def fencekml(self, layername):
'''set a layer as the geofence'''
#Strip quotation marks if neccessary
if layername.startswith('"') and layername.endswith('"'):
layername = layername[1:-1]
#for each point in the layer, add it in
for layer in self.allayers:
if layer.key == layername:
#clear the current fence
self.fenceloader.clear()
if len(layer.points) < 3:
return
self.fenceloader.target_system = self.target_system
self.fenceloader.target_component = self.target_component
#send centrepoint to fence[0] as the return point
bounds = mp_util.polygon_bounds(layer.points)
(lat, lon, width, height) = bounds
center = (lat+width/2, lon+height/2)
self.fenceloader.add_latlon(center[0], center[1])
for lat, lon in layer.points:
#add point
self.fenceloader.add_latlon(lat, lon)
#and send
self.send_fence()
def fencekml(self, layername):
'''set a layer as the geofence'''
#Strip quotation marks if neccessary
if layername.startswith('"') and layername.endswith('"'):
layername = layername[1:-1]
#for each point in the layer, add it in
for layer in self.allayers:
if layer.key == layername:
#clear the current fence
self.fenceloader.clear()
if len(layer.points) < 3:
return
self.fenceloader.target_system = self.target_system
self.fenceloader.target_component = self.target_component
#send centrepoint to fence[0] as the return point
bounds = mp_util.polygon_bounds(layer.points)
(lat, lon, width, height) = bounds
center = (lat + width / 2, lon + height / 2)
self.fenceloader.add_latlon(center[0], center[1])
for lat, lon in layer.points:
#add point
self.fenceloader.add_latlon(lat, lon)
#and send
self.send_fence()
def __init__(self, key, points, layer, colour, linewidth, popup_menu=None):
SlipObject.__init__(self, key, layer, popup_menu=popup_menu)
self.points = points
self.colour = colour
self.linewidth = linewidth
self._bounds = mp_util.polygon_bounds(self.points)
self._pix_points = []
self._selected_vertex = None
def __init__(self, key, points, layer, colour, linewidth, popup_menu=None):
SlipObject.__init__(self, key, layer, popup_menu=popup_menu)
self.points = points
self.colour = colour
self.linewidth = linewidth
self._bounds = mp_util.polygon_bounds(self.points)
self._pix_points = []
self._selected_vertex = None
def __init__(self, key, points, layer, colour, linewidth):
SlipObject.__init__(
self,
key,
layer,
)
self.points = points
self.colour = colour
self.linewidth = linewidth
self._bounds = mp_util.polygon_bounds(self.points)
def fence_draw_callback(points):
'''callback from drawing a fence'''
mpstate.fence.fenceloader.clear()
if len(points) < 3:
return
mpstate.fence.fenceloader.target_system = mpstate.status.target_system
mpstate.fence.fenceloader.target_component = mpstate.status.target_component
bounds = mp_util.polygon_bounds(points)
(lat, lon, width, height) = bounds
center = (lat + width / 2, lon + height / 2)
mpstate.fence.fenceloader.add_latlon(center[0], center[1])
for p in points:
mpstate.fence.fenceloader.add_latlon(p[0], p[1])
# close it
mpstate.fence.fenceloader.add_latlon(points[0][0], points[0][1])
send_fence()
def fence_draw_callback(points):
'''callback from drawing a fence'''
mpstate.fence.fenceloader.clear()
if len(points) < 3:
return
mpstate.fence.fenceloader.target_system = mpstate.status.target_system
mpstate.fence.fenceloader.target_component = mpstate.status.target_component
bounds = mp_util.polygon_bounds(points)
(lat, lon, width, height) = bounds
center = (lat+width/2, lon+height/2)
mpstate.fence.fenceloader.add_latlon(center[0], center[1])
for p in points:
mpstate.fence.fenceloader.add_latlon(p[0], p[1])
# close it
mpstate.fence.fenceloader.add_latlon(points[0][0], points[0][1])
send_fence()
def fence_draw_callback(self, points):
'''callback from drawing a fence'''
self.fenceloader.clear()
if len(points) < 3:
return
self.fenceloader.target_system = self.target_system
self.fenceloader.target_component = self.target_component
bounds = mp_util.polygon_bounds(points)
(lat, lon, width, height) = bounds
center = (lat+width/2, lon+height/2)
self.fenceloader.add_latlon(center[0], center[1])
for p in points:
self.fenceloader.add_latlon(p[0], p[1])
# close it
self.fenceloader.add_latlon(points[0][0], points[0][1])
self.send_fence()
self.have_list = True
def fence_draw_callback(self, points):
'''callback from drawing a fence'''
self.fenceloader.clear()
if len(points) < 3:
return
self.fenceloader.target_system = self.target_system
self.fenceloader.target_component = self.target_component
bounds = mp_util.polygon_bounds(points)
(lat, lon, width, height) = bounds
center = (lat + width / 2, lon + height / 2)
self.fenceloader.add_latlon(center[0], center[1])
for p in points:
self.fenceloader.add_latlon(p[0], p[1])
# close it
self.fenceloader.add_latlon(points[0][0], points[0][1])
self.send_fence()
self.have_list = True
def mavflightview_show(path, wp, fen, options, title=None):
if not title:
title='MAVFlightView'
bounds = mp_util.polygon_bounds(path[0])
(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
fence = fen.polygon()
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
if options.imagefile:
create_imagefile(options, options.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj)
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)
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)
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))
source = getattr(options, "colour_source", "flightmode")
if source != "flightmode":
print("colour-source: min=%f max=%f" % (colour_source_min, colour_source_max))
default=1.0,
help="tile download delay")
parser.add_option("--boundary", default=None, help="region boundary")
parser.add_option("--debug",
action='store_true',
default=False,
help="show debug info")
(opts, args) = parser.parse_args()
lat = opts.lat
lon = opts.lon
ground_width = opts.width
if opts.boundary:
boundary = mp_util.polygon_load(opts.boundary)
bounds = mp_util.polygon_bounds(boundary)
lat = bounds[0] + bounds[2]
lon = bounds[1]
ground_width = max(
mp_util.gps_distance(lat, lon, lat, lon + bounds[3]),
mp_util.gps_distance(lat, lon, lat - bounds[2], lon))
print(lat, lon, ground_width)
mt = MPTile(debug=opts.debug,
service=opts.service,
tile_delay=opts.delay,
max_zoom=opts.max_zoom)
if opts.zoom is None:
zooms = range(mt.min_zoom, mt.max_zoom + 1)
else:
zooms = [opts.zoom]
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))
def mavflightview(filename):
print("Loading %s ..." % filename)
mlog = mavutil.mavlink_connection(filename)
wp = mavwp.MAVWPLoader()
if opts.mission is not None:
wp.load(opts.mission)
fen = mavwp.MAVFenceLoader()
if opts.fence is not None:
fen.load(opts.fence)
path = [[]]
instances = {}
types = ['MISSION_ITEM','CMD']
if opts.types is not None:
types.extend(opts.types.split(','))
else:
types.extend(['GPS','GLOBAL_POSITION_INT'])
if opts.rawgps or opts.dualgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if opts.rawgps2 or opts.dualgps:
types.extend(['GPS2_RAW','GPS2'])
if opts.ekf:
types.extend(['EKF1', 'GPS'])
if opts.ahr2:
types.extend(['AHR2', 'AHRS2', 'GPS'])
print("Looking for types %s" % str(types))
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
if m.get_type() == 'MISSION_ITEM':
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if m.get_type() == 'CMD':
m = mavutil.mavlink.MAVLink_mission_item_message(0,
0,
m.CNum,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
m.CId,
0, 1,
m.Prm1, m.Prm2, m.Prm3, m.Prm4,
m.Lat, m.Lng, m.Alt)
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower() != opts.mode.lower():
continue
if m.get_type() in ['GPS','GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif m.get_type() == 'EKF1':
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
(lat, lng) = pos
elif m.get_type() == 'AHR2':
(lat, lng) = (m.Lat, m.Lng)
elif m.get_type() == 'AHRS2':
(lat, lng) = (m.lat*1.0e-7, m.lng*1.0e-7)
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
# automatically add new types to instances
if m.get_type() not in instances:
instances[m.get_type()] = len(instances)
while len(instances) >= len(path):
path.append([])
instance = instances[m.get_type()]
if abs(lat)>0.01 or abs(lng)>0.01:
if getattr(mlog, 'flightmode','') in colourmap:
colour = colourmap[mlog.flightmode]
(r,g,b) = colour
(r,g,b) = (r+instance*50,g+instance*50,b+instance*50)
if r > 255:
r = 205
if g > 255:
g = 205
if b > 255:
b = 205
colour = (r,g,b)
point = (lat, lng, colour)
else:
point = (lat, lng)
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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,filename), 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' % (filename,i), plist[i], layer='Mission',
linewidth=2, colour=(255,255,255)))
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % filename, fen.polygon(), layer='Fence',
linewidth=2, colour=(0,255,0))
else:
fence_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat, lon=lon,
debug=opts.debug)
if opts.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)
for flag in opts.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))
def mavflightview(filename):
print("Loading %s ..." % filename)
mlog = mavutil.mavlink_connection(filename)
wp = mavwp.MAVWPLoader()
if opts.mission is not None:
wp.load(opts.mission)
path = []
path2 = []
types = ['MISSION_ITEM']
if opts.rawgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if opts.rawgps2:
types.extend(['GPS2_RAW', 'GPS2'])
if opts.dualgps:
types.extend(['GPS2_RAW', 'GPS2', 'GPS_RAW_INT', 'GPS'])
if len(types) == 1:
types.extend(['GPS', 'GLOBAL_POSITION_INT'])
while True:
m = mlog.recv_match(type=types)
if m is None:
break
if m.get_type() == 'MISSION_ITEM':
wp.set(m, m.seq)
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower(
) != opts.mode.lower():
continue
if m.get_type() in ['GPS', 'GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
secondary = opts.dualgps and m.get_type() in ['GPS2_RAW', 'GPS2']
if lat != 0 or lng != 0:
if getattr(mlog, 'flightmode', '') in colourmap:
colour = colourmap[mlog.flightmode]
if secondary:
(r, g, b) = colour
(r, g, b) = (r + 50, g + 50, b + 50)
if r > 255:
r = 205
if g > 255:
g = 205
if b > 255:
b = 205
colour = (r, g, b)
point = (lat, lng, colour)
else:
point = (lat, lng)
if secondary:
path2.append(point)
else:
path.append(point)
if len(path) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(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_obj = mp_slipmap.SlipPolygon('FlightPath-%s' % filename,
path,
layer='FlightPath',
linewidth=2,
colour=(255, 0, 180))
if len(path2) != 0:
path2_obj = mp_slipmap.SlipPolygon('FlightPath2-%s' % filename,
path2,
layer='FlightPath',
linewidth=2,
colour=(255, 0, 180))
else:
path2_obj = None
mission = wp.polygon()
if len(mission) > 1:
mission_obj = mp_slipmap.SlipPolygon('Mission-%s' % filename,
wp.polygon(),
layer='Mission',
linewidth=2,
colour=(255, 255, 255))
else:
mission_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat, lon),
ground_width,
path_obj,
mission_obj,
path2_obj=path2_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat,
lon=lon,
debug=opts.debug)
if opts.multi:
multi_map = map
map.add_object(path_obj)
if path2_obj is not None:
map.add_object(path2_obj)
if mission_obj is not None:
map.add_object(mission_obj)
for flag in opts.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))
def __init__(self, key, points, layer, colour, linewidth):
SlipObject.__init__(self, key, layer, )
self.points = points
self.colour = colour
self.linewidth = linewidth
self._bounds = mp_util.polygon_bounds(self.points)
def mavflightview(filename):
print("Loading %s ..." % filename)
mlog = mavutil.mavlink_connection(filename)
wp = mavwp.MAVWPLoader()
if opts.mission is not None:
wp.load(opts.mission)
path = []
while True:
m = mlog.recv_match(type=['MISSION_ITEM', 'GLOBAL_POSITION_INT', 'GPS_RAW_INT', 'GPS'])
if m is None:
break
if m.get_type() == 'MISSION_ITEM':
wp.set(m, m.seq)
continue
if m.get_type() == 'GLOBAL_POSITION_INT' and opts.rawgps:
continue
if m.get_type() == 'GPS_RAW_INT' and not opts.rawgps:
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower() != opts.mode.lower():
continue
if m.get_type() == 'GPS':
if m.Status < 2:
continue
# flash log
lat = m.Lat
lng = m.Lng
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
if lat != 0 or lng != 0:
if getattr(mlog, 'flightmode','') in colourmap:
point = (lat, lng, colourmap[mlog.flightmode])
else:
point = (lat, lng)
path.append(point)
if len(path) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(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_obj = mp_slipmap.SlipPolygon('FlightPath', path, layer='FlightPath',
linewidth=2, colour=(255,0,180))
mission = wp.polygon()
if len(mission) > 1:
mission_obj = mp_slipmap.SlipPolygon('Mission', wp.polygon(), layer='Mission',
linewidth=2, colour=(255,255,255))
else:
mission_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat,lon), ground_width, path_obj, mission_obj)
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat, lon=lon,
debug=opts.debug)
map.add_object(path_obj)
if mission_obj is not None:
map.add_object(mission_obj)
for flag in opts.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))
parser.add_option("--width", type='float', default=1000.0, help="width in meters")
parser.add_option("--service", default="OviHybrid", help="tile service")
parser.add_option("--zoom", default=None, type='int', help="zoom level")
parser.add_option("--max-zoom", type='int', default=19, help="maximum tile zoom")
parser.add_option("--delay", type='float', default=1.0, help="tile download delay")
parser.add_option("--boundary", default=None, help="region boundary")
parser.add_option("--debug", action='store_true', default=False, help="show debug info")
(opts, args) = parser.parse_args()
lat = opts.lat
lon = opts.lon
ground_width = opts.width
if opts.boundary:
boundary = mp_util.polygon_load(opts.boundary)
bounds = mp_util.polygon_bounds(boundary)
lat = bounds[0]+bounds[2]
lon = bounds[1]
ground_width = max(mp_util.gps_distance(lat, lon, lat, lon+bounds[3]),
mp_util.gps_distance(lat, lon, lat-bounds[2], lon))
print lat, lon, ground_width
mt = MPTile(debug=opts.debug, service=opts.service,
tile_delay=opts.delay, max_zoom=opts.max_zoom)
if opts.zoom is None:
zooms = range(mt.min_zoom, mt.max_zoom+1)
else:
zooms = [opts.zoom]
for zoom in zooms:
tlist = mt.area_to_tile_list(lat, lon, width=1024, height=1024,
ground_width=ground_width, zoom=zoom)
def mavflightview_show(path, wp, fen, options, title=None):
if not title:
title='MAVFlightView'
bounds = mp_util.polygon_bounds(path[0])
(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
fence = fen.polygon()
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
if options.imagefile:
create_imagefile(options, options.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj)
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)
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)
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))
source = getattr(options, "colour_source", "flightmode")
if source != "flightmode":
print("colour-source: min=%f max=%f" % (colour_source_min, colour_source_max))
def mavflightview(filename):
print("Loading %s ..." % filename)
mlog = mavutil.mavlink_connection(filename)
wp = mavwp.MAVWPLoader()
if opts.mission is not None:
wp.load(opts.mission)
fen = mavwp.MAVFenceLoader()
if opts.fence is not None:
fen.load(opts.fence)
path = [[]]
types = ['MISSION_ITEM']
if opts.rawgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if opts.rawgps2:
types.extend(['GPS2_RAW','GPS2'])
if opts.dualgps:
types.extend(['GPS2_RAW','GPS2', 'GPS_RAW_INT', 'GPS'])
if opts.ekf:
types.extend(['EKF1'])
if len(types) == 1:
types.extend(['GPS','GLOBAL_POSITION_INT'])
print("Looking for types %s" % str(types))
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
if m.get_type() == 'MISSION_ITEM':
wp.set(m, m.seq)
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower() != opts.mode.lower():
continue
if m.get_type() in ['GPS','GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif m.get_type() == 'EKF1':
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
(lat, lng) = pos
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
instance = 0
if opts.dualgps and m.get_type() in ['GPS2_RAW', 'GPS2']:
instance = 1
if m.get_type() == 'EKF1':
if opts.dualgps:
instance = 2
else:
instance = 1
if lat != 0 or lng != 0:
if getattr(mlog, 'flightmode','') in colourmap:
colour = colourmap[mlog.flightmode]
(r,g,b) = colour
(r,g,b) = (r+instance*50,g+instance*50,b+instance*50)
if r > 255:
r = 205
if g > 255:
g = 205
if b > 255:
b = 205
colour = (r,g,b)
point = (lat, lng, colour)
else:
point = (lat, lng)
while instance >= len(path):
path.append([])
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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,filename), path[i], layer='FlightPath',
linewidth=2, colour=(255,0,180)))
mission = wp.polygon()
if len(mission) > 1:
mission_obj = mp_slipmap.SlipPolygon('Mission-%s' % filename, wp.polygon(), layer='Mission',
linewidth=2, colour=(255,255,255))
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % filename, fen.polygon(), layer='Fence',
linewidth=2, colour=(0,255,0))
else:
fence_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat, lon=lon,
debug=opts.debug)
if opts.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
map.add_object(mission_obj)
if fence_obj is not None:
map.add_object(fence_obj)
for flag in opts.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))
def mavflightview(filename):
print("Loading %s ..." % filename)
mlog = mavutil.mavlink_connection(filename)
wp = mavwp.MAVWPLoader()
if opts.mission is not None:
wp.load(opts.mission)
path = []
while True:
m = mlog.recv_match(type=['MISSION_ITEM', 'GLOBAL_POSITION_INT'])
if m is None:
break
if m.get_type() == 'GLOBAL_POSITION_INT' and mlog.check_condition(
opts.condition):
if opts.mode is not None and mlog.flightmode.lower(
) != opts.mode.lower():
continue
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
if lat != 0 or lng != 0:
if mlog.flightmode in colourmap:
point = (lat, lng, colourmap[mlog.flightmode])
else:
point = (lat, lng)
path.append(point)
if m.get_type() == 'MISSION_ITEM':
wp.set(m, m.seq)
if len(path) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(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_obj = mp_slipmap.SlipPolygon('FlightPath',
path,
layer='FlightPath',
linewidth=2,
colour=(255, 0, 180))
mission = wp.polygon()
if len(mission) > 1:
mission_obj = mp_slipmap.SlipPolygon('Mission',
wp.polygon(),
layer='Mission',
linewidth=2,
colour=(255, 255, 255))
else:
mission_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat, lon), ground_width, path_obj,
mission_obj)
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat,
lon=lon)
map.add_object(path_obj)
if mission_obj is not None:
map.add_object(mission_obj)
for flag in opts.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))
def mavflightview_mav(mlog, options=None, title=None):
'''create a map for a log file'''
if not title:
title = 'MAVFlightView'
wp = mavwp.MAVWPLoader()
if options.mission is not None:
wp.load(options.mission)
fen = mavwp.MAVFenceLoader()
if options.fence is not None:
fen.load(options.fence)
path = [[]]
instances = {}
ekf_counter = 0
nkf_counter = 0
types = ['MISSION_ITEM', 'CMD']
if options.types is not None:
types.extend(options.types.split(','))
else:
types.extend(['GPS', 'GLOBAL_POSITION_INT'])
if options.rawgps or options.dualgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if options.rawgps2 or options.dualgps:
types.extend(['GPS2_RAW', 'GPS2'])
if options.ekf:
types.extend(['EKF1', 'GPS'])
if options.nkf:
types.extend(['NKF1', 'GPS'])
if options.ahr2:
types.extend(['AHR2', 'AHRS2', 'GPS'])
print("Looking for types %s" % str(types))
last_timestamps = {}
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
type = m.get_type()
if type == 'MISSION_ITEM':
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if type == 'CMD':
m = mavutil.mavlink.MAVLink_mission_item_message(
0, 0, m.CNum, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
m.CId, 0, 1, m.Prm1, m.Prm2, m.Prm3, m.Prm4, m.Lat, m.Lng,
m.Alt)
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if not mlog.check_condition(options.condition):
continue
if options.mode is not None and mlog.flightmode.lower(
) != options.mode.lower():
continue
if type in ['GPS', 'GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif type in ['EKF1', 'ANU1']:
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
ekf_counter += 1
if ekf_counter % options.ekf_sample != 0:
continue
(lat, lng) = pos
elif type in ['NKF1']:
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
nkf_counter += 1
if nkf_counter % options.nkf_sample != 0:
continue
(lat, lng) = pos
elif type in ['ANU5']:
(lat, lng) = (m.Alat * 1.0e-7, m.Alng * 1.0e-7)
elif type in ['AHR2', 'POS', 'CHEK']:
(lat, lng) = (m.Lat, m.Lng)
elif type == 'AHRS2':
(lat, lng) = (m.lat * 1.0e-7, m.lng * 1.0e-7)
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
# automatically add new types to instances
if type not in instances:
instances[type] = len(instances)
while len(instances) >= len(path):
path.append([])
instance = instances[type]
if abs(lat) > 0.01 or abs(lng) > 0.01:
colour = colour_for_point(mlog, (lat, lng), instance, options)
point = (lat, lng, colour)
if options.rate == 0 or not type in last_timestamps or m._timestamp - last_timestamps[
type] > 1.0 / options.rate:
last_timestamps[type] = m._timestamp
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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
fence = fen.polygon()
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
if options.imagefile:
create_imagefile(options, options.imagefile, (lat, lon), ground_width,
path_objs, mission_obj, fence_obj)
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)
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)
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))
source = getattr(options, "colour_source", "flightmode")
if source != "flightmode":
print("colour-source: min=%f max=%f" %
(colour_source_min, colour_source_max))
def mavflightview(filename):
print("Loading %s ..." % filename)
mlog = mavutil.mavlink_connection(filename)
wp = mavwp.MAVWPLoader()
if opts.mission is not None:
wp.load(opts.mission)
fen = mavwp.MAVFenceLoader()
if opts.fence is not None:
fen.load(opts.fence)
path = [[]]
types = ['MISSION_ITEM', 'CMD']
if opts.rawgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if opts.rawgps2:
types.extend(['GPS2_RAW', 'GPS2'])
if opts.dualgps:
types.extend(['GPS2_RAW', 'GPS2', 'GPS_RAW_INT', 'GPS'])
if opts.ekf:
types.extend(['EKF1', 'GPS'])
if opts.ahr2:
types.extend(['AHR2', 'GPS'])
if len(types) == 2:
types.extend(['GPS', 'GLOBAL_POSITION_INT'])
print("Looking for types %s" % str(types))
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
if m.get_type() == 'MISSION_ITEM':
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if m.get_type() == 'CMD':
m = mavutil.mavlink.MAVLink_mission_item_message(
0, 0, m.CNum, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
m.CId, 0, 1, m.Prm1, m.Prm2, m.Prm3, m.Prm4, m.Lat, m.Lng,
m.Alt)
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower(
) != opts.mode.lower():
continue
if m.get_type() in ['GPS', 'GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif m.get_type() == 'EKF1':
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
(lat, lng) = pos
elif m.get_type() == 'AHR2':
(lat, lng) = (m.Lat, m.Lng)
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
instance = 0
if opts.dualgps and m.get_type() in ['GPS2_RAW', 'GPS2']:
instance = 1
if m.get_type() == 'EKF1':
if opts.dualgps:
instance = 2
else:
instance = 1
if m.get_type() == 'AHR2':
if opts.dualgps:
instance = 2
else:
instance = 1
if abs(lat) > 0.01 or abs(lng) > 0.01:
if getattr(mlog, 'flightmode', '') in colourmap:
colour = colourmap[mlog.flightmode]
(r, g, b) = colour
(r, g, b) = (r + instance * 50, g + instance * 50,
b + instance * 50)
if r > 255:
r = 205
if g > 255:
g = 205
if b > 255:
b = 205
colour = (r, g, b)
point = (lat, lng, colour)
else:
point = (lat, lng)
while instance >= len(path):
path.append([])
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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, filename),
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' % (filename, i),
plist[i],
layer='Mission',
linewidth=2,
colour=(255, 255, 255)))
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % filename,
fen.polygon(),
layer='Fence',
linewidth=2,
colour=(0, 255, 0))
else:
fence_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat, lon), ground_width, path_objs,
mission_obj, fence_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat,
lon=lon,
debug=opts.debug)
if opts.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)
for flag in opts.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))
def mavflightview(filename):
print("Loading %s ..." % filename)
mlog = mavutil.mavlink_connection(filename)
wp = mavwp.MAVWPLoader()
if opts.mission is not None:
wp.load(opts.mission)
fen = mavwp.MAVFenceLoader()
if opts.fence is not None:
fen.load(opts.fence)
path = [[]]
instances = {}
ekf_counter = 0
types = ["MISSION_ITEM", "CMD"]
if opts.types is not None:
types.extend(opts.types.split(","))
else:
types.extend(["GPS", "GLOBAL_POSITION_INT"])
if opts.rawgps or opts.dualgps:
types.extend(["GPS", "GPS_RAW_INT"])
if opts.rawgps2 or opts.dualgps:
types.extend(["GPS2_RAW", "GPS2"])
if opts.ekf:
types.extend(["EKF1", "GPS"])
if opts.ahr2:
types.extend(["AHR2", "AHRS2", "GPS"])
print("Looking for types %s" % str(types))
last_timestamps = {}
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
type = m.get_type()
if type == "MISSION_ITEM":
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if type == "CMD":
m = mavutil.mavlink.MAVLink_mission_item_message(
0,
0,
m.CNum,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
m.CId,
0,
1,
m.Prm1,
m.Prm2,
m.Prm3,
m.Prm4,
m.Lat,
m.Lng,
m.Alt,
)
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower() != opts.mode.lower():
continue
if type in ["GPS", "GPS2"]:
status = getattr(m, "Status", None)
if status is None:
status = getattr(m, "FixType", None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, "Lng", None)
if lng is None:
lng = getattr(m, "Lon", None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif type in ["EKF1", "ANU1"]:
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
ekf_counter += 1
if ekf_counter % opts.ekf_sample != 0:
continue
(lat, lng) = pos
elif type in ["ANU5"]:
(lat, lng) = (m.Alat * 1.0e-7, m.Alng * 1.0e-7)
elif type in ["AHR2", "POS", "CHEK"]:
(lat, lng) = (m.Lat, m.Lng)
elif type == "AHRS2":
(lat, lng) = (m.lat * 1.0e-7, m.lng * 1.0e-7)
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
# automatically add new types to instances
if type not in instances:
instances[type] = len(instances)
while len(instances) >= len(path):
path.append([])
instance = instances[type]
if abs(lat) > 0.01 or abs(lng) > 0.01:
fmode = getattr(mlog, "flightmode", "")
if fmode in colourmap:
colour = colourmap[fmode]
else:
colour = colourmap["UNKNOWN"]
(r, g, b) = colour
(r, g, b) = (r + instance * 80, g + instance * 50, b + instance * 70)
if r > 255:
r = 205
if g > 255:
g = 205
if g < 0:
g = 0
if b > 255:
b = 205
colour = (r, g, b)
point = (lat, lng, colour)
if opts.rate == 0 or not type in last_timestamps or m._timestamp - last_timestamps[type] > 1.0 / opts.rate:
last_timestamps[type] = m._timestamp
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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, filename), 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" % (filename, i), plist[i], layer="Mission", linewidth=2, colour=(255, 255, 255)
)
)
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon(
"Fence-%s" % filename, fen.polygon(), layer="Fence", linewidth=2, colour=(0, 255, 0)
)
else:
fence_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat, lon), ground_width, path_objs, mission_obj, fence_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(
title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat,
lon=lon,
debug=opts.debug,
)
if opts.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)
for flag in opts.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
)
)