liu isad / rosserial_mbed_lib

rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

time.cpp@6:e5254bf7e322, 2014-05-08 (annotated)

Committer:
isad
Date:
Thu May 08 06:34:37 2014 +0000
Revision:
6:e5254bf7e322
Parent:
5:c30c76e8c3f1 
0.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 0:77afd7560544 1 /*
nucho 0:77afd7560544 2 * Software License Agreement (BSD License)
nucho 0:77afd7560544 3 *
nucho 0:77afd7560544 4 * Copyright (c) 2011, Willow Garage, Inc.
nucho 0:77afd7560544 5 * All rights reserved.
nucho 0:77afd7560544 6 *
nucho 0:77afd7560544 7 * Redistribution and use in source and binary forms, with or without
nucho 0:77afd7560544 8 * modification, are permitted provided that the following conditions
nucho 0:77afd7560544 9 * are met:
nucho 0:77afd7560544 10 *
nucho 0:77afd7560544 11 * * Redistributions of source code must retain the above copyright
nucho 0:77afd7560544 12 * notice, this list of conditions and the following disclaimer.
nucho 0:77afd7560544 13 * * Redistributions in binary form must reproduce the above
nucho 0:77afd7560544 14 * copyright notice, this list of conditions and the following
nucho 0:77afd7560544 15 * disclaimer in the documentation and/or other materials provided
nucho 0:77afd7560544 16 * with the distribution.
nucho 0:77afd7560544 17 * * Neither the name of Willow Garage, Inc. nor the names of its
nucho 0:77afd7560544 18 * contributors may be used to endorse or promote prducts derived
nucho 0:77afd7560544 19 * from this software without specific prior written permission.
nucho 0:77afd7560544 20 *
nucho 0:77afd7560544 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
nucho 0:77afd7560544 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
nucho 0:77afd7560544 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
nucho 0:77afd7560544 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
nucho 0:77afd7560544 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
nucho 0:77afd7560544 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
nucho 0:77afd7560544 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
nucho 0:77afd7560544 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucho 0:77afd7560544 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
nucho 0:77afd7560544 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
nucho 0:77afd7560544 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
nucho 0:77afd7560544 32 * POSSIBILITY OF SUCH DAMAGE.
nucho 0:77afd7560544 33 */
nucho 0:77afd7560544 34
isad 5:c30c76e8c3f1 35 #include "ros.h"
nucho 0:77afd7560544 36 #include "ros/time.h"
nucho 0:77afd7560544 37
nucho 0:77afd7560544 38 namespace ros
nucho 0:77afd7560544 39 {
nucho 0:77afd7560544 40 void normalizeSecNSec(unsigned long& sec, unsigned long& nsec){
nucho 0:77afd7560544 41 unsigned long nsec_part= nsec % 1000000000UL;
nucho 0:77afd7560544 42 unsigned long sec_part = nsec / 1000000000UL;
nucho 0:77afd7560544 43 sec += sec_part;
nucho 0:77afd7560544 44 nsec = nsec_part;
nucho 0:77afd7560544 45 }
nucho 0:77afd7560544 46
nucho 0:77afd7560544 47 Time& Time::fromNSec(long t)
nucho 0:77afd7560544 48 {
nucho 0:77afd7560544 49 sec = t / 1000000000;
nucho 0:77afd7560544 50 nsec = t % 1000000000;
nucho 0:77afd7560544 51 normalizeSecNSec(sec, nsec);
nucho 0:77afd7560544 52 return *this;
nucho 0:77afd7560544 53 }
nucho 0:77afd7560544 54
nucho 0:77afd7560544 55 Time& Time::operator +=(const Duration &rhs)
nucho 0:77afd7560544 56 {
nucho 0:77afd7560544 57 sec += rhs.sec;
nucho 0:77afd7560544 58 nsec += rhs.nsec;
nucho 0:77afd7560544 59 normalizeSecNSec(sec, nsec);
nucho 0:77afd7560544 60 return *this;
nucho 0:77afd7560544 61 }
nucho 0:77afd7560544 62
nucho 0:77afd7560544 63 Time& Time::operator -=(const Duration &rhs){
nucho 0:77afd7560544 64 sec += -rhs.sec;
nucho 0:77afd7560544 65 nsec += -rhs.nsec;
nucho 0:77afd7560544 66 normalizeSecNSec(sec, nsec);
nucho 0:77afd7560544 67 return *this;
nucho 0:77afd7560544 68 }
nucho 0:77afd7560544 69
nucho 0:77afd7560544 70 }