nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
ros/time.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 1:ff0ec969dad1
Who changed what in which revision?
| User | Revision | Line number | New 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 | |
| nucho | 1:ff0ec969dad1 | 35 | #ifndef ROS_TIME_H_ |
| nucho | 1:ff0ec969dad1 | 36 | #define ROS_TIME_H_ |
| nucho | 0:77afd7560544 | 37 | |
| nucho | 0:77afd7560544 | 38 | #include <ros/duration.h> |
| nucho | 0:77afd7560544 | 39 | #include <math.h> |
| nucho | 0:77afd7560544 | 40 | |
| nucho | 0:77afd7560544 | 41 | namespace ros { |
| nucho | 0:77afd7560544 | 42 | void normalizeSecNSec(unsigned long &sec, unsigned long &nsec); |
| nucho | 0:77afd7560544 | 43 | |
| nucho | 0:77afd7560544 | 44 | class Time { |
| nucho | 0:77afd7560544 | 45 | public: |
| nucho | 0:77afd7560544 | 46 | unsigned long sec, nsec; |
| nucho | 0:77afd7560544 | 47 | |
| nucho | 0:77afd7560544 | 48 | Time() : sec(0), nsec(0) {} |
| nucho | 0:77afd7560544 | 49 | Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) { |
| nucho | 0:77afd7560544 | 50 | normalizeSecNSec(sec, nsec); |
| nucho | 0:77afd7560544 | 51 | } |
| nucho | 0:77afd7560544 | 52 | |
| nucho | 0:77afd7560544 | 53 | double toSec() const { |
| nucho | 0:77afd7560544 | 54 | return (double)sec + 1e-9*(double)nsec; |
| nucho | 0:77afd7560544 | 55 | }; |
| nucho | 0:77afd7560544 | 56 | void fromSec(double t) { |
| nucho | 0:77afd7560544 | 57 | sec = (unsigned long) floor(t); |
| nucho | 0:77afd7560544 | 58 | nsec = (unsigned long) round((t-sec) * 1e9); |
| nucho | 0:77afd7560544 | 59 | }; |
| nucho | 0:77afd7560544 | 60 | |
| nucho | 0:77afd7560544 | 61 | unsigned long toNsec() { |
| nucho | 0:77afd7560544 | 62 | return (unsigned long)sec*1000000000ull + (unsigned long)nsec; |
| nucho | 0:77afd7560544 | 63 | }; |
| nucho | 0:77afd7560544 | 64 | Time& fromNSec(long t); |
| nucho | 0:77afd7560544 | 65 | |
| nucho | 0:77afd7560544 | 66 | Time& operator +=(const Duration &rhs); |
| nucho | 0:77afd7560544 | 67 | Time& operator -=(const Duration &rhs); |
| nucho | 0:77afd7560544 | 68 | |
| nucho | 0:77afd7560544 | 69 | static Time now(); |
| nucho | 0:77afd7560544 | 70 | static void setNow( Time & new_now); |
| nucho | 0:77afd7560544 | 71 | |
| nucho | 0:77afd7560544 | 72 | int round(double x) { |
| nucho | 0:77afd7560544 | 73 | int a; |
| nucho | 0:77afd7560544 | 74 | a = floor(x + 0.5); |
| nucho | 0:77afd7560544 | 75 | return a; |
| nucho | 0:77afd7560544 | 76 | } |
| nucho | 0:77afd7560544 | 77 | |
| nucho | 1:ff0ec969dad1 | 78 | }; |
| nucho | 0:77afd7560544 | 79 | |
| nucho | 0:77afd7560544 | 80 | } |
| nucho | 0:77afd7560544 | 81 | |
| nucho | 1:ff0ec969dad1 | 82 | #endif |