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map: avoid exceptions when wp module not loaded #1259

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merged 2 commits into from
Nov 17, 2023
Merged

map: avoid exceptions when wp module not loaded #1259

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3181219
map: factor mavlink_packet method
peterbarker Oct 14, 2023
5831f30
map: avoid exceptions when wp module not loaded
peterbarker Oct 14, 2023
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19 changes: 15 additions & 4 deletions MAVProxy/modules/mavproxy_map/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1018,15 +1018,28 @@ def mavlink_packet(self, m):
# the rest should only be done for the primary vehicle
return

self.check_redisplay_waypoints()
self.check_redisplay_fencepoints()
self.check_redisplay_rallypoints()

# check for any events from the map
self.map.check_events()

def check_redisplay_waypoints(self):
# if the waypoints have changed, redisplay
last_wp_change = self.module('wp').wploader.last_change
wp_module = self.module('wp')
if wp_module is None:
'''wp nodule not loaded'''
return
last_wp_change = wp_module.wploader.last_change
if self.wp_change_time != last_wp_change and abs(time.time() - last_wp_change) > 1:
self.wp_change_time = last_wp_change
self.display_waypoints()

#this may have affected the landing lines from the rally points:
self.rally_change_time = time.time()

def check_redisplay_fencepoints(self):
# if the fence has changed, redisplay
fence_module = self.module('fence')
if fence_module is not None:
Expand All @@ -1040,6 +1053,7 @@ def mavlink_packet(self, m):
self.fence_change_time = last_change
self.display_fence()

def check_redisplay_rallypoints(self):
# if the rallypoints have changed, redisplay
if (self.module('rally') and
self.rally_change_time != self.module('rally').last_change()):
Expand Down Expand Up @@ -1090,9 +1104,6 @@ def mavlink_packet(self, m):
points.append((nearest_land_wp.x, nearest_land_wp.y))
self.map.add_object(mp_slipmap.SlipPolygon('Rally Land %u' % (i+1), points, 'RallyPoints', (255,255,0), 2))

# check for any events from the map
self.map.check_events()

def init(mpstate):
'''initialise module'''
return MapModule(mpstate)