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import QtQuick 2.3
import QGroundControl.Palette 1.0
import QGroundControl.ScreenTools 1.0
Item {
id: motorRoot
property int motorCount: 4 // Number of motors on vehicle
property bool xConfig: true // true: X configuration, false: Plus configuration
property bool coaxial: true // true: motors on top bottom of same arm, false: motors only on top of arm
property bool _unsupportedConfig: motorCount == 3 || (motorCount == 6 && coaxial) // Tricopters NYI
property var _qgcPal: QGCPalette { colorGroupEnabled: enabled }
property real _rotorRadius: motorRoot.height / 8
property int _motorsPerSide: motorCount / (coaxial ? 2 : 1)
readonly property string _cwColor: "#15ce15" // Green
readonly property string _ccwColor: "#1283e0" // Blue
readonly property var _motorColors4Plus: [ _ccwColor, _cwColor ]
readonly property var _motorColors4X: [ _cwColor, _ccwColor ]
readonly property var _motorColors6: [ _cwColor, _ccwColor ]
readonly property var _motorColors8: [ _cwColor, _ccwColor ]
readonly property var _motorColors4Top: [ _cwColor, _ccwColor ]
readonly property var _motorColors4Bottom: [ _ccwColor, _cwColor ]
readonly property var _motorNumbers4Plus: [ 1, 4, 2, 3 ]
readonly property var _motorNumbers4X: [ 4, 2, 3, 1 ]
readonly property var _motorNumbers6Plus: [ 6, 2, 3, 5, 1, 4 ]
readonly property var _motorNumbers6X: [ 1, 4, 6, 2, 3, 5 ]
readonly property var _motorNumbers8: [ 8, 4, 2, 6, 7, 5, 1, 3 ]
readonly property var _motorNumbers4Top: [ 4, 3, 2, 1 ]
readonly property var _motorNumbers4Bottom: [ 7, 8, 5, 6 ]
Component.onCompleted: {
if (coaxial) {
topMotors.motorNumbers = _motorNumbers4Top
bottomMotors.motorNumbers = _motorNumbers4Bottom
} else {
switch (motorCount) {
case 4:
topMotors.motorNumbers = xConfig ? _motorNumbers4X : _motorNumbers4Plus
topMotors.motorColors = xConfig ? _motorColors4X : _motorColors4Plus
break
case 6:
topMotors.motorNumbers = xConfig ? _motorNumbers6X : _motorNumbers6Plus
topMotors.motorColors = _motorColors6
break
default:
case 8:
topMotors.motorNumbers = _motorNumbers8
topMotors.motorColors = _motorColors8
break
}
bottomMotors.motorNumbers = _motorNumbers8
}
}
Component {
id: motorDisplayComponent
Repeater {
id: motorRepeater
model: _motorsPerSide
Item {
x: motorRepeater.width / 2 + _armXCenter - rotor.radius
y: motorRepeater.height / 2 + _armYCenter - rotor.radius
width: _rotorRadius * 2
height: _rotorRadius * 2
property real _armOffsetRadians: ((2 * Math.PI) / _motorsPerSide)
property real _armOffsetIndexRadians: (_armOffsetRadians * index) + ((xConfig && _motorsPerSide != 6) || (!xConfig && _motorsPerSide == 6) ? _armOffsetRadians / 2 : 0)
property real _armLength: (motorRepeater.height / 2) - (_rotorRadius * (xConfig && _motorsPerSide == 4 ? 0 : 1))
property real _armXCenter: Math.cos(_armOffsetIndexRadians) * _armLength // adjacent = cos * hypotenuse
property real _armYCenter: Math.sin(_armOffsetIndexRadians) * _armLength // opposite = sin * hypotenuse
Rectangle {
id: rotor
anchors.fill: parent
radius: _rotorRadius
color: motorColors[index & 1]
opacity: topCoaxial ? 0.65 : 1.0
border.color: topCoaxial ? "black" : color
antialiasing: true
readonly property bool topCoaxial: topMotors && coaxial
//-- Top Directional Arrow
QGCColoredImage {
color: _qgcPal.globalTheme === QGCPalette.Light ? "black" : "white"
height: parent.height * 0.2
width: height
sourceSize.height: height
mipmap: true
fillMode: Image.PreserveAspectFit
source: (index & 1) ? "/qmlimages/ArrowCW.svg" : "/qmlimages/ArrowCCW.svg"
anchors.top: parent.top
anchors.topMargin: height * -0.5
anchors.horizontalCenter: parent.horizontalCenter
}
//-- Bottom Directional Arrow
QGCColoredImage {
color: _qgcPal.globalTheme === QGCPalette.Light ? "black" : "white"
height: parent.height * 0.2
width: height
sourceSize.height: height
mipmap: true
fillMode: Image.PreserveAspectFit
source: (index & 1) ? "/qmlimages/ArrowCCW.svg" : "/qmlimages/ArrowCW.svg"
anchors.bottom: parent.bottom
anchors.bottomMargin: height * -0.5
anchors.horizontalCenter: parent.horizontalCenter
}
transform: [
Rotation {
origin.x: rotor.width / 2
origin.y: rotor.height / 2
angle: (index & 1) ? 45 : -45
}]
}
Rectangle {
anchors.horizontalCenter: parent.horizontalCenter
anchors.verticalCenter: parent.verticalCenter
width: radius * 2
height: radius * 2
radius: ScreenTools.defaultFontPixelHeight * 0.666
color: Qt.rgba(1,1,1,1)
border.color: Qt.rgba(0,0,0,0.75)
antialiasing: true
QGCLabel {
anchors.fill: parent
verticalAlignment: Text.AlignVCenter
horizontalAlignment: Text.AlignHCenter
text: motorNumbers[index]
color: parent.border.color
}
}
} // Item
} // Repeater
} // Component - MotorDisplayComponent
Item {
anchors.fill: parent
visible: !_unsupportedConfig
Loader {
id: bottomMotors
anchors.topMargin: ScreenTools.defaultFontPixelHeight
anchors.fill: parent
sourceComponent: motorDisplayComponent
visible: coaxial
property bool topMotors: false
property var motorNumbers: _motorNumbers8
property var motorColors: _motorColors4Bottom
}
Loader {
id: topMotors
anchors.fill: parent
anchors.bottomMargin: coaxial ? ScreenTools.defaultFontPixelHeight : 0
sourceComponent: motorDisplayComponent
property bool topMotors: true
property var motorNumbers: _motorNumbers8
property var motorColors: _motorColors4Top
}
QGCColoredImage {
color: _qgcPal.text
height: parent.height * 0.5
width: height * 0.55
sourceSize.height: height
mipmap: true
fillMode: Image.PreserveAspectFit
source: "/qmlimages/ArrowDirection.svg"
anchors.centerIn: parent
}
} // Item
} // Item