map: fixed menu on map with multiple objects

when you right click and the position matches multiple objects then
check each of the objects rather than just the first one

MAVProxy/modules/mavproxy_fence.py

@@ -465,6 +465,27 @@ def is_circle_item(self, item):
             mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION,
         ]
 
+    def find_polygon_point(self, polygon_start_seq, item_offset):
+        '''find polygon point selected on map
+        returns first_item, item_offset
+        '''
+        first_item = self.wploader.item(polygon_start_seq)
+        if first_item is None:
+            print("No item at %u" % polygon_start_seq)
+            return None, None
+        if not self.is_polygon_item(first_item):
+            print("Item %u is not a polygon vertex" % polygon_start_seq)
+            return None, None
+        original_count = int(first_item.param1)
+        if item_offset == original_count:
+            # selecting closing point on polygon selects first point
+            item_offset = 0
+        if item_offset > original_count:
+            print("Out-of-range point")
+            return None, None
+
+        return first_item, item_offset
+
     def removepolygon_point(self, polygon_start_seq, item_offset):
         '''removes item at offset item_offset from the polygon starting at
         polygon_start_seq'''
@@ -473,14 +494,10 @@ def removepolygon_point(self, polygon_start_seq, item_offset):
 
         items_to_set = []
 
-        first_item = self.wploader.item(polygon_start_seq)
-        if not self.is_polygon_item(first_item):
-            print("Item %u is not a polygon vertex" % polygon_start_seq)
+        first_item, item_offset = self.find_polygon_point(polygon_start_seq, item_offset)
+        if first_item is None:
             return
         original_count = int(first_item.param1)
-        if item_offset >= original_count:
-            print("Out-of-range point")
-            return
         if original_count <= 3:
             print("Too few points to remove one")
             return
@@ -610,16 +627,8 @@ def cmd_movepolypoint(self, args):
             return
         polygon_start_seq = int(args[0])
         item_offset = int(args[1])
-        first_item = self.wploader.item(polygon_start_seq)
+        first_item, item_offset = self.find_polygon_point(polygon_start_seq, item_offset)
         if first_item is None:
-            print("No item at %u" % polygon_start_seq)
-            return
-        if not self.is_polygon_item(first_item):
-            print("Item %u is not a polygon vertex" % polygon_start_seq)
-            return
-        original_count = int(first_item.param1)
-        if item_offset >= original_count:
-            print("Out-of-range point")
             return
 
         latlon = self.mpstate.click_location

MAVProxy/modules/mavproxy_map/__init__.py

@@ -258,14 +258,14 @@ def display_waypoints(self):
         self.mission_list = self.module('wp').wploader.view_list()
         polygons = self.module('wp').wploader.polygon_list()
         self.map.add_object(mp_slipmap.SlipClearLayer('Mission'))
+        items = [MPMenuItem('WP Set', returnkey='popupMissionSet'),
+                     MPMenuItem('WP Remove', returnkey='popupMissionRemove'),
+                     MPMenuItem('WP Move', returnkey='popupMissionMove'),
+                     MPMenuItem('WP Split', returnkey='popupMissionSplit'),
+                    ]
         for i in range(len(polygons)):
             p = polygons[i]
             if len(p) > 1:
-                items = [MPMenuItem('WP Set', returnkey='popupMissionSet'),
-                         MPMenuItem('WP Remove', returnkey='popupMissionRemove'),
-                         MPMenuItem('WP Move', returnkey='popupMissionMove'),
-                         MPMenuItem('WP Split', returnkey='popupMissionSplit'),
-                ]
                 popup = MPMenuSubMenu('Popup', items)
                 self.map.add_object(mp_slipmap.SlipPolygon('mission %u' % i, p,
                                                                    layer='Mission', linewidth=2, colour=(255,255,255),

MAVProxy/modules/mavproxy_map/mp_slipmap_ui.py

@@ -4,6 +4,7 @@
 import numpy as np
 import os
 import time
+import copy
 
 from ..lib.wx_loader import wx
 
@@ -55,7 +56,7 @@ def __init__(self, state):
         state.grid = True
         state.follow = True
         state.download = True
-        state.popup_object = None
+        state.popup_objects = None
         state.popup_latlon = None
         state.popup_started = False
         state.default_popup = None
@@ -110,16 +111,17 @@ def on_menu(self, event):
         '''handle menu selection'''
         state = self.state
         # see if it is a popup menu
-        if state.popup_object is not None:
-            obj = state.popup_object
-            ret = obj.popup_menu.find_selected(event)
-            if ret is not None:
-                ret.call_handler()
-                state.event_queue.put(SlipMenuEvent(state.popup_latlon, event,
-                                                    [SlipObjectSelection(obj.key, 0, obj.layer, obj.selection_info())],
-                                                    ret))
-                state.popup_object = None
-                state.popup_latlon = None
+        if state.popup_objects is not None:
+            for obj in state.popup_objects:
+                ret = obj.popup_menu.find_selected(event)
+                if ret is not None:
+                    ret.call_handler()
+                    state.event_queue.put(SlipMenuEvent(state.popup_latlon, event,
+                                                        [SlipObjectSelection(obj.key, 0, obj.layer, obj.selection_info())],
+                                                        ret))
+                    break
+            state.popup_objects = None
+            state.popup_latlon = None
         if state.default_popup is not None:
             ret = state.default_popup.popup.find_selected(event)
             if ret is not None:
@@ -614,18 +616,21 @@ def selected_objects(self, pos):
         selected.sort(key=lambda c: c.distance)
         return selected
 
-    def show_popup(self, selected, pos):
+    def show_popup(self, objs, pos):
         '''show popup menu for an object'''
         state = self.state
-        if selected.popup_menu is not None:
-            import copy
-            popup_menu = selected.popup_menu
-            if state.default_popup is not None and state.default_popup.combine:
+        popup_menu = None
+        popups = [ p.popup_menu for p in objs ]
+        if state.default_popup is not None and state.default_popup.combine:
+            popups.append(state.default_popup.popup)
+        popup_menu = popups[0]
+        if len(popups) > 1:
+            for p in popups[1:]:
                 popup_menu = copy.deepcopy(popup_menu)
                 popup_menu.add(MPMenuSeparator())
-                popup_menu.combine(state.default_popup.popup)
-            wx_menu = popup_menu.wx_menu()
-            state.frame.PopupMenu(wx_menu, pos)
+                popup_menu.combine(p)
+        wx_menu = popup_menu.wx_menu()
+        state.frame.PopupMenu(wx_menu, pos)
 
     def show_default_popup(self, pos):
         '''show default popup menu'''
@@ -659,14 +664,14 @@ def on_mouse(self, event):
             selected = self.selected_objects(pos)
             state.event_queue.put(SlipMouseEvent(latlon, event, selected))
             if event.RightDown():
-                state.popup_object = None
+                state.popup_objects = None
                 state.popup_latlon = None
                 if len(selected) > 0:
-                    obj = state.layers[selected[0].layer][selected[0].objkey]
-                    if obj.popup_menu is not None:
-                        state.popup_object = obj
+                    objs = [ state.layers[s.layer][s.objkey] for s in selected if state.layers[s.layer][s.objkey].popup_menu is not None ]
+                    if len(objs) > 0:
+                        state.popup_objects = objs
                         state.popup_latlon = latlon
-                        self.show_popup(obj, pos)
+                        self.show_popup(objs, pos)
                         state.popup_started = True
                 if not state.popup_started and state.default_popup is not None:
                     state.popup_latlon = latlon

MAVProxy/modules/mavproxy_map/mp_slipmap_util.py

@@ -282,7 +282,13 @@ def clicked(self, px, py):
         '''
         if self.hidden:
             return None
-        for i in range(len(self._pix_points)):
+        num_points = len(self._pix_points)
+        if num_points <= 0:
+            return None
+        for idx in range(num_points):
+            # the odd ordering here is to that the home point, which is index 0, is checked last
+            # as home cannot be moved
+            i = (idx+1) % num_points
             if self._pix_points[i] is None:
                 continue
             (pixx,pixy) = self._pix_points[i]