/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Helper functions
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _MG_H_
#define _MG_H_
#include <QDateTime>
#include <QDebug>
#include <QDir>
#include <QThread>
#include <cmath>
namespace MG
{
const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 365 * 2;
class VERSION
{
public:
static const int MAJOR = 1;
static const int MINOR = 01;
};
class SYSTEM
{
public:
static const int ID = 127;
static const int COMPID = 0;
static int getID()
{
return SYSTEM::ID;
}
};
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);
}
};
class UNITS
{
public:
/** The distance units supported for display by the groundstation **/
enum DistanceUnit {
METER,
CENTIMETER,
MILLIMETER,
INCH,
FEET,
MILE
};
/**
* @brief Convert a distance in meters into another distance unit system
*
* @param in The distance to convert
* @param newUnit The new unit to convert to
*
* @return The converted distance
*/
static double convertFromMeter(double in, DistanceUnit newUnit)
{
double result = in;
// Conversion table in meter
static const double inInch = 39.3700787;
static const double inFeet = 3.2808399;
static const double inMile = 0.000000621371192;
static const double inCentimeter = 100;
static const double inMillimeter = 1000;
switch (newUnit) {
case METER:
result = in;
break;
case CENTIMETER:
result = in * inCentimeter;
break;
case MILLIMETER:
result = in * inMillimeter;
break;
case INCH:
result = in * inInch;
break;
case FEET:
result = in * inFeet;
break;
case MILE:
result = in * inMile;
break;
}
return result;
}
/**
* @brief Convert between two distance units
*
* This convenience function allows to convert between arbitrary distance units
*
* @param in The input distance
* @param inputUnit The input unit
* @param outputUnit The output unit
*
* @return The converted distance
*/
static double convert(double in, DistanceUnit inputUnit, DistanceUnit outputUnit)
{
double meters = convertToMeter(in, inputUnit);
return convertFromMeter(meters, outputUnit);
}
/**
* @brief Convert a distance to the meter unit
*
* @param in The distance to convert
* @param inputUnit The unit the distance is represented in
*
* @return The converted distance
*/
static double convertToMeter(double in, DistanceUnit inputUnit) {
double result = in;
// Conversion table in meter
static const double inInch = 39.3700787;
static const double inFeet = 3.2808399;
static const double inMile = 0.000000621371192;
static const double inCentimeter = 100;
static const double inMillimeter = 1000;
// Don't convert if new unit is same unit
switch (inputUnit) {
case METER:
result = in;
break;
case CENTIMETER:
result = in / inCentimeter;
break;
case MILLIMETER:
result = in / inMillimeter;
break;
case INCH:
result = in / inInch;
break;
case FEET:
result = in / inFeet;
break;
case MILE:
result = in / inMile;
break;
}
return result;
}
};
class DISPLAY {
public:
DISPLAY() {
// Initialize static class display with notebook display default value
//pixelSize = 0.224f;
//setPixelSize(0.224f);
}
~DISPLAY() {
}
/**
* @brief Get the size of a single pixel
*
* This value can be used to generate user interfaces with
* a size in physical units, for example a gauge which is
* always 50.8 mm (2") in diameter, regardless of the screen.
*
* @return The horizontal and vertical size of a pixel-square
*/
static double getPixelSize() {
return 0.224f;
}
/**
* @brief Set the size of a single pixel
*
* @param size The horizontal and vertical size of a pixel-square
*/
static void setPixelSize(double size) {
pixelSize = size;
}
/**
* @brief Set the size of a single pixel
*
* This method calculates the pixel size from the vertical and horizontal
* resolution and the screen diameter. The diameter is in mm (as this unit
* is a SI unit). One inch = 25.4 mm
*
* @param horizontalResolution The horizontal screen resolution, e.g. 1280.
* @param verticalResolution The vertical screen resolution, e.g. 800.
* @param screenDiameter The screen diameter in mm, e.g. 13.3" = 338 mm.
*/
static void setPixelSize(int horizontalResolution, int verticalResolution, double screenDiameter) {
pixelSize = screenDiameter / sqrt(static_cast<float>(horizontalResolution*horizontalResolution + verticalResolution*verticalResolution));
}
private:
/** The size of a single pixel **/
static double pixelSize;
};
class STAT {
/** The time interval for the last few moments in milliseconds **/
static const int SHORT_TERM_INTERVAL = 300;
/** The time interval for the last moment in milliseconds **/
static const int CURRENT_INTERVAL = 50;
};
class TIME {
public:
//static const QString ICONDIR = "./icons";
/**
* @brief Convenience method to get the milliseconds time stamp for now
*
* The timestamp is created at the instant of calling this method. It is
* defined as the number of milliseconds since unix epoch, which is
* 1.1.1970, 00:00 UTC.
*
* @return The number of milliseconds elapsed since unix epoch
* @deprecated Will the replaced by time helper class
**/
static quint64 getGroundTimeNow() {
QDateTime time = QDateTime::currentDateTime();
time = time.toUTC();
/* Return seconds and milliseconds, in milliseconds unit */
quint64 milliseconds = time.toTime_t() * static_cast<quint64>(1000);
return static_cast<quint64>(milliseconds + time.time().msec());
}
/**
* @brief Convenience method to get the milliseconds time stamp for now
*
* The timestamp is created at the instant of calling this method. It is
* defined as the number of milliseconds since unix epoch, which is
* 1.1.1970, 00:00 UTC.
*
* @return The number of milliseconds elapsed since unix epoch
* @deprecated Will the replaced by time helper class
**/
static quint64 getGroundTimeNowUsecs() {
QDateTime time = QDateTime::currentDateTime();
time = time.toUTC();
/* Return seconds and milliseconds, in milliseconds unit */
quint64 microseconds = time.toTime_t() * static_cast<quint64>(1000000);
return static_cast<quint64>(microseconds + (time.time().msec()*1000));
}
/*tatic quint64 getMissionTimeUsecs()
{
;
}*/
/**
* Convert milliseconds to an QDateTime object. This method converts the amount of
* milliseconds since 1.1.1970, 00:00 UTC (unix epoch) to a QDateTime date object.
*
* @param msecs The milliseconds since unix epoch (in Qt unsigned 64bit integer type quint64)
* @return The QDateTime object set to corresponding date and time
* @deprecated Will the replaced by time helper class
**/
static QDateTime msecToQDateTime(quint64 msecs) {
QDateTime time = QDateTime();
/* Set date and time depending on the seconds since unix epoch,
* integer division truncates the milliseconds */
time.setTime_t(msecs / 1000);
/* Add the milliseconds, modulo returns the milliseconds part */
return time.addMSecs(msecs % 1000);
}
};
class DIR {
public:
/**
* @brief Get the current support file directory.
*
* The support files are files like icons or fonts and are typically found in the
* same directory as the main executable.
*
* @return The absolute path of the directory
**/
static QString getSupportFilesDirectory() {
// Checks if the software is executed in the development environment
QString path = QDir::current().absolutePath();
QDir currentDir = QDir::current();
if (QDir::current().dirName().toLower() == "debug")
{
// Debug folder of development environment
path.append("/..");
}
else if (QDir::current().dirName().toLower() == "release")
{
// Release folder of development environment
path.append("/..");
}
else if (QDir::current().dirName().toLower() == "bin")
{
// Release folder of development environment
path.append("/..");
}
else if (QDir::current().dirName().toLower() == "macos")
{
// Mac application bundle in development environment
path.append("/../../../../..");
}
// Check if we are still in a development folder
if(currentDir.cdUp())
{
if(currentDir.dirName().toLower() == "build")
{
path.append("/..");
}
}
//TODO The Mac application bundle in distribution is not yet included here
//qDebug() << "MG::supportfilesdirectory" << path;
return path;
}
/**
* @brief Get the current icon directory.
*
* The icon directory is typically a subdirectory of the main directory,
* but depends on the platform. For example in OS X it is part of the bundle.
*
* @return The absolute path of the icon directory
**/
static QString getIconDirectory() {
return MG::DIR::getSupportFilesDirectory() + "/images/";
}
};
}
#endif // _MG_H_