definitions.h

/****************************************************************************
 *
 * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

/****************************************************************************
 *
 *   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 <QtCore/QtGlobal>
#include <QtCore/QDateTime>
#include <QtCore/QLoggingCategory>
#include <QtCore/QThread>

#include "sensor_gps.h"
#include "sensor_gnss_relative.h"
#include "satellite_info.h"

Q_DECLARE_LOGGING_CATEGORY(GPSDriversLog)

#define GPS_INFO(...) qCInfo(GPSDriversLog, __VA_ARGS__)
#define GPS_WARN(...) qCWarning(GPSDriversLog, __VA_ARGS__)
#define GPS_ERR(...) qCCritical(GPSDriversLog, __VA_ARGS__)

#define M_DEG_TO_RAD (M_PI / 180.0)
#define M_RAD_TO_DEG (180.0 / M_PI)
#define M_DEG_TO_RAD_F 0.0174532925f
#define M_RAD_TO_DEG_F 57.2957795f

#define M_PI_2_F 0.63661977f

#ifdef _WIN32
#if (_MSC_VER < 1900)
struct timespec
{
    time_t tv_sec;
    long tv_nsec;
};
#else
#include <time.h>
#endif
#endif

static inline void gps_usleep(unsigned long usecs)
{
    QThread::usleep(usecs);
}

typedef uint64_t gps_abstime;
static inline gps_abstime gps_absolute_time()
{
    return (QDateTime::currentMSecsSinceEpoch() * 1000);
}