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Add new modules to support uploading Fence and Rally with Mission Item Protocol #676

Merged

tridge merged 15 commits into ArduPilot:master from peterbarker:pr/mission-item-protocol-fence-rally

Jul 29, 2023

Contributor

peterbarker commented Aug 29, 2019 •

edited

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.... also changes to mavproxy_map to allow manipulation of same.

peterbarker added the WIP label

peterbarker mentioned this pull request

Add support for complex fences (including exclusion zones) ArduPilot/ardupilot#12167

Merged

26 tasks

peterbarker force-pushed the pr/mission-item-protocol-fence-rally branch 4 times, most recently from 8d0a5c1 to c163243 Compare

September 2, 2019 02:56

peterbarker force-pushed the pr/mission-item-protocol-fence-rally branch 2 times, most recently from 2021d85 to a01a0b6 Compare

September 16, 2019 12:22

peterbarker force-pushed the pr/mission-item-protocol-fence-rally branch from a01a0b6 to f3fa2f4 Compare

May 28, 2020 01:30

Contributor

tridge commented May 27, 2022

@peterbarker ping?

peterbarker force-pushed the pr/mission-item-protocol-fence-rally branch 2 times, most recently from 40a5bab to 2d5c712 Compare

July 22, 2023 03:10

peterbarker removed the WIP label

Contributor

tridge commented Jul 22, 2023

@peterbarker it seems to be missing some changes in mavwp: ```
Traceback (most recent call last):
File "/home/tridge/.local/bin/mavproxy.py", line 4, in
import('pkg_resources').run_script('MAVProxy==1.8.65', 'mavproxy.py')
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 656, in run_script
self.require(requires)[0].run_script(script_name, ns)
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 1460, in run_script
exec(script_code, namespace, namespace)
File "/home/tridge/.local/lib/python3.10/site-packages/MAVProxy-1.8.65-py3.10.egg/EGG-INFO/scripts/mavproxy.py", line 1448, in
File "/home/tridge/.local/lib/python3.10/site-packages/MAVProxy-1.8.65-py3.10.egg/EGG-INFO/scripts/mavproxy.py", line 530, in load_module
File "/home/tridge/.local/lib/python3.10/site-packages/MAVProxy-1.8.65-py3.10.egg/MAVProxy/modules/mavproxy_rally.py", line 143, in init
File "/home/tridge/.local/lib/python3.10/site-packages/MAVProxy-1.8.65-py3.10.egg/MAVProxy/modules/mavproxy_rally.py", line 21, in init
AttributeError: module 'pymavlink.mavwp' has no attribute 'MissionItemProtocol_Rally'

maybe we should just not load rally module if this fails?

peterbarker force-pushed the pr/mission-item-protocol-fence-rally branch from 2d5c712 to 4543740 Compare

July 22, 2023 08:53

tridge requested changes

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Contributor

tridge left a comment

the FEN icon in console doesn't seem to be updating correctly? Shows as grey with a fence enabled and in breach

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                      '''process a waypoint request from the master'''
+                      if m.mission_type != self.mav_mission_type():
+                          return
+                      print("Processing %s request: (%s)" % (self.itemtype(), str(m)))

Contributor

tridge Jul 22, 2023

this debug is very annoying

Contributor Author

peterbarker Jul 23, 2023

Fixed

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                      self.request_list_send()
+                  def cmd_load(self, args):
+                      print("args: %s" % str(args))

Contributor

tridge Jul 22, 2023

remove debug

Contributor Author

peterbarker Jul 23, 2023

Fixed

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                      '''save waypoints to a file in human-readable CSV file'''
+                      f = open(filename, mode='w')
+                      headers = ["Seq", "Frame", "Cmd", "P1", "P2", "P3", "P4", "X", "Y", "Z"]
+                      print(self.csv_line(headers))

Contributor

tridge Jul 22, 2023

needed?

Contributor Author

peterbarker Jul 23, 2023

Fixed

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                              self.pretty_parameter_value(w.y),
+                              self.pretty_parameter_value(w.z),
+                          ]
+                          print(self.csv_line(out_list))

Contributor

tridge Jul 22, 2023

more debug

Contributor Author

peterbarker Jul 23, 2023

Fixed

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                      if ftp is None:
+                          print("Need ftp module")
+                          return
+                      print("Fetching mission with ftp")

Contributor

tridge Jul 22, 2023

not needed

Contributor Author

peterbarker Jul 23, 2023

Fixed

peterbarker commented

View reviewed changes

Contributor Author

peterbarker left a comment

Fixed

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                      '''process a waypoint request from the master'''
+                      if m.mission_type != self.mav_mission_type():
+                          return
+                      print("Processing %s request: (%s)" % (self.itemtype(), str(m)))

Contributor Author

peterbarker Jul 23, 2023

Fixed

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                      self.request_list_send()
+                  def cmd_load(self, args):
+                      print("args: %s" % str(args))

Contributor Author

peterbarker Jul 23, 2023

Fixed

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                      '''save waypoints to a file in human-readable CSV file'''
+                      f = open(filename, mode='w')
+                      headers = ["Seq", "Frame", "Cmd", "P1", "P2", "P3", "P4", "X", "Y", "Z"]
+                      print(self.csv_line(headers))

Contributor Author

peterbarker Jul 23, 2023

Fixed

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                              self.pretty_parameter_value(w.y),
+                              self.pretty_parameter_value(w.z),
+                          ]
+                          print(self.csv_line(out_list))

Contributor Author

peterbarker Jul 23, 2023

Fixed

MAVProxy/modules/lib/mission_item_protocol.py Outdated

+                      if ftp is None:
+                          print("Need ftp module")
+                          return
+                      print("Fetching mission with ftp")

Contributor Author

peterbarker Jul 23, 2023

Fixed

peterbarker mentioned this pull request

Split off MissionItemProtocol from WPLoader, use it for fence and rally ArduPilot/pymavlink#351

Merged

Contributor Author

peterbarker commented Jul 23, 2023

the FEN icon in console doesn't seem to be updating correctly? Shows as grey with a fence enabled and in breach

This turned out to be because the action was report-only.

peterbarker added 11 commits

July 28, 2023 10:26


          rally: rename old rally to rallypoint_protocol

a3f0b05

to make way for mission-item-protocol-base-transfer


          fence: rename old rally to fenceitem_protocol

c318ebc

to make way for mission-item-protocol-base-transfer


          mavproxy_fenceitem_protocol: adjsut comment to indicate this is the o…

a716aac

…ld library


          mavproxy_rallypoint_protocol: adjust comment to indicate this is the …

f0d7d90

…old library


          mavproxy_wp: make copy of older, non-factored library

6a3f1bf

in case of incompatability


          mavproxy_wp: copy of older, non-factored library

5198de1


          mavproxy_map: inclusion/exclusion circles and polygons

250ff30

mavproxy_map: SlipCircle handles clicked callback

Allows circles to be right-clicked and manipulated.

mavproxy_map: mp_slipmap_util.py: add UnclosedSlipPolygon

Variant of the existing SlipPolygon which doesn't assume it can discern
item types and doesn't assume a closing point on the polygon.

mavproxy_map: add support for drawing MissionItemProtocol fences

mavproxy_map: add option to insert polygon points

mavproxy_map: add option to draw polyfences on map

mavproxy_map: hide remove-fence option


          wp/rally/fence: rewrite for MissionItemProtocol support

734803a


          fixup! mavproxy_map: inclusion/exclusion circles and polygons

f519920


          mavproxy_wp: allow missions of length 2 to be drawn

c8551eb


          mavproxy_fence.py: correct integer-in-mavlink-int problem

b3694f6

peterbarker added 4 commits

July 28, 2023 10:26


          mission_item_protocol.py: ensure upload_start is set

98ff564


          mavproxy.py: make load_module and unload_modules mpstate methods

7f80ea3


          fence/rally/map: compatability with older verisons of pymavlink

b53179e


          fence/rally/mission_item_protocol: remove debug

8049c5f

peterbarker force-pushed the pr/mission-item-protocol-fence-rally branch from 046aaf1 to 8049c5f Compare

July 28, 2023 00:26

tridge approved these changes

View reviewed changes

tridge merged commit f4b3b62 into ArduPilot:master

1 check passed

peterbarker deleted the pr/mission-item-protocol-fence-rally branch

July 30, 2023 00:14

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