QGC.h 3.39 KB
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/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
 QGROUNDCONTROL is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
 QGROUNDCONTROL is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 
 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/

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#ifndef QGC_H
#define QGC_H

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#include <QDateTime>
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#include <QColor>
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#include <QThread>
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#include "QGCConfig.h"
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/* Windows fixes */
#ifdef _MSC_VER
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/* Needed define for Eigen */
//#define NOMINMAX
#include <limits>
template<typename T>
inline bool isnan(T value)
{
    return value != value;

}

// requires #include <limits>
template<typename T>
inline bool isinf(T value)
{
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    return (value == std::numeric_limits<T>::infinity() || (-1*value) == std::numeric_limits<T>::infinity()) && std::numeric_limits<T>::has_infinity;
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}
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#elif defined __APPLE__
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#include <cmath>
#ifndef isnan
#define isnan(x) std::isnan(x)
#endif
#ifndef isinf
#define isinf(x) std::isinf(x)
#endif
#endif

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namespace QGC
{
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const static int defaultSystemId = 255;
const static int defaultComponentId = 0;
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const QColor colorCyan(55, 154, 195);
const QColor colorRed(154, 20, 20);
const QColor colorGreen(20, 200, 20);
const QColor colorYellow(255, 255, 0);
const QColor colorOrange(255, 140, 0);
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const QColor colorMagenta(255, 0, 55);
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const QColor colorDarkWhite(240, 240, 240);
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const QColor colorDarkYellow(180, 180, 0);
const QColor colorBackground("#050508");
const QColor colorBlack(0, 0, 0);
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/**
 * @brief Get the current ground time in microseconds.
 * @note This does not have microsecond precision, it is limited to millisecond precision.
 */
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quint64 groundTimeUsecs();
/** @brief Get the current ground time in milliseconds */
quint64 groundTimeMilliseconds();
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/** 
 * @brief Get the current ground time in fractional seconds
 * @note Precision is limited to milliseconds.
 */
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qreal groundTimeSeconds();
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/** @brief Returns the angle limited to -pi - pi */
float limitAngleToPMPIf(float angle);
/** @brief Returns the angle limited to -pi - pi */
double limitAngleToPMPId(double angle);
int applicationVersion();
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const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
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class SLEEP : public QThread
{
public:
    /**
     * @brief Set a thread to sleep for seconds
     * @param s time in seconds to sleep
     **/
    static void sleep(unsigned long s) {
        QThread::sleep(s);
    }
    /**
     * @brief Set a thread to sleep for milliseconds
     * @param ms time in milliseconds to sleep
     **/
    static void msleep(unsigned long ms) {
        QThread::msleep(ms);
    }
    /**
     * @brief Set a thread to sleep for microseconds
     * @param us time in microseconds to sleep
     **/
    static void usleep(unsigned long us) {
        QThread::usleep(us);
    }
};
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}

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#define QGC_EVENTLOOP_DEBUG 0

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#endif // QGC_H