QGC.h

/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/


#ifndef QGC_H
#define QGC_H

#include <QDateTime>
#include <QColor>
#include <QThread>

#include "QGCConfig.h"

namespace QGC
{

/**
 * @brief Get the current ground time in microseconds.
 * @note This does not have microsecond precision, it is limited to millisecond precision.
 */
quint64 groundTimeUsecs();
/** @brief Get the current ground time in milliseconds */
quint64 groundTimeMilliseconds();
/** 
 * @brief Get the current ground time in fractional seconds
 * @note Precision is limited to milliseconds.
 */
qreal groundTimeSeconds();
/** @brief Returns the angle limited to -pi - pi */
float limitAngleToPMPIf(double angle);
/** @brief Returns the angle limited to -pi - pi */
double limitAngleToPMPId(double angle);

const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;

class SLEEP : public QThread
{
    Q_OBJECT
public:
    using QThread::sleep;
    using QThread::msleep;
    using QThread::usleep;
};

quint32 crc32(const quint8 *src, unsigned len, unsigned state);

}

#define QGC_EVENTLOOP_DEBUG 0

#endif // QGC_H