jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

time.cpp@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
Parent:
5:8cd48977ec68 
modify for Hydro version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjzak 5:8cd48977ec68 1 /*
jjzak 5:8cd48977ec68 2 * Software License Agreement (BSD License)
jjzak 5:8cd48977ec68 3 *
jjzak 5:8cd48977ec68 4 * Copyright (c) 2011, Willow Garage, Inc.
jjzak 5:8cd48977ec68 5 * All rights reserved.
jjzak 5:8cd48977ec68 6 *
jjzak 5:8cd48977ec68 7 * Redistribution and use in source and binary forms, with or without
jjzak 5:8cd48977ec68 8 * modification, are permitted provided that the following conditions
jjzak 5:8cd48977ec68 9 * are met:
jjzak 5:8cd48977ec68 10 *
jjzak 5:8cd48977ec68 11 * * Redistributions of source code must retain the above copyright
jjzak 5:8cd48977ec68 12 * notice, this list of conditions and the following disclaimer.
jjzak 5:8cd48977ec68 13 * * Redistributions in binary form must reproduce the above
jjzak 5:8cd48977ec68 14 * copyright notice, this list of conditions and the following
jjzak 5:8cd48977ec68 15 * disclaimer in the documentation and/or other materials provided
jjzak 5:8cd48977ec68 16 * with the distribution.
jjzak 5:8cd48977ec68 17 * * Neither the name of Willow Garage, Inc. nor the names of its
jjzak 5:8cd48977ec68 18 * contributors may be used to endorse or promote prducts derived
jjzak 5:8cd48977ec68 19 * from this software without specific prior written permission.
jjzak 5:8cd48977ec68 20 *
jjzak 5:8cd48977ec68 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
jjzak 5:8cd48977ec68 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
jjzak 5:8cd48977ec68 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
jjzak 5:8cd48977ec68 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
jjzak 5:8cd48977ec68 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
jjzak 5:8cd48977ec68 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
jjzak 5:8cd48977ec68 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
jjzak 5:8cd48977ec68 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
jjzak 5:8cd48977ec68 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
jjzak 5:8cd48977ec68 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
jjzak 5:8cd48977ec68 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
jjzak 5:8cd48977ec68 32 * POSSIBILITY OF SUCH DAMAGE.
jjzak 5:8cd48977ec68 33 */
jjzak 5:8cd48977ec68 34
jjzak 5:8cd48977ec68 35 #include "ros.h"
jjzak 5:8cd48977ec68 36 #include "ros/time.h"
jjzak 5:8cd48977ec68 37
jjzak 5:8cd48977ec68 38 namespace ros
jjzak 5:8cd48977ec68 39 {
jjzak 5:8cd48977ec68 40 void normalizeSecNSec(unsigned long& sec, unsigned long& nsec){
jjzak 5:8cd48977ec68 41 unsigned long nsec_part= nsec % 1000000000UL;
jjzak 5:8cd48977ec68 42 unsigned long sec_part = nsec / 1000000000UL;
jjzak 5:8cd48977ec68 43 sec += sec_part;
jjzak 5:8cd48977ec68 44 nsec = nsec_part;
jjzak 5:8cd48977ec68 45 }
jjzak 5:8cd48977ec68 46
jjzak 5:8cd48977ec68 47 Time& Time::fromNSec(long t)
jjzak 5:8cd48977ec68 48 {
jjzak 5:8cd48977ec68 49 sec = t / 1000000000;
jjzak 5:8cd48977ec68 50 nsec = t % 1000000000;
jjzak 5:8cd48977ec68 51 normalizeSecNSec(sec, nsec);
jjzak 5:8cd48977ec68 52 return *this;
jjzak 5:8cd48977ec68 53 }
jjzak 5:8cd48977ec68 54
jjzak 5:8cd48977ec68 55 Time& Time::operator +=(const Duration &rhs)
jjzak 5:8cd48977ec68 56 {
jjzak 5:8cd48977ec68 57 sec += rhs.sec;
jjzak 5:8cd48977ec68 58 nsec += rhs.nsec;
jjzak 5:8cd48977ec68 59 normalizeSecNSec(sec, nsec);
jjzak 5:8cd48977ec68 60 return *this;
jjzak 5:8cd48977ec68 61 }
jjzak 5:8cd48977ec68 62
jjzak 5:8cd48977ec68 63 Time& Time::operator -=(const Duration &rhs){
jjzak 5:8cd48977ec68 64 sec += -rhs.sec;
jjzak 5:8cd48977ec68 65 nsec += -rhs.nsec;
jjzak 5:8cd48977ec68 66 normalizeSecNSec(sec, nsec);
jjzak 5:8cd48977ec68 67 return *this;
jjzak 5:8cd48977ec68 68 }
jjzak 5:8cd48977ec68 69
jjzak 5:8cd48977ec68 70 }
nucho 0:77afd7560544 71