display the waypoints

def display_waypoints(self):
        '''display the waypoints'''
        from MAVProxy.modules.mavproxy_map import mp_slipmap
        self.mission_list = self.module('wp').wploader.view_list()
        polygons = self.module('wp').wploader.polygon_list()
        self.map.add_object(mp_slipmap.SlipClearLayer('Mission'))
        for i in range(len(polygons)):
            p = polygons[i]
            if len(p) > 1:
                items = [MPMenuItem('Set', returnkey='popupMissionSet'),
                         MPMenuItem('WP Remove', returnkey='popupMissionRemove'),
                         MPMenuItem('WP Move', returnkey='popupMissionMove'),
                         MPMenuItem('Remove NoFly', returnkey='popupMissionRemoveNoFly'),
                ]
                popup = MPMenuSubMenu('Popup', items)
                self.map.add_object(mp_slipmap.SlipPolygon('mission %u' % i, p,
                                                                   layer='Mission', linewidth=2, colour=(255,255,255),
                                                                   arrow = self.map_settings.showdirection, popup_menu=popup))
        labeled_wps = {}
        self.map.add_object(mp_slipmap.SlipClearLayer('LoiterCircles'))
        for i in range(len(self.mission_list)):
            next_list = self.mission_list[i]
            for j in range(len(next_list)):
                #label already printed for this wp?
                if (next_list[j] not in labeled_wps):
                    label = self.label_for_waypoint(next_list[j])
                    colour = self.colour_for_wp(next_list[j])
                    self.map.add_object(mp_slipmap.SlipLabel(
                        'miss_cmd %u/%u' % (i,j), polygons[i][j], label, 'Mission', colour=colour))

                    if (self.map_settings.loitercircle and
                        self.module('wp').wploader.wp_is_loiter(next_list[j])):
                        wp = self.module('wp').wploader.wp(next_list[j])                    
                        if wp.command != mavutil.mavlink.MAV_CMD_NAV_LOITER_TO_ALT and wp.param3 != 0:
                            # wp radius and direction is defined by the mission
                            loiter_rad = wp.param3
                        elif wp.command == mavutil.mavlink.MAV_CMD_NAV_LOITER_TO_ALT and wp.param2 != 0:
                            # wp radius and direction is defined by the mission
                            loiter_rad = wp.param2
                        else:
                            # wp radius and direction is defined by the parameter
                            loiter_rad = self.get_mav_param('WP_LOITER_RAD')
                            
                        self.map.add_object(mp_slipmap.SlipCircle('Loiter Circle %u' % (next_list[j] + 1), 'LoiterCircles', polygons[i][j],
                                                                          loiter_rad, (255, 255, 255), 2, arrow = self.map_settings.showdirection))

                    labeled_wps[next_list[j]] = (i,j)