUBMARINE]:
self.vehicle_type_name = 'rover'
elif m.type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER,
mavutil.mavlink.MAV_TYPE_HELICOPTER]:
self.vehicle_type_name = 'copter'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
self.vehicle_type_name = 'antenna'
# this is the beginnings of allowing support for multiple vehicles
# in the air at the same time
vehicle = 'Vehicle%u' % m.get_srcSystem()
if m.get_type() == "SIMSTATE" and self.map_settings.showsimpos:
self.create_vehicle_icon('Sim' + vehicle, 'green')
self.mpstate.map.set_position('Sim' + vehicle, (m.lat*1.0e-7, m.lng*1.0e-7), rotation=math.degrees(m.yaw))
if m.get_type() == "AHRS2" and self.map_settings.showahrs2pos:
self.create_vehicle_icon('AHRS2' + vehicle, 'blue')
self.mpstate.map.set_position('AHRS2' + vehicle, (m.lat*1.0e-7, m.lng*1.0e-7), rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and self.map_settings.showgpspos:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS' + vehicle, 'blue')
self.mpstate.map.set_position('GPS' + vehicle, (lat, lon), rotation=m.cog*0.01)
if m.get_type() == "GPS2_RAW" and self.map_settings.showgps2pos:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS2' + vehicle, 'green')
self.mpstate.map.set_position('GPS2' + vehicle, (lat, lon), rotation=m.cog*0.01)
if m.get_type() == 'GLOBAL_POSITION_INT':
(self.lat, self.lon, self.heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01)
if self.lat != 0 or self.lon != 0:
self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True)
self.mpstate.map.set_position('Pos' + vehicle, (self.lat, self.lon), rotation=self.heading)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if self.master.flightmode in [ "AUTO", "GUIDED", "LOITER", "RTL" ]:
trajectory = [ (self.lat, self.lon),
mp_util.gps_newpos(self.lat, self.lon, m.target_bearing, m.wp_dist) ]
self.mpstate.map.add_object(mp_slipmap.SlipPolygon('trajectory', trajectory, layer='Trajectory',
linewidth=2, colour=(255,0,180)))
else:
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('Trajectory'))
# if the waypoints have changed, redisplay
last_wp_change = self.module('wp').wploader.last_change
if self.wp_change_time != last_wp_change and abs(time.time() - last_wp_change) > 1:
self.wp_change_time = last_wp_change
self.display_waypoints()
#this may have affected the landing lines from the rally points:
self.rally_change_time = time.time()
# if the fence has changed, redisplay
if self.fence_change_time != self.module('fence').fenceloader.last_change:
self.display_fence()
# if the rallypoints have changed, redisplay
if self.rally_change_time != self.module('rally').rallyloader.last_change:
self.rally_change_time = self.module('rally').rallyloader.last_change
icon = self.mpstate.map.icon('rallypoint.png')
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('RallyPoints'))
for i in range(self.module('rally').rallyloader.rally_count()):
rp = self.module('rally').rallyloader.rally_point(i)
popup = MPMenuSubMenu('Popup',
items=[MPMenuItem('Rally Remove', returnkey='popupRallyRemove'),
MPMenuItem('Rally Move', returnkey='popupRallyMove')])
self.mpstate.map.add_object(mp_slipmap.SlipIcon('Rally %u' % (i+1), (rp.lat*1.0e-7, rp.lng*1.0e-7), icon,
layer='RallyPoints', rotation=0, follow=False,
popup_menu=popup))
loiter_rad = self.get_mav_param('WP_LOITER_RAD')
if self.map_settings.rallycircle:
self.mpstate.map.add_object(mp_slipmap.SlipCircle('Rally Circ %u' % (i+1), 'RallyPoints', (rp.lat*1.0e-7, rp.lng*1.0e-7), abs(loiter_rad), (255,255,0), 2))
#draw a line between rally point and nearest landing point
nearest_land_wp = None
nearest_distance = 10000000.0
for j in range(self.module('wp').wploader.count()):
w = self.module('wp').wploader.wp(j)
if (w.command == 21): #if landing waypoint
#get distance between rally point and this waypoint
dis = mp_util.gps_distance(w.x, w.y, rp.lat*1.0e-7, rp.lng*1.0e-7)
if (dis < nearest_distance):
nearest_land_wp = w
nearest_distance = dis
if nearest_land_wp != None:
points = []
#tangential approach?
if self.get_mav_param('LAND_BREAK_PATH') == 0:
theta = math.degrees(math.atan(loiter_rad / nearest_distance))
tan_dis = math.sqrt(nearest_distance * nearest_distance - (loiter_rad * loiter_rad))
ral_bearing = mp_util.gps_bearing(nearest_land_wp.x, nearest_land_wp.y,rp.lat*1.0e-7, rp.lng*1.0e-7)
points.append(mp_util.gps_newpos(nearest_land_wp.x,nearest_land_wp.y, ral_bearing + theta, tan_dis))
else: #not tangential approach
points.append((rp.lat*1.0e-7, rp.lng*1.0e-7))
points.append((nearest_land_wp.x, nearest_land_wp.y))
self.mpstate.map.add_object(mp_slipmap.SlipPolygon('Rally Land %u' % (i+1), points, 'RallyPoints', (255,255,0), 2))
# check for any events from the map
self.mpstate.map.check_events()