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#include "MAV2DIcon.h"
#include <QPainter>
MAV2DIcon::MAV2DIcon(mapcontrol::MapGraphicItem* map,mapcontrol::OPMapWidget* parent, UASInterface* uas, int radius, int type)
: UAVItem(map,parent),
yaw(0.0f),
radius(radius),
type(type),
airframe(uas->getAirframe()),
iconColor(uas->getColor()),
selected(uas->getSelected()),
uasid(uas->getUASID())
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size = QSize(radius, radius);
pic = QPixmap(size);
drawIcon();
MAV2DIcon::MAV2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal lat, qreal lon, qreal alt, QColor color)
: UAVItem(map,parent),
radius(20),
type(0),
airframe(0),
iconColor(color),
selected(false),
uasid(0)
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{
size = QSize(radius, radius);
pic = QPixmap(size);
drawIcon();
SetUAVPos(internals::PointLatLng(lat, lon), alt, color);
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}
MAV2DIcon::~MAV2DIcon()
{
}
void MAV2DIcon::setSelectedUAS(bool selected)
{
this->selected = selected;
}
* Yaw changes of less than ±15 degrees are ignored.
*
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* @param yaw in radians, 0 = north, positive = clockwise
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void MAV2DIcon::setYaw(float yaw)
float diff = fabs(yaw - this->yaw);
}
}
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}
void MAV2DIcon::drawIcon()
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{
pic.fill(Qt::transparent);
QPainter painter(&pic);
painter.setRenderHint(QPainter::TextAntialiasing);
painter.setRenderHint(QPainter::Antialiasing);
painter.setRenderHint(QPainter::HighQualityAntialiasing);
radius = qMin(pic.width(), pic.height());
// Rotate by yaw
painter.translate(radius/2, radius/2);
// Draw selected indicator
painter.setBrush(Qt::NoBrush);
QPen pen(Qt::yellow);
pen.setWidth(2);
painter.setPen(pen);
}
else
{
QPen pen(Qt::white);
pen.setWidth(1);
painter.setPen(pen);
}
painter.drawEllipse(QPoint(0, 0), radius/2-1, radius/2-1);
drawAirframePolygon(airframe, painter, radius, iconColor, yaw);
}
void MAV2DIcon::drawAirframePolygon(int airframe, QPainter& painter, int radius, QColor& iconColor, float yaw)
{
case UASInterface::QGC_AIRFRAME_PREDATOR:
case UASInterface::QGC_AIRFRAME_REAPER: {
// DRAW AIRPLANE
// Rotate 180 degs more since the icon is oriented downwards
//float yawRotate = (yaw/(float)M_PI)*180.0f + 180.0f+180.0f;
const float yawDeg = ((yaw/M_PI)*180.0f)+180.0f+180.0f;
int yawRotate = static_cast<int>(yawDeg) % 360;
painter.rotate(yawRotate);
//// qDebug() << "ICON SIZE:" << radius;
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float iconSize = radius*0.9f;
QPolygonF poly(24);
poly.replace(0, QPointF(0.000000f*iconSize, -0.312500f*iconSize));
poly.replace(1, QPointF(0.025000f*iconSize, -0.287500f*iconSize));
poly.replace(2, QPointF(0.037500f*iconSize, -0.237500f*iconSize));
poly.replace(3, QPointF(0.031250f*iconSize, -0.187500f*iconSize));
poly.replace(4, QPointF(0.025000f*iconSize, -0.043750f*iconSize));
poly.replace(5, QPointF(0.500000f*iconSize, -0.025000f*iconSize));
poly.replace(6, QPointF(0.500000f*iconSize, 0.025000f*iconSize));
poly.replace(7, QPointF(0.025000f*iconSize, 0.043750f*iconSize));
poly.replace(8, QPointF(0.025000f*iconSize, 0.162500f*iconSize));
poly.replace(9, QPointF(0.137500f*iconSize, 0.181250f*iconSize));
poly.replace(10, QPointF(0.137500f*iconSize, 0.218750f*iconSize));
poly.replace(11, QPointF(0.025000f*iconSize, 0.206250f*iconSize));
poly.replace(12, QPointF(-0.025000f*iconSize, 0.206250f*iconSize));
poly.replace(13, QPointF(-0.137500f*iconSize, 0.218750f*iconSize));
poly.replace(14, QPointF(-0.137500f*iconSize, 0.181250f*iconSize));
poly.replace(15, QPointF(-0.025000f*iconSize, 0.162500f*iconSize));
poly.replace(16, QPointF(-0.025000f*iconSize, 0.043750f*iconSize));
poly.replace(17, QPointF(-0.500000f*iconSize, 0.025000f*iconSize));
poly.replace(18, QPointF(-0.500000f*iconSize, -0.025000f*iconSize));
poly.replace(19, QPointF(-0.025000f*iconSize, -0.043750f*iconSize));
poly.replace(20, QPointF(-0.031250f*iconSize, -0.187500f*iconSize));
poly.replace(21, QPointF(-0.037500f*iconSize, -0.237500f*iconSize));
poly.replace(22, QPointF(-0.031250f*iconSize, -0.262500f*iconSize));
poly.replace(23, QPointF(0.000000f*iconSize, -0.312500f*iconSize));
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
painter.setPen(iconPen);
painter.drawPolygon(poly);
painter.rotate(-yawRotate);
}
break;
case UASInterface::QGC_AIRFRAME_MIKROKOPTER:
case UASInterface::QGC_AIRFRAME_CHEETAH: {
// QUADROTOR
float iconSize = radius*0.9f;
const float yawDeg = ((yaw/M_PI)*180.0f)+180.0f;
int yawRotate = static_cast<int>(yawDeg) % 360;
painter.rotate(yawRotate);
//// qDebug() << "ICON SIZE:" << radius;
QPointF front(0, 0.2);
front = front *iconSize;
QPointF left(-0.2, 0);
left = left * iconSize;
QPointF right(0.2, 0.0);
right *= iconSize;
QPointF back(0, -0.2);
back *= iconSize;
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
painter.setPen(iconPen);
painter.drawPolygon(poly);
painter.drawEllipse(left, radius/4/2, radius/4/2);
painter.drawEllipse(right, radius/4/2, radius/4/2);
painter.drawEllipse(back, radius/4/2, radius/4/2);
painter.setBrush(Qt::red);
painter.drawEllipse(front, radius/4/2, radius/4/2);
painter.rotate(-yawRotate);
}
break;
case UASInterface::QGC_AIRFRAME_EASYSTAR:
case UASInterface::QGC_AIRFRAME_MERLIN:
case UASInterface::QGC_AIRFRAME_TWINSTAR:
case UASInterface::QGC_AIRFRAME_PTERYX: {
// DRAW AIRPLANE
const float yawDeg = ((yaw/M_PI)*180.0f)+180.0f;
int yawRotate = static_cast<int>(yawDeg) % 360;
painter.rotate(yawRotate);
//// qDebug() << "ICON SIZE:" << radius;
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float iconSize = radius*0.7f;
QPolygonF poly(32);
poly.replace(0, QPointF(0.000000f*iconSize, 0.362319f*iconSize));
poly.replace(1, QPointF(0.018116f*iconSize, 0.340580f*iconSize));
poly.replace(2, QPointF(0.028986f*iconSize, 0.318841f*iconSize));
poly.replace(3, QPointF(0.036232f*iconSize, 0.166667f*iconSize));
poly.replace(4, QPointF(0.326087f*iconSize, 0.170290f*iconSize));
poly.replace(5, QPointF(0.420290f*iconSize, 0.130435f*iconSize));
poly.replace(6, QPointF(0.456522f*iconSize, 0.108696f*iconSize));
poly.replace(7, QPointF(0.500000f*iconSize, 0.000000f*iconSize));
poly.replace(8, QPointF(0.456522f*iconSize, 0.021739f*iconSize));
poly.replace(9, QPointF(0.391304f*iconSize, 0.021739f*iconSize));
poly.replace(10, QPointF(0.028986f*iconSize, 0.021739f*iconSize));
poly.replace(11, QPointF(0.021739f*iconSize, -0.239130f*iconSize));
poly.replace(12, QPointF(0.094203f*iconSize, -0.246377f*iconSize));
poly.replace(13, QPointF(0.123188f*iconSize, -0.268116f*iconSize));
poly.replace(14, QPointF(0.144928f*iconSize, -0.304348f*iconSize));
poly.replace(15, QPointF(0.000000f*iconSize, -0.307971f*iconSize));
poly.replace(16, QPointF(0.000000f*iconSize, -0.307971f*iconSize));
poly.replace(17, QPointF(-0.144928f*iconSize, -0.304348f*iconSize));
poly.replace(18, QPointF(-0.123188f*iconSize, -0.268116f*iconSize));
poly.replace(19, QPointF(-0.094203f*iconSize, -0.246377f*iconSize));
poly.replace(20, QPointF(-0.021739f*iconSize, -0.239130f*iconSize));
poly.replace(21, QPointF(-0.028986f*iconSize, 0.021739f*iconSize));
poly.replace(22, QPointF(-0.391304f*iconSize, 0.021739f*iconSize));
poly.replace(23, QPointF(-0.456522f*iconSize, 0.021739f*iconSize));
poly.replace(24, QPointF(-0.500000f*iconSize, 0.000000f*iconSize));
poly.replace(25, QPointF(-0.456522f*iconSize, 0.108696f*iconSize));
poly.replace(26, QPointF(-0.420290f*iconSize, 0.130435f*iconSize));
poly.replace(27, QPointF(-0.326087f*iconSize, 0.170290f*iconSize));
poly.replace(28, QPointF(-0.036232f*iconSize, 0.166667f*iconSize));
poly.replace(29, QPointF(-0.028986f*iconSize, 0.318841f*iconSize));
poly.replace(30, QPointF(-0.018116f*iconSize, 0.340580f*iconSize));
poly.replace(31, QPointF(-0.000000f*iconSize, 0.362319f*iconSize));
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
painter.setPen(iconPen);
painter.drawPolygon(poly);
painter.rotate(-yawRotate);
}
break;
case UASInterface::QGC_AIRFRAME_GENERIC:
default: {
float yawRotate = (yaw/(float)M_PI)*180.0f + 180.0f;
painter.rotate(yawRotate);
//// qDebug() << "ICON SIZE:" << radius;
float iconSize = radius*0.9f;
QPolygonF poly(3);
poly.replace(0, QPointF(0.0f*iconSize, 0.3f*iconSize));
poly.replace(1, QPointF(-0.2f*iconSize, -0.2f*iconSize));
poly.replace(2, QPointF(0.2f*iconSize, -0.2f*iconSize));
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
painter.setPen(iconPen);
painter.drawPolygon(poly);
painter.rotate(-yawRotate);
}
break;