def create_imagefile(options, filename, latlon, ground_width, path_objs, mission_obj, fence_obj, width=600, height=600, used_flightmodes=[], mav_type=None):
'''create path and mission as an image file'''
mt = mp_tile.MPTile(service=options.service)
map_img = mt.area_to_image(latlon[0], latlon[1],
width, height, ground_width)
while mt.tiles_pending() > 0:
print("Waiting on %u tiles" % mt.tiles_pending())
time.sleep(1)
map_img = mt.area_to_image(latlon[0], latlon[1],
width, height, ground_width)
# a function to convert from (lat,lon) to (px,py) on the map
pixmapper = functools.partial(pixel_coords, ground_width=ground_width, mt=mt, topleft=latlon, width=width)
for path_obj in path_objs:
path_obj.draw(map_img, pixmapper, None)
if mission_obj is not None:
for m in mission_obj:
m.draw(map_img, pixmapper, None)
if fence_obj is not None:
fence_obj.draw(map_img, pixmapper, None)
if (options is not None and
mav_type is not None and
options.colour_source == "flightmode"):
tuples = [ (mode, colour_for_flightmode(mav_type, mode))
for mode in used_flightmodes.keys() ]
legend = mp_slipmap.SlipFlightModeLegend("legend", tuples)
legend.draw(map_img, pixmapper, None)
map_img = cv2.cvtColor(map_img, cv2.COLOR_BGR2RGB)
cv2.imwrite(filename, map_img)
def mavflightview_show(path, wp, fen, used_flightmodes, mav_type, options, instances, title=None, timelim_pipe=None):
if not title:
title='MAVFlightView'
boundary_path = []
for p in path[0]:
boundary_path.append((p[0],p[1]))
fence = fen.polygon()
if options.fencebounds:
for p in fence:
boundary_path.append((p[0],p[1]))
bounds = mp_util.polygon_bounds(boundary_path)
(lat, lon) = (bounds[0]+bounds[2], bounds[1])
(lat, lon) = mp_util.gps_newpos(lat, lon, -45, 50)
ground_width = mp_util.gps_distance(lat, lon, lat-bounds[2], lon+bounds[3])
while (mp_util.gps_distance(lat, lon, bounds[0], bounds[1]) >= ground_width-20 or
mp_util.gps_distance(lat, lon, lat, bounds[1]+bounds[3]) >= ground_width-20):
ground_width += 10
path_objs = []
for i in range(len(path)):
if len(path[i]) != 0:
path_objs.append(mp_slipmap.SlipPolygon('FlightPath[%u]-%s' % (i,title), path[i], layer='FlightPath',
linewidth=2, colour=(255,0,180)))
plist = wp.polygon_list()
mission_obj = None
if len(plist) > 0:
mission_obj = []
for i in range(len(plist)):
mission_obj.append(mp_slipmap.SlipPolygon('Mission-%s-%u' % (title,i), plist[i], layer='Mission',
linewidth=2, colour=(255,255,255)))
else:
mission_obj = None
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % title, fen.polygon(), layer='Fence',
linewidth=2, colour=(0,255,0))
else:
fence_obj = None
kml = getattr(options,'kml',None)
if kml is not None:
kml_objects = load_kml(kml)
else:
kml_objects = None
if options.imagefile:
create_imagefile(options, options.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj, kml_objects, used_flightmodes=used_flightmodes, mav_type=mav_type)
else:
global multi_map
if options.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=title,
service=options.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat, lon=lon,
debug=options.debug,
show_flightmode_legend=options.show_flightmode_legend,
timelim_pipe=timelim_pipe)
if options.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
display_waypoints(wp, map)
if fence_obj is not None:
map.add_object(fence_obj)
if kml_objects is not None:
for obj in kml_objects:
map.add_object(obj)
for flag in options.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(mp_slipmap.SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False))
if options.colour_source == "flightmode":
tuples = [ (mode, colour_for_flightmode(mav_type, mode))
for mode in used_flightmodes.keys() ]
map.add_object(mp_slipmap.SlipFlightModeLegend("legend", tuples))
elif options.colour_source == "type":
tuples = [ (t, map_colours[instances[t]]) for t in instances.keys() ]
map.add_object(mp_slipmap.SlipFlightModeLegend("legend", tuples))
else:
print("colour-source: min=%f max=%f" % (colour_source_min, colour_source_max))
