diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.qrc b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.qrc
index 3fdbf03dc4bc61fe262e467775afd1e36551b3e2..ff5d1cbb34addf9d8b8a6ca7b182c75f2c83c8f5 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.qrc
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.qrc
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diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/images/drone_fixed.svg b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/images/drone_fixed_03.svg
similarity index 94%
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rename to pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/images/drone_fixed_03.svg
index d5005d37986866d16e42db9ac899b6c2ae8e6cec..0013796bf74c55add98e2bd3ce20b7fd5502d686 100644
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diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
index aad2f1de078c508d65a617d10676b36506cdb01d..6671a1f390a4670e41299c8f3aa70cefe79021be 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
@@ -20,7 +20,7 @@ using namespace d_fall_pps;
class crazyFly : public QGraphicsSvgItem
{
public:
- explicit crazyFly(const CrazyflieData* p_crazyfly_msg, QGraphicsItem * parent = 0);
+ explicit crazyFly(const CrazyflieData* p_crazyfly_msg, QString filename, QGraphicsItem * parent = 0);
~crazyFly();
QRectF boundingRect() const;
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
index a0466ad579a2341d39947c641e59658fe3b00735..7e5c4321bcfcdec4ce9816cfefdc3b9a09cd8145 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
@@ -4,10 +4,9 @@
#include <QBrush>
-crazyFly::crazyFly(const CrazyflieData* p_crazyfly_msg, QGraphicsItem * parent)
- : QGraphicsSvgItem(":/images/drone_fixed.svg")
+crazyFly::crazyFly(const CrazyflieData* p_crazyfly_msg, QString filename, QGraphicsItem * parent)
+ : QGraphicsSvgItem(filename)
{
-
updateCF(p_crazyfly_msg);
m_width = DRONE_WIDTH;
m_height = DRONE_HEIGHT;
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index eee31a0514571754ddd0d729d7d586245e5ea245..8c2614a2168af42320b8e11bc8cc346b57388fd0 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -320,7 +320,25 @@ void MainGUIWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to
}
else //name not found, newly arrived, add it to the vector
{
- crazyFly* tmp_p_crazyfly = new crazyFly(&(p_msg->crazyflies[i]));
+ // now, if name follows our format, put the corresponding number. If not, put the unknown image
+ std::string s = p_msg->crazyflies[i].crazyflieName;
+ std::smatch m;
+ std::regex e ("PPS_CF([0-9]{2})");
+
+ QString filename(":/images/drone_fixed_");
+
+ if(std::regex_search(s, m, e))
+ {
+ std::string found_string = m[1].str();
+ filename.append(QString::fromStdString(found_string));
+ filename.append(".svg");
+ }
+ else
+ {
+ filename.append("unk.svg");
+ }
+
+ crazyFly* tmp_p_crazyfly = new crazyFly(&(p_msg->crazyflies[i]), filename);
crazyflies_vector.push_back(tmp_p_crazyfly);
}
@@ -330,7 +348,7 @@ void MainGUIWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to
{
if(crazyflies_vector[i]->isOccluded())
{
- ROS_INFO("===================OCCLUDED");
+ // ROS_INFO("===================OCCLUDED");
if(crazyflies_vector[i]->isAddedToScene())
{
scene->removeItem(crazyflies_vector[i]);
diff --git a/pps_ws/src/d_fall_pps/param/Crazyflie.db b/pps_ws/src/d_fall_pps/param/Crazyflie.db
index bdc00c408026f53f1104c71a3fa15473f01399fc..005201c05ae77642a883d4044ef1065718ff4b8a 100644
--- a/pps_ws/src/d_fall_pps/param/Crazyflie.db
+++ b/pps_ws/src/d_fall_pps/param/Crazyflie.db
@@ -1,4 +1 @@
-5,PPS_CF08,0/56/2M,1,0.165581,-0.217325,-0.2,0.755462,0.548486,2
-6,PPS_CF04,0/24/2M,2,-0.476044,-0.910694,-0.2,0.051744,-0.217325,2
-4,PPS_CF02,0/8/2M,0,-0.486393,-0.217325,-0.2,0.068015,0.337808,2
-3,PPS_CF03,0/16/2M,3,0.0931391,-1.12802,-0.2,0.765811,-0.351859,2
+4,PPS_CF05,0/32/2M,0,-0.18599,-0.308665,-0.2,0.736046,0.451125,2