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'''
module for loading/saving waypoints
'''
import os
if os.getenv('MAVLINK10'):
import mavlinkv10 as mavlink
else:
import mavlink
class MAVWPError(Exception):
'''MAVLink WP error class'''
def __init__(self, msg):
Exception.__init__(self, msg)
self.message = msg
class MAVWPLoader(object):
'''MAVLink waypoint loader'''
def __init__(self, target_system=0, target_component=0):
self.wpoints = []
self.target_system = target_system
self.target_component = target_component
def count(self):
'''return number of waypoints'''
return len(self.wpoints)
def wp(self, i):
'''return a waypoint'''
return self.wpoints[i]
def add(self, w):
'''add a waypoint'''
w.seq = self.count()
self.wpoints.append(w)
def remove(self, w):
'''remove a waypoint'''
self.wpoints.remove(w)
def clear(self):
'''clear waypoint list'''
self.wpoints = []
def _read_waypoint_v100(self, line):
'''read a version 100 waypoint'''
cmdmap = {
2 : mavlink.MAV_CMD_NAV_TAKEOFF,
3 : mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
4 : mavlink.MAV_CMD_NAV_LAND,
24: mavlink.MAV_CMD_NAV_TAKEOFF,
26: mavlink.MAV_CMD_NAV_LAND,
25: mavlink.MAV_CMD_NAV_WAYPOINT ,
27: mavlink.MAV_CMD_NAV_LOITER_UNLIM
}
a = line.split()
if len(a) != 13:
raise MAVWPError("invalid waypoint line with %u values" % len(a))
w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
int(a[0]), # seq
int(a[1]), # frame
int(a[2]), # action
int(a[7]), # current
int(a[12]), # autocontinue
float(a[5]), # param1,
float(a[6]), # param2,
float(a[3]), # param3
float(a[4]), # param4
float(a[9]), # x, latitude
float(a[8]), # y, longitude
float(a[10]) # z
)
if not w.command in cmdmap:
raise MAVWPError("Unknown v100 waypoint action %u" % w.command)
w.command = cmdmap[w.command]
return w
def _read_waypoint_v110(self, line):
'''read a version 110 waypoint'''
a = line.split()
if len(a) != 12:
raise MAVWPError("invalid waypoint line with %u values" % len(a))
w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
int(a[0]), # seq
int(a[2]), # frame
int(a[3]), # command
int(a[1]), # current
int(a[11]), # autocontinue
float(a[4]), # param1,
float(a[5]), # param2,
float(a[6]), # param3
float(a[7]), # param4
float(a[8]), # x (latitude)
float(a[9]), # y (longitude)
float(a[10]) # z (altitude)
)
return w
def load(self, filename):
'''load waypoints from a file.
returns number of waypoints loaded'''
f = open(filename, mode='r')
version_line = f.readline().strip()
if version_line == "QGC WPL 100":
readfn = self._read_waypoint_v100
elif version_line == "QGC WPL 110":
readfn = self._read_waypoint_v110
else:
f.close()
raise MAVWPError("Unsupported waypoint format '%s'" % version_line)
self.clear()
for line in f:
if line.startswith('#'):
continue
line = line.strip()
if not line:
continue
w = readfn(line)
if w is not None:
self.add(w)
f.close()
return len(self.wpoints)
def save(self, filename):
'''save waypoints to a file'''
f = open(filename, mode='w')
f.write("QGC WPL 110\n")
for w in self.wpoints:
f.write("%u\t%u\t%u\t%u\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%u\n" % (
w.seq, w.current, w.frame, w.command,
w.param1, w.param2, w.param3, w.param4,
w.x, w.y, w.z, w.autocontinue))
f.close()
class MAVFenceError(Exception):
'''MAVLink fence error class'''
def __init__(self, msg):
Exception.__init__(self, msg)
self.message = msg
class MAVFenceLoader(object):
'''MAVLink geo-fence loader'''
def __init__(self, target_system=0, target_component=0):
self.points = []
self.target_system = target_system
self.target_component = target_component
def count(self):
'''return number of points'''
return len(self.points)
def point(self, i):
'''return a point'''
return self.points[i]
def add(self, p):
'''add a point'''
self.points.append(p)
def clear(self):
'''clear point list'''
self.points = []
def load(self, filename):
'''load points from a file.
returns number of points loaded'''
f = open(filename, mode='r')
self.clear()
for line in f:
if line.startswith('#'):
continue
line = line.strip()
if not line:
continue
a = line.split()
if len(a) != 2:
raise MAVFenceError("invalid fence point line: %s" % line)
p = mavlink.MAVLink_fence_point_message(self.target_system, self.target_component,
self.count(), 0, float(a[0]), float(a[1]))
self.add(p)
f.close()
for i in range(self.count()):
self.points[i].count = self.count()
return len(self.points)
def save(self, filename):
'''save fence points to a file'''
f = open(filename, mode='w')
for p in self.points:
f.write("%f\t%f\n" % (p.lat, p.lng))
f.close()
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