From 7e956c6e4d8513dc7a11b345714589ea9709685b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 7 Aug 2023 14:58:10 +1000
Subject: [PATCH] mavproxy_map: add returnpoint manipulation

---
 MAVProxy/modules/mavproxy_map/__init__.py | 36 +++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/MAVProxy/modules/mavproxy_map/__init__.py b/MAVProxy/modules/mavproxy_map/__init__.py
index efd94e6d44..2180b07816 100644
--- a/MAVProxy/modules/mavproxy_map/__init__.py
+++ b/MAVProxy/modules/mavproxy_map/__init__.py
@@ -306,6 +306,13 @@ def polyfence_remove_circle(self, id):
         (seq, type) = id.split(":")
         self.module('fence').removecircle(int(seq))
 
+    def polyfence_remove_returnpoint(self, id):
+        '''called when a returnpoint is right-clicked and remove is selected;
+        removes the return point
+        '''
+        (seq, type) = id.split(":")
+        self.module('fence').removereturnpoint(int(seq))
+
     def polyfence_remove_polygon(self, id):
         '''called when a fence is right-clicked and remove is selected;
         removes the polygon
@@ -396,6 +403,32 @@ def display_polyfences_polygons(self, polygons, colour):
                 popup_menu=popup)
             self.map.add_object(poly)
 
+    def display_polyfences_returnpoint(self):
+        returnpoint = self.module('fence').returnpoint()
+
+        if returnpoint is None:
+            return
+
+        lat = returnpoint.x
+        lng = returnpoint.y
+
+        if returnpoint.get_type() == 'MISSION_ITEM_INT':
+            lat *= 1e-7
+            lng *= 1e-7
+
+        popup = MPMenuSubMenu('Popup', [
+            MPMenuItem('Remove Return Point', returnkey='popupPolyFenceRemoveReturnPoint'),
+        ])
+        self.map.add_object(mp_slipmap.SlipCircle(
+            str(returnpoint.seq) + ":returnpoint", # key
+            'PolyFence',
+            (lat, lng),
+            10,
+            (255,127,127),
+            2,
+            popup_menu=popup,
+        ))
+
     def display_polyfences_inclusion_polygons(self):
         '''draws inclusion polygons in the PolyFence layer with colour colour'''
         inclusions = self.module('fence').inclusion_polygons()
@@ -413,6 +446,7 @@ def display_polyfences(self):
         self.display_polyfences_exclusion_circles()
         self.display_polyfences_inclusion_polygons()
         self.display_polyfences_exclusion_polygons()
+        self.display_polyfences_returnpoint()
 
     def display_fence(self):
         '''display the fence'''
@@ -543,6 +577,8 @@ def handle_menu_event(self, obj):
             self.move_fencepoint(obj.selected[0].objkey, obj.selected[0].extra_info)
         elif menuitem.returnkey == 'popupPolyFenceRemoveCircle':
             self.polyfence_remove_circle(obj.selected[0].objkey)
+        elif menuitem.returnkey == 'popupPolyFenceRemoveReturnPoint':
+            self.polyfence_remove_returnpoint(obj.selected[0].objkey)
         elif menuitem.returnkey == 'popupPolyFenceRemovePolygon':
             self.polyfence_remove_polygon(obj.selected[0].objkey)
         elif menuitem.returnkey == 'popupPolyFenceMovePolygonPoint':