How to use the pymavlink.mavwp function in pymavlink

def mavflightview_mav(mlog, options=None):
    '''create a map for a log file'''
    wp = mavwp.MAVWPLoader()
    if options.mission is not None:
        wp.load(options.mission)
    fen = mavwp.MAVFenceLoader()
    if options.fence is not None:
        fen.load(options.fence)
    path = [[]]
    instances = {}
    ekf_counter = 0
    nkf_counter = 0
    types = ['MISSION_ITEM','CMD']
    if options.types is not None:
        types.extend(options.types.split(','))
    else:
        types.extend(['GPS','GLOBAL_POSITION_INT'])
        if options.rawgps or options.dualgps:
            types.extend(['GPS', 'GPS_RAW_INT'])

def mavflightview_mav(mlog, options=None, flightmode_selections=[]):
    '''create a map for a log file'''
    wp = mavwp.MAVWPLoader()
    if options.mission is not None:
        wp.load(options.mission)
    fen = mavwp.MAVFenceLoader()
    if options.fence is not None:
        fen.load(options.fence)
    all_false = True
    for s in flightmode_selections:
        if s:
            all_false = False
    idx = 0
    path = [[]]
    instances = {}
    ekf_counter = 0
    nkf_counter = 0
    types = ['MISSION_ITEM','CMD']
    if options.types is not None:
        types.extend(options.types.split(','))
    else:
        types.extend(['GPS','GLOBAL_POSITION_INT'])

def wp_to_gpx(infilename, outfilename):
    '''convert a wp file to a GPX file'''

    wp = mavwp.MAVWPLoader()
    wp.load(infilename)
    outf = open(outfilename, mode='w')

    def process_wp(w, i):
        t = time.localtime(i)
        outf.write('''
  %s
  WP %u

''' % (w.x, w.y, w.z, i))

    def add_header():
        outf.write('''

def wp_to_gpx(infilename, outfilename):
    '''convert a wp file to a GPX file'''

    wp = mavwp.MAVWPLoader()
    wp.load(infilename)
    outf = open(outfilename, mode='w')

    def process_wp(w, i):
        t = time.localtime(i)
        outf.write('''
  %s
  WP %u

''' % (w.x, w.y, w.z, i))

    def add_header():
        outf.write('''

def wploader(self):
        '''per-sysid wploader'''
        if self.target_system not in self.wploader_by_sysid:
            self.wploader_by_sysid[self.target_system] = mavwp.MAVWPLoader()
        return self.wploader_by_sysid[self.target_system]

def __init__(self, mavfile):
        self.mavfile = mavfile
        self.loader = mavwp.MAVWPLoader(target_system=1,
                                        target_component=190)
        self.count = 0
        self.send_time = 0
        self.recv_time = 0
        self._transition_idle()

self._armed = False
        self._system_status = None

        @self.on_message('HEARTBEAT')
        def listener(self, name, m):
            self._armed = (m.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0
            self.notify_attribute_listeners('armed', self.armed, cache=True)
            self._flightmode = {v: k for k, v in self._master.mode_mapping().items()}[m.custom_mode]
            self.notify_attribute_listeners('mode', self.mode, cache=True)
            self._system_status = m.system_status
            self.notify_attribute_listeners('system_status', self.system_status, cache=True)

        # Waypoints.

        self._home_location = None
        self._wploader = mavwp.MAVWPLoader()
        self._wp_loaded = True
        self._wp_uploaded = None
        self._wpts_dirty = False
        self._commands = CommandSequence(self)

        @self.on_message(['WAYPOINT_COUNT','MISSION_COUNT'])
        def listener(self, name, msg):
            if not self._wp_loaded:
                self._wploader.clear()
                self._wploader.expected_count = msg.count
                self._master.waypoint_request_send(0)

        @self.on_message(['WAYPOINT', 'MISSION_ITEM'])
        def listener(self, name, msg):
            if not self._wp_loaded:
                if msg.seq == 0:

def fenceloader(self):
        '''fence loader by sysid'''
        if not self.target_system in self.fenceloader_by_sysid:
            self.fenceloader_by_sysid[self.target_system] = mavwp.MAVFenceLoader()
        return self.fenceloader_by_sysid[self.target_system]

lon=opts.lon,
                   download=not opts.offline,
                   service=opts.service,
                   debug=opts.debug,
                   max_zoom=opts.max_zoom,
                   elevation=opts.elevation,
                   tile_delay=opts.delay)

    if opts.boundary:
        boundary = mp_util.polygon_load(opts.boundary)
        sm.add_object(SlipPolygon('boundary', boundary, layer=1, linewidth=2, colour=(0,255,0)))

    if opts.mission:
        from pymavlink import mavwp
        for file in opts.mission:
            wp = mavwp.MAVWPLoader()
            wp.load(file)
            boundary = wp.polygon()
            sm.add_object(SlipPolygon('mission-%s' % file, boundary, layer=1, linewidth=1, colour=(255,255,255)))

    if opts.grid:
        sm.add_object(SlipGrid('grid', layer=3, linewidth=1, colour=(255,255,0)))

    if opts.thumbnail:
        thumb = cv.LoadImage(opts.thumbnail)
        sm.add_object(SlipThumbnail('thumb', (opts.lat,opts.lon), layer=1, img=thumb, border_width=2, border_colour=(255,0,0)))

    if opts.icon:
        icon = cv.LoadImage(opts.icon)
        sm.add_object(SlipIcon('icon', (opts.lat,opts.lon), icon, layer=3, rotation=90, follow=True))
        sm.set_position('icon', mp_util.gps_newpos(opts.lat,opts.lon, 180, 100), rotation=45)
        sm.add_object(SlipInfoImage('detail', icon))

def mavmission(logfile):
    '''extract mavlink mission'''
    mlog = mavutil.mavlink_connection(filename)

    wp = mavwp.MAVWPLoader()

    num_wps = None
    while True:
        m = mlog.recv_match(type=['MISSION_ITEM','CMD','WAYPOINT','MISSION_ITEM_INT'])
        if m is None:
            break
        if m.get_type() == 'CMD':
            try:
                frame = m.Frame
            except AttributeError:
                print("Warning: assuming frame is GLOBAL_RELATIVE_ALT")
                frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
            num_wps = m.CTot
            m = mavutil.mavlink.MAVLink_mission_item_message(0,
                                                             0,
                                                             m.CNum,