You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
122 lines
3.2 KiB
122 lines
3.2 KiB
/*===================================================================== |
|
|
|
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 "configuration.h" |
|
|
|
|
|
/* Windows fixes */ |
|
#ifdef _MSC_VER |
|
/* 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; |
|
} |
|
#else |
|
#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 */ |
|
quint64 groundTimeUsecs(); |
|
/** @brief Get the current ground time in milliseconds */ |
|
quint64 groundTimeMilliseconds(); |
|
/** @brief Get the current ground time in seconds */ |
|
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); |
|
int applicationVersion(); |
|
|
|
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
|
|
|