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/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file definitions.h
* common platform-specific definitions & abstractions for gps
* @author Beat Küng <beat-kueng@gmx.net>
*/
#pragma once
#include <QtGlobal>
#define GPS_READ_BUFFER_SIZE 1024
#define GPS_INFO(...) qInfo(__VA_ARGS__)
#define GPS_WARN(...) qWarning(__VA_ARGS__)
#define GPS_ERR(...) qCritical(__VA_ARGS__)
#include "vehicle_gps_position.h"
#include "satellite_info.h"
#define M_DEG_TO_RAD_F 0.01745329251994f
#define M_RAD_TO_DEG_F 57.2957795130823f
#include <QThread>
class Sleeper : public QThread
{
public:
static void usleep(unsigned long usecs) { QThread::usleep(usecs); }
};
static inline void usleep(unsigned long usecs) {
Sleeper::usleep(usecs);
}
typedef uint64_t gps_abstime;
#include <QDateTime>
/**
* Get the current time in us. Function signature:
* uint64_t hrt_absolute_time()
*/
static inline gps_abstime gps_absolute_time() {
//FIXME: is there something with microsecond accuracy?
return QDateTime::currentMSecsSinceEpoch() * 1000;
}
//timespec is UNIX-specific
#ifdef _WIN32
#if _MSC_VER < 1900
struct timespec
{
time_t tv_sec;
long tv_nsec;
};
#else
#include <time.h>
#endif
#endif