QGC.h 1.52 KB
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/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/

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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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namespace QGC
{
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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 */
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float limitAngleToPMPIf(double angle);
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/** @brief Returns the angle limited to -pi - pi */
double limitAngleToPMPId(double angle);
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/** @brief Records boot time (called from main) */
void initTimer();
/** @brief Get the ground time since boot in milliseconds */
quint64 bootTimeMilliseconds();

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const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
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class SLEEP : public QThread
{
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    Q_OBJECT
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public:
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    using QThread::sleep;
    using QThread::msleep;
    using QThread::usleep;
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};
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quint32 crc32(const quint8 *src, unsigned len, unsigned state);

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}

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#define QGC_EVENTLOOP_DEBUG 0

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#endif // QGC_H