QGC.h 1.79 KB
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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 "configuration.h"

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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);
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    const QColor colorYellow(255, 255, 0);
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    const QColor colorOrange(255, 140, 0);
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    const QColor colorDarkYellow(180, 180, 0);
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    const QColor colorBackground("#050508");
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    const QColor colorBlack(0, 0, 0);
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    /** @brief Get the current ground time in microseconds */
    quint64 groundTimeUsecs();
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    /** @brief Get the current ground time in milliseconds */
    quint64 groundTimeMilliseconds();
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    /** @brief Returns the angle limited to -pi - pi */
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    float limitAngleToPMPIf(float angle);
    /** @brief Returns the angle limited to -pi - pi */
    double limitAngleToPMPId(double angle);
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    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