def display_waypoints(wploader, map):
'''display the waypoints'''
mission_list = wploader.view_list()
polygons = wploader.polygon_list()
map.add_object(mp_slipmap.SlipClearLayer('Mission'))
for k in range(len(polygons)):
p = polygons[k]
if len(p) > 1:
map.add_object(
mp_slipmap.SlipPolygon('mission %u' % k,
p,
layer='Mission',
linewidth=2,
colour=(255, 255, 255)))
labeled_wps = {}
for i in range(len(mission_list)):
next_list = mission_list[i]
for j in range(len(next_list)):
#label already printed for this wp?
if (next_list[j] not in labeled_wps):
map.add_object(
mp_slipmap.SlipLabel('miss_cmd %u/%u' % (i, j),
polygons[i][j],
str(next_list[j]),
'Mission',
colour=(0, 255, 255)))
labeled_wps[next_list[j]] = (i, j)
def display_waypoints(self):
'''display the waypoints'''
self.mission_list = self.module('wp').wploader.view_list()
polygons = self.module('wp').wploader.polygon_list()
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('Mission'))
for i in range(len(polygons)):
p = polygons[i]
if len(p) > 1:
popup = MPMenuSubMenu('Popup',
items=[MPMenuItem('Set', returnkey='popupMissionSet'),
MPMenuItem('WP Remove', returnkey='popupMissionRemove'),
MPMenuItem('WP Move', returnkey='popupMissionMove')])
self.mpstate.map.add_object(mp_slipmap.SlipPolygon('mission %u' % i, p,
layer='Mission', linewidth=2, colour=(255,255,255),
popup_menu=popup))
loiter_rad = self.get_mav_param('WP_LOITER_RAD')
labeled_wps = {}
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('LoiterCircles'))
for i in range(len(self.mission_list)):
next_list = self.mission_list[i]
for j in range(len(next_list)):
#label already printed for this wp?
if (next_list[j] not in labeled_wps):
self.mpstate.map.add_object(mp_slipmap.SlipLabel(
'miss_cmd %u/%u' % (i,j), polygons[i][j], str(next_list[j]), 'Mission', colour=(0,255,255)))
if (self.map_settings.loitercircle and
self.module('wp').wploader.wp_is_loiter(next_list[j])):
self.mpstate.map.add_object(mp_slipmap.SlipCircle('Loiter Circle %u' % (next_list[j] + 1), 'LoiterCircles', polygons[i][j], abs(loiter_rad), (255, 255, 255), 2))
labeled_wps[next_list[j]] = (i,j)
def loadkml(self, filename):
'''Load a kml from file and put it on the map'''
#Open the zip file
nodes = self.readkmz(filename)
#go through each object in the kml...
for n in nodes:
point = self.readObject(n)
#and place any polygons on the map
if self.mpstate.map is not None and point[0] == 'Polygon':
#print "Adding " + point[1]
newcolour = (random.randint(0, 255), 0, random.randint(0, 255))
curpoly = mp_slipmap.SlipPolygon(point[1], point[2],
layer=2, linewidth=2, colour=newcolour)
self.mpstate.map.add_object(curpoly)
self.allayers.append(curpoly)
self.curlayers.append(point[1])
#and points - barrell image and text
if self.mpstate.map is not None and point[0] == 'Point':
#print "Adding " + point[1]
icon = self.mpstate.map.icon('barrell.png')
curpoint = mp_slipmap.SlipIcon(point[1], latlon = (point[2][0][0], point[2][0][1]), layer=3, img=icon, rotation=0, follow=False)
curtext = mp_slipmap.SlipLabel(point[1], point = (point[2][0][0], point[2][0][1]), layer=4, label=point[1], colour=(0,255,255))
self.mpstate.map.add_object(curpoint)
self.mpstate.map.add_object(curtext)
self.allayers.append(curpoint)
self.alltextlayers.append(curtext)
self.curlayers.append(point[1])
self.curtextlayers.append(point[1])
self.menu_needs_refreshing = True
def display_waypoints(self):
'''display the waypoints'''
from MAVProxy.modules.mavproxy_map import mp_slipmap
self.mission_list = self.module('wp').wploader.view_list()
polygons = self.module('wp').wploader.polygon_list()
self.map.add_object(mp_slipmap.SlipClearLayer('Mission'))
for i in range(len(polygons)):
p = polygons[i]
if len(p) > 1:
items = [MPMenuItem('Set', returnkey='popupMissionSet'),
MPMenuItem('WP Remove', returnkey='popupMissionRemove'),
MPMenuItem('WP Move', returnkey='popupMissionMove'),
MPMenuItem('Remove NoFly', returnkey='popupMissionRemoveNoFly'),
]
popup = MPMenuSubMenu('Popup', items)
self.map.add_object(mp_slipmap.SlipPolygon('mission %u' % i, p,
layer='Mission', linewidth=2, colour=(255,255,255),
arrow = self.map_settings.showdirection, popup_menu=popup))
labeled_wps = {}
self.map.add_object(mp_slipmap.SlipClearLayer('LoiterCircles'))
if not self.map_settings.showwpnum:
return
for i in range(len(self.mission_list)):
next_list = self.mission_list[i]
for j in range(len(next_list)):
#label already printed for this wp?
if (next_list[j] not in labeled_wps):
label = self.label_for_waypoint(next_list[j])
colour = self.colour_for_wp(next_list[j])
self.map.add_object(mp_slipmap.SlipLabel(
'miss_cmd %u/%u' % (i,j), polygons[i][j], label, 'Mission', colour=colour))
if (self.map_settings.loitercircle and
self.module('wp').wploader.wp_is_loiter(next_list[j])):
wp = self.module('wp').wploader.wp(next_list[j])
if wp.command != mavutil.mavlink.MAV_CMD_NAV_LOITER_TO_ALT and wp.param3 != 0:
# wp radius and direction is defined by the mission
loiter_rad = wp.param3
elif wp.command == mavutil.mavlink.MAV_CMD_NAV_LOITER_TO_ALT and wp.param2 != 0:
# wp radius and direction is defined by the mission
loiter_rad = wp.param2
else:
# wp radius and direction is defined by the parameter
loiter_rad = self.get_mav_param('WP_LOITER_RAD')
self.map.add_object(mp_slipmap.SlipCircle('Loiter Circle %u' % (next_list[j] + 1), 'LoiterCircles', polygons[i][j],
loiter_rad, (255, 255, 255), 2, arrow = self.map_settings.showdirection))
labeled_wps[next_list[j]] = (i,j)
def load_kml(kml):
'''load a kml overlay, return list of map objects'''
print("Loading kml %s" % kml)
nodes = kmlread.readkmz(kml)
ret = []
for n in nodes:
try:
point = kmlread.readObject(n)
except Exception as ex:
continue
if point[0] == 'Polygon':
newcolour = (random.randint(0, 255), 0, random.randint(0, 255))
curpoly = mp_slipmap.SlipPolygon(point[1],
point[2],
layer=2,
linewidth=2,
colour=newcolour)
ret.append(curpoly)
if point[0] == 'Point':
icon = mp_tile.mp_icon('barrell.png')
curpoint = mp_slipmap.SlipIcon(point[1],
latlon=(point[2][0][0],
point[2][0][1]),
layer=3,
img=icon,
rotation=0,
follow=False)
curtext = mp_slipmap.SlipLabel(point[1],
point=(point[2][0][0],
point[2][0][1]),
layer=4,
label=point[1],
colour=(0, 255, 255))
ret.append(curpoint)
ret.append(curtext)
return ret
