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mavwp.py
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mavwp.py
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'''
module for loading/saving waypoints
Copyright the ArduPilot Project
Released under GNU LGPL version 3 or later
'''
from __future__ import print_function
from builtins import range
from builtins import object
import time, copy
import logging
import re
from . import mavutil
try:
from google.protobuf import text_format
import mission_pb2
HAVE_PROTOBUF = True
except ImportError:
HAVE_PROTOBUF = False
class MAVWPError(Exception):
'''MAVLink WP error class'''
def __init__(self, msg):
Exception.__init__(self, msg)
self.message = msg
class MissionItemProtocol(object):
'''Base class for transfering items based on the MISSION_ITEM protocol'''
def __init__(self, target_system=0, target_component=0):
self.wpoints = []
self.target_system = target_system
self.target_component = target_component
self.last_change = 0
self.colour_for_polygon = {
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION : (255,0,0),
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION : (0,255,0)
}
def count(self):
'''return number of waypoints'''
return len(self.wpoints)
def wp(self, i):
'''alias for backwards compatability'''
return self.item(i)
def item(self, i):
'''return an item'''
try:
the_wp = self.wpoints[i]
except:
the_wp = None
return the_wp
def add(self, w, comment=''):
'''add a waypoint'''
if type(w) == list:
w = copy.deepcopy(w)
n = self.count()
for p in w:
p.seq = n
n += 1
self.wpoints.extend(w)
else:
w = copy.copy(w)
if comment:
w.comment = comment
w.seq = self.count()
self.wpoints.append(w)
self.last_change = time.time()
def insert(self, idx, w, comment=''):
'''insert a waypoint'''
if idx >= self.count():
self.add(w, comment)
return
if idx < 0:
return
w = copy.copy(w)
if comment:
w.comment = comment
w.seq = idx
self.wpoints.insert(idx, w)
self.last_change = time.time()
self.reindex()
def reindex(self):
'''reindex waypoints'''
for i in range(self.count()):
w = self.wpoints[i]
w.seq = i
self.last_change = time.time()
def set(self, w, idx):
'''set a waypoint'''
w.seq = idx
if w.seq == self.count():
return self.add(w)
if self.count() <= idx:
raise MAVWPError('adding waypoint at idx=%u past end of list (count=%u)' % (idx, self.count()))
self.wpoints[idx] = w
self.last_change = time.time()
def remove(self, w):
'''remove a waypoint'''
if isinstance(w, list):
for point in w:
self.wpoints.remove(point)
else:
self.wpoints.remove(w)
self.last_change = time.time()
self.reindex()
def clear(self):
'''clear waypoint list'''
self.wpoints = []
self.last_change = time.time()
def _read_waypoints_v110(self, file):
'''read a version 110 waypoint'''
comment = ''
for line in file:
if line.startswith('#'):
comment = line[1:].lstrip()
continue
line = line.strip()
if not line:
continue
a = line.split()
if len(a) != 12:
raise MAVWPError("invalid waypoint line with %u values" % len(a))
args = [
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)
]
if mavutil.mavlink20():
fn = mavutil.mavlink.MAVLink_mission_item_message
args.append(self.mav_mission_type())
elif mavutil.mavlink10():
fn = mavutil.mavlink.MAVLink_mission_item_message
if self.mav_mission_type() != mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
raise ValueError("Not using mavlink2")
else:
fn = mavutil.mavlink.MAVLink_waypoint_message
w = fn(*args)
if w.command == 0 and w.seq == 0 and self.count() == 0:
# special handling for Mission Planner created home wp
w.command = mavutil.mavlink.MAV_CMD_NAV_WAYPOINT
self.add(w, comment)
comment = ''
def _read_waypoints_pb_110(self, file):
if not HAVE_PROTOBUF:
raise MAVWPError(
'Cannot read mission file in protobuf format without protobuf '
'library. Try "easy_install protobuf".')
explicit_seq = False
warned_seq = False
mission = mission_pb2.Mission()
text_format.Merge(file.read(), mission)
defaults = mission_pb2.Waypoint()
# Set defaults (may be overridden in file).
defaults.current = False
defaults.autocontinue = True
defaults.param1 = 0.0
defaults.param2 = 0.0
defaults.param3 = 0.0
defaults.param4 = 0.0
defaults.x = 0.0
defaults.y = 0.0
defaults.z = 0.0
# Use defaults specified in mission file, if there are any.
if mission.defaults:
defaults.MergeFrom(mission.defaults)
for seq, waypoint in enumerate(mission.waypoint):
# Consecutive sequence numbers are automatically assigned
# UNLESS the mission file specifies sequence numbers of
# its own.
if waypoint.seq:
explicit_seq = True
else:
if explicit_seq and not warned_seq:
logging.warn(
'Waypoint file %s: mixes explicit and implicit '
'sequence numbers' % (file,))
warned_seq = True
# The first command has current=True, the rest have current=False.
if seq > 0:
current = defaults.current
else:
current = True
w = mavutil.mavlink.MAVLink_mission_item_message(
self.target_system, self.target_component,
waypoint.seq or seq,
waypoint.frame,
waypoint.command,
waypoint.current or current,
waypoint.autocontinue or defaults.autocontinue,
waypoint.param1 or defaults.param1,
waypoint.param2 or defaults.param2,
waypoint.param3 or defaults.param3,
waypoint.param4 or defaults.param4,
waypoint.x or defaults.x,
waypoint.y or defaults.y,
waypoint.z or defaults.z)
self.add(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_waypoints_v100
elif version_line == "QGC WPL 110":
readfn = self._read_waypoints_v110
elif version_line == "QGC WPL PB 110":
readfn = self._read_waypoints_pb_110
else:
f.close()
raise MAVWPError("Unsupported waypoint format '%s'" % version_line)
self.clear()
readfn(f)
f.close()
return len(self.wpoints)
def save_as_pb(self, filename):
mission = mission_pb2.Mission()
for w in self.wpoints:
waypoint = mission.waypoint.add()
waypoint.command = w.command
waypoint.frame = w.frame
waypoint.seq = w.seq
waypoint.current = w.current
waypoint.autocontinue = w.autocontinue
waypoint.param1 = w.param1
waypoint.param2 = w.param2
waypoint.param3 = w.param3
waypoint.param4 = w.param4
waypoint.x = w.x
waypoint.y = w.y
waypoint.z = w.z
with open(filename, 'w') as f:
f.write('QGC WPL PB 110\n')
f.write(text_format.MessageToString(mission))
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:
if getattr(w, 'comment', None):
f.write("# %s\n" % w.comment)
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()
def view_indexes(self, done=None):
'''return a list waypoint indexes in view order'''
ret = []
if done is None:
done = set()
idx = 0
# find first point not done yet
while idx < self.count():
if not idx in done:
break
idx += 1
exclusion_start = -1
exclusion_count = -1
inclusion_start = -1
inclusion_count = -1
while idx < self.count():
w = self.wp(idx)
if idx in done:
if self.is_location_wp(w):
ret.append(idx)
break
done.add(idx)
if w.command == mavutil.mavlink.MAV_CMD_DO_JUMP:
idx = int(w.param1)
w = self.wp(idx)
if self.is_location_wp(w):
ret.append(idx)
continue
# display loops for exclusion and inclusion zones
if w.command == mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
if exclusion_start == -1:
exclusion_count = int(w.param1)
exclusion_start = idx
if idx == exclusion_start + exclusion_count - 1:
ret.append(idx)
ret.append(exclusion_start)
return ret
if w.command == mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION:
if inclusion_start == -1:
inclusion_count = int(w.param1)
inclusion_start = idx
if idx == inclusion_start + inclusion_count - 1:
ret.append(idx)
ret.append(inclusion_start)
return ret
if self.is_location_wp(w):
ret.append(idx)
if w.command in [ mavutil.mavlink.MAV_CMD_NAV_LAND,
mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND ]:
# stop at landing points
return ret
exc_zones = [mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION]
w2 = self.wp(idx+1)
if w2 is not None and w.command not in exc_zones and w2.command in exc_zones:
# don't draw a line from last WP to first exc zone
return ret
idx += 1
return ret
def polygon(self, done=None):
'''return a polygon for the waypoints'''
indexes = self.view_indexes(done)
points = []
for idx in indexes:
w = self.wp(idx)
if w.command in self.colour_for_polygon:
points.append((w.x, w.y, self.colour_for_polygon[w.command]))
else:
points.append((w.x, w.y))
return points
def polygon_list(self):
'''return a list of polygons for the waypoints'''
done = set()
ret = []
while len(done) != self.count():
p = self.polygon(done)
if len(p) > 0:
ret.append(p)
return ret
def view_list(self):
'''return a list of polygon indexes lists for the waypoints'''
done = set()
ret = []
while len(done) != self.count():
p = self.view_indexes(done)
if len(p) > 0:
ret.append(p)
return ret
class MAVWPLoader(MissionItemProtocol):
'''MAVLink waypoint loader'''
def mav_mission_type(self):
'''returns type of mission this object transfers'''
return mavutil.mavlink.MAV_MISSION_TYPE_MISSION
def wp_is_loiter(self, i):
'''return true if waypoint is a loiter waypoint'''
loiter_cmds = [mavutil.mavlink.MAV_CMD_NAV_LOITER_UNLIM,
mavutil.mavlink.MAV_CMD_NAV_LOITER_TURNS,
mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME,
mavutil.mavlink.MAV_CMD_NAV_LOITER_TO_ALT]
if (self.wpoints[i].command in loiter_cmds):
return True
return False
def add_latlonalt(self, lat, lon, altitude, terrain_alt=False):
'''add a point via latitude/longitude/altitude'''
if terrain_alt:
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT
else:
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
p = mavutil.mavlink.MAVLink_mission_item_message(self.target_system,
self.target_component,
0,
frame,
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
0, 0, 0, 0, 0, 0,
lat, lon, altitude)
self.add(p)
def _read_waypoints_v100(self, file):
'''read a version 100 waypoint'''
cmdmap = {
2 : mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
3 : mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
4 : mavutil.mavlink.MAV_CMD_NAV_LAND,
24: mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
26: mavutil.mavlink.MAV_CMD_NAV_LAND,
25: mavutil.mavlink.MAV_CMD_NAV_WAYPOINT ,
27: mavutil.mavlink.MAV_CMD_NAV_LOITER_UNLIM
}
comment = ''
for line in file:
if line.startswith('#'):
comment = line[1:].lstrip()
continue
line = line.strip()
if not line:
continue
a = line.split()
if len(a) != 13:
raise MAVWPError("invalid waypoint line with %u values" % len(a))
if mavutil.mavlink10():
fn = mavutil.mavlink.MAVLink_mission_item_message
else:
fn = mavutil.mavlink.MAVLink_waypoint_message
w = fn(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)
if self.mav_mission_type() != mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
w.mission_type = self.mav_mission_type()
w.command = cmdmap[w.command]
self.add(w, comment)
comment = ''
def is_location_command(self, cmd):
'''see if cmd is a MAV_CMD with a latitude/longitude'''
mav_cmd = mavutil.mavlink.enums['MAV_CMD']
if not cmd in mav_cmd:
return False
return getattr(mav_cmd[cmd],'has_location',True)
def is_location_wp(self, w):
'''see if w.command is a MAV_CMD with a latitude/longitude'''
if w.x == 0 and w.y == 0:
return False
return self.is_location_command(w.command)
def get_first_line_from_file(filename):
'''return line from filename that doesn't start with a #'''
f = open(filename, mode='r')
while True:
line = f.readline().strip()
if len(line) == 0:
return None
if not line.startswith("#"):
break
f.close()
return line
class MissionItemProtocol_Fence(MissionItemProtocol):
'''New mission-item-protocol-based class for sending fence points to
autopilot'''
def mav_mission_type(self):
'''returns type of mission this object transfers'''
return mavutil.mavlink.MAV_MISSION_TYPE_FENCE
def is_location_command(self, cmd):
'''returns true if cmd nominates a location in param5/param6/param7'''
return True
def load(self, filename):
'''try to load from an old "FENCE_POINT" format file (just a list of
latlon pairs - or fall back to QGC formats'''
if not mavutil.mavlink20():
raise ValueError("Must be using mavlink2")
version_line = get_first_line_from_file(filename)
if (version_line is None or
not re.match("[-0-9.]+\s+[-0-9.]+", version_line)):
return super(MissionItemProtocol_Fence, self).load(filename)
# shamelessly copy-and-pasted from traditional loader, below
f = open(filename, mode='r')
points = []
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)
points.append((float(a[0]),float(a[1])))
f.close()
# 1 return point
# at least 3 vertex points
# 1 closing point
if len(points) < 5:
print("Insufficient points in file")
return
items = []
# return point:
(ret_lat, ret_lng) = points[0]
items.append(
mavutil.mavlink.MAVLink_mission_item_int_message(
self.target_system,
self.target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL, # frame
mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, # command
0, # current
0, # autocontinue
0, # param1,
0, # param2,
0, # param3
0, # param4
int(ret_lat * 1e7), # x (latitude)
int(ret_lng * 1e7), # y (longitude)
0, # z (altitude)
self.mav_mission_type(),
))
for i in range(1, len(points)-1):
(lat, lng) = points[i]
item = mavutil.mavlink.MAVLink_mission_item_int_message(
self.target_system,
self.target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL, # frame
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, # command
0, # current
0, # autocontinue
len(points)-2, # param1,
0, # param2,
0, # param3
0, # param4
int(lat * 1e7), # x (latitude)
int(lng * 1e7), # y (longitude)
0, # z (altitude)
self.mav_mission_type(),
)
items.append(item)
self.clear()
self.add(items)
class MissionItemProtocol_Rally(MissionItemProtocol):
'''New mission-item-protocol-based class for sending rally points to
autopilot'''
def mav_mission_type(self):
'''returns type of mission this object transfers'''
return mavutil.mavlink.MAV_MISSION_TYPE_RALLY
def is_location_command(self, cmd):
'''returns true if cmd nominates a location in param5/param6/param7'''
return True
def load(self, filename):
'''attempts to load from legacy rally file'''
if not mavutil.mavlink20():
raise ValueError("Must be using mavlink2")
version_line = get_first_line_from_file(filename)
if version_line is None or not re.match("^RALLY ", version_line):
return super(MissionItemProtocol_Rally, self).load(filename)
points = []
# this code shamelessly copy-and-pasted from the old
# MAVWPLoader, below
seq = 0
f = open(filename, mode='r')
for line in f:
if line.startswith('#'):
continue
line = line.strip()
if not line:
continue
a = line.split()
if len(a) != 7:
raise MAVRallyError("invalid rally file line: %s" % line)
if (a[0].lower() == "rally"):
lat_deg = float(a[1])
lng_deg = float(a[2])
alt = float(a[3])
# break_alt = float(a[4])
# land_dir = float(a[5])
# flags = int(a[6])
w = mavutil.mavlink.MAVLink_mission_item_int_message(
self.target_system, self.target_component,
seq, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, # frame
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT, # command
0, # current
0, # autocontinue
0, # param1,
0, # param2,
0, # param3
0, # param4
int(lat_deg * 1e7), # x (latitude)
int(lng_deg * 1e7), # y (longitude)
alt * 1e3, # z (altitude)
self.mav_mission_type()
)
points.append(w)
seq += 1
f.close()
self.clear()
for point in points:
self.add(point)
class MAVRallyError(Exception):
'''MAVLink rally point error class'''
def __init__(self, msg):
Exception.__init__(self, msg)
self.message = msg
class MAVRallyLoader(object):
'''MAVLink Rally points and Rally Land points loader'''
def __init__(self, target_system=0, target_component=0):
self.rally_points = []
self.target_system = target_system
self.target_component = target_component
self.last_change = time.time()
def rally_count(self):
'''return number of rally points'''
return len(self.rally_points)
def rally_point(self, i):
'''return rally point i'''
return self.rally_points[i]
def reindex(self):
'''reset counters and indexes'''
for i in range(self.rally_count()):
self.rally_points[i].count = self.rally_count()
self.rally_points[i].idx = i
self.last_change = time.time()
def append_rally_point(self, p):
'''add rallypoint to end of list'''
if (self.rally_count() > 9):
print("Can't have more than 10 rally points, not adding.")
return
self.rally_points.append(p)
self.reindex()
def create_and_append_rally_point(self, lat, lon, alt, break_alt, land_dir, flags):
'''add a point via latitude/longitude'''
p = mavutil.mavlink.MAVLink_rally_point_message(self.target_system, self.target_component,
self.rally_count(), 0, int(lat), int(lon), int(alt), int(break_alt), int(land_dir), flags)
self.append_rally_point(p)
def clear(self):
'''clear all point lists (rally and rally_land)'''
self.rally_points = []
self.last_change = time.time()
def remove(self, i):
'''remove a rally point'''
if i < 1 or i > self.rally_count():
print("Invalid rally point number %u" % i)
self.rally_points.pop(i-1)
self.reindex()
def move(self, i, lat, lng, change_time=True):
'''move a rally point'''
if i < 1 or i > self.rally_count():
print("Invalid rally point number %u" % i)
self.rally_points[i-1].lat = int(lat*1e7)
self.rally_points[i-1].lng = int(lng*1e7)
if change_time:
self.last_change = time.time()
def set_alt(self, i, alt, break_alt=None, change_time=True):
'''set rally point altitude(s)'''
if i < 1 or i > self.rally_count():
print("Invalid rally point number %u" % i)
return
self.rally_points[i-1].alt = int(alt)
if break_alt is not None:
self.rally_points[i-1].break_alt = break_alt
if change_time:
self.last_change = time.time()
def load(self, filename):
'''load rally and rally_land 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) != 7:
raise MAVRallyError("invalid rally file line: %s" % line)
if (a[0].lower() == "rally"):
self.create_and_append_rally_point(float(a[1]) * 1e7, float(a[2]) * 1e7,
float(a[3]), float(a[4]), float(a[5]) * 100.0, int(a[6]))
f.close()
return len(self.rally_points)
def save(self, filename):
'''save fence points to a file'''
f = open(filename, mode='w')
for p in self.rally_points:
f.write("RALLY %f\t%f\t%f\t%f\t%f\t%d\n" % (p.lat * 1e-7, p.lng * 1e-7, p.alt,
p.break_alt, p.land_dir, p.flags))
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
self.last_change = time.time()
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)
self.reindex()
def reindex(self):
'''reindex waypoints'''
for i in range(self.count()):
w = self.points[i]
w.idx = i
w.count = self.count()
w.target_system = self.target_system
w.target_component = self.target_component
self.last_change = time.time()
def add_latlon(self, lat, lon):
'''add a point via latitude/longitude'''
p = mavutil.mavlink.MAVLink_fence_point_message(self.target_system, self.target_component,
self.count(), 0, lat, lon)
self.add(p)
def clear(self):
'''clear point list'''
self.points = []
self.last_change = time.time()
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)
self.add_latlon(float(a[0]), float(a[1]))
f.close()
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()
def move(self, i, lat, lng, change_time=True):
'''move a fence point'''
if i < 0 or i >= self.count():
print("Invalid fence point number %u" % i)
self.points[i].lat = lat
self.points[i].lng = lng
# ensure we close the polygon
if i == 1:
self.points[self.count()-1].lat = lat
self.points[self.count()-1].lng = lng
if i == self.count() - 1:
self.points[1].lat = lat
self.points[1].lng = lng
if change_time:
self.last_change = time.time()
def remove(self, i, change_time=True):
'''remove a fence point'''
if i < 0 or i >= self.count():
print("Invalid fence point number %u" % i)
self.points.pop(i)
# ensure we close the polygon
if i == 1:
self.points[self.count()-1].lat = self.points[1].lat
self.points[self.count()-1].lng = self.points[1].lng
if i == self.count():
self.points[1].lat = self.points[self.count()-1].lat
self.points[1].lng = self.points[self.count()-1].lng
if change_time:
self.last_change = time.time()
def polygon(self):
'''return a polygon for the fence'''
points = []
for fp in self.points[1:]:
points.append((fp.lat, fp.lng))
return points