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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/>.
======================================================================*/
#ifndef QGC_H
#define QGC_H
#include <QDateTime>
#include <QColor>
#include <QThread>
#include "QGCConfig.h"
/* Windows fixes */
#ifdef _MSC_VER
#if (_MSC_VER < 1800) /* only PRIOR to Visual Studio 2013 */
/* 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)
{
return (value == std::numeric_limits<T>::infinity() || (-1 * value) == std::numeric_limits<T>::infinity()) && std::numeric_limits<T>::has_infinity;
}
#endif
#elif defined __APPLE__
#include <cmath>
#ifndef isnan
#define isnan(x) std::isnan(x)
#endif
#ifndef isinf
#define isinf(x) std::isinf(x)
#endif
#endif
namespace QGC
{
const static int defaultSystemId = 255;
const static int defaultComponentId = 0;
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);
const QColor colorMagenta(255, 0, 55);
const QColor colorDarkWhite(240, 240, 240);
const QColor colorDarkYellow(180, 180, 0);
const QColor colorBackground("#050508");
const QColor colorBlack(0, 0, 0);
/**
* @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(float 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
{
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);
}
};
}
#define QGC_EVENTLOOP_DEBUG 0
#endif // QGC_H