How to use the pymavlink.mavwp.MAVWPLoader function in pymavlink

# timelimit 32000 APM/Tools/autotest/autotest.py --timeout=30000 > buildlogs/autotest-output.txt 2>&1
            # that means the MAVProxy log files are not reltopdir!
            saved_filepath = self.mavproxy.match.group(2)
            saved_filepath = saved_filepath.rstrip()
            self.assert_mission_files_same(path, saved_filepath)
            break
        self.mavproxy.send('wp status\n')
        self.mavproxy.expect('Have (\d+) of (\d+)')
        status_have = self.mavproxy.match.group(1)
        status_want = self.mavproxy.match.group(2)
        if status_have != status_want:
            raise ValueError("status count mismatch")
        if status_have != save_count:
            raise ValueError("status have not equal to save count")

        wploader = mavwp.MAVWPLoader()
        wploader.load(path)
        num_wp = wploader.count()
        if num_wp != int(status_have):
            raise ValueError("num_wp=%u != status_have=%u" %
            (num_wp, int(status_have)))
        if num_wp == 0:
            raise ValueError("No waypoints loaded?!")
        return num_wp

def load_mission_from_file(mavproxy, mav, filename):
    """Load a mission from a file to flight controller."""
    global num_wp
    mavproxy.send('wp load %s\n' % filename)
    mavproxy.expect('Flight plan received')
    mavproxy.send('wp list\n')
    mavproxy.expect('Requesting [0-9]+ waypoints')

    # update num_wp
    wploader = mavwp.MAVWPLoader()
    wploader.load(filename)
    num_wp = wploader.count()
    return True

def clear_mission(self):
        self.mavproxy.send("wp clear\n")
        self.mavproxy.send('wp list\n')
        self.mavproxy.expect('Requesting [0-9]+ waypoints')
        num_wp = mavwp.MAVWPLoader().count()
        if num_wp != 0:
            raise NotAchievedException("Failed to clear mission")

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:

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 = cv2.imread(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 = cv2.imread(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))