readMission.py

from dronekit import connect, Command
import time


#Set up option parsing to get connection string
import argparse  
parser = argparse.ArgumentParser(description='Demonstrates mission import/export from a file.')
parser.add_argument('--connect', 
                   help="Vehicle connection target string. If not specified, SITL automatically started and used.")
args = parser.parse_args()

connection_string = args.connect
sitl = None


#Start SITL if no connection string specified
if not connection_string:
    import dronekit_sitl
    sitl = dronekit_sitl.start_default()
    connection_string = sitl.connection_string()


# Connect to the Vehicle
print ('Connecting to vehicle on: %s',connection_string)
vehicle = connect(connection_string, wait_ready=True)

# Check that vehicle is armable. 
# This ensures home_location is set (needed when saving WP file)

#while not vehicle.is_armable:
#    print (" Waiting for vehicle to initialise...")
#    time.sleep(1)


def readmission(aFileName):
    #"""
    #Load a mission from a file into a list. The mission definition is in the Waypoint file
    #format (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).

    #This function is used by upload_mission().
    #"""
    print( "\nReading mission from file: %s", aFileName)
    cmds = vehicle.commands
    missionlist=[]
    with open(aFileName) as f:
        for i, line in enumerate(f):
            if i==0:
                if not line.startswith('QGC WPL 110'):
                    raise Exception('File is not supported WP version')
            else:
                linearray=line.split('\t')
                ln_index=int(linearray[0])
                ln_currentwp=int(linearray[1])
                ln_frame=int(linearray[2])
                ln_command=int(linearray[3])
                ln_param1=float(linearray[4])
                ln_param2=float(linearray[5])
                ln_param3=float(linearray[6])
                ln_param4=float(linearray[7])
                ln_param5=float(linearray[8])
                ln_param6=float(linearray[9])
                ln_param7=float(linearray[10])
                ln_autocontinue=int(linearray[11].strip())
                cmd = Command( 0, 0, 0, ln_frame, ln_command, ln_currentwp, ln_autocontinue, ln_param1, ln_param2, ln_param3, ln_param4, ln_param5, ln_param6, ln_param7)
                missionlist.append(cmd)
    return missionlist


def download_mission():
    
    #Downloads the current mission and returns it in a list.
    #It is used in save_mission() to get the file information to save.
    
    print (" Download mission from vehicle")
    missionlist=[]
    cmds = vehicle.commands
    cmds.download()
    cmds.wait_ready()
    for cmd in cmds:
        missionlist.append(cmd)
    return missionlist

def save_mission(aFileName):
    
    #Save a mission in the Waypoint file format 
    #(http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
   
    print ("\nSave mission from Vehicle to file: %s", export_mission_filename)    
    #Download mission from vehicle
    missionlist = download_mission()
    #Add file-format information
    output='QGC WPL 110\n'
    #Add home location as 0th waypoint
    home = vehicle.home_location
   # output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
    #Add commands
    for cmd in missionlist:
        commandline="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (cmd.seq,cmd.current,cmd.frame,cmd.command,cmd.param1,cmd.param2,cmd.param3,cmd.param4,cmd.x,cmd.y,cmd.z,cmd.autocontinue)
        output+=commandline
    with open(aFileName, 'w') as file_:
        print (" Write mission to file")
        file_.write(output)


def printfile(aFileName):
    
    #Print a mission file to demonstrate "round trip"
    
    print ("\nMission file: %s",aFileName)
    with open(aFileName) as f:
        for line in f:
            print (' %s', line.strip())        



import_mission_filename = 'mpmission.txt'
export_mission_filename = 'exportedmission.txt'


#Upload mission from file
#upload_mission(import_mission_filename)

#Download mission we just uploaded and save to a file
save_mission(export_mission_filename)

#Close vehicle object before exiting script
print ("Close vehicle object")
vehicle.close()

# Shut down simulator if it was started.
if sitl is not None:
    sitl.stop()


print ("\nShow original and uploaded/downloaded files:")
#Print original file (for demo purposes only)
#printfile(import_mission_filename)
#Print exported file (for demo purposes only)
printfile(export_mission_filename)