Pipe Inpection Robot / Mbed OS GPG_motor_latest

complete motor

Dependencies:   BufferedSerial motor_sn7544

time.cpp@7:13dd93a0efe8, 2019-06-27 (annotated)

Committer:
Jeonghoon
Date:
Thu Jun 27 04:58:29 2019 +0000
Revision:
7:13dd93a0efe8
combine motor with ROS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 7:13dd93a0efe8 1 /*
Jeonghoon 7:13dd93a0efe8 2 * Software License Agreement (BSD License)
Jeonghoon 7:13dd93a0efe8 3 *
Jeonghoon 7:13dd93a0efe8 4 * Copyright (c) 2011, Willow Garage, Inc.
Jeonghoon 7:13dd93a0efe8 5 * All rights reserved.
Jeonghoon 7:13dd93a0efe8 6 *
Jeonghoon 7:13dd93a0efe8 7 * Redistribution and use in source and binary forms, with or without
Jeonghoon 7:13dd93a0efe8 8 * modification, are permitted provided that the following conditions
Jeonghoon 7:13dd93a0efe8 9 * are met:
Jeonghoon 7:13dd93a0efe8 10 *
Jeonghoon 7:13dd93a0efe8 11 * * Redistributions of source code must retain the above copyright
Jeonghoon 7:13dd93a0efe8 12 * notice, this list of conditions and the following disclaimer.
Jeonghoon 7:13dd93a0efe8 13 * * Redistributions in binary form must reproduce the above
Jeonghoon 7:13dd93a0efe8 14 * copyright notice, this list of conditions and the following
Jeonghoon 7:13dd93a0efe8 15 * disclaimer in the documentation and/or other materials provided
Jeonghoon 7:13dd93a0efe8 16 * with the distribution.
Jeonghoon 7:13dd93a0efe8 17 * * Neither the name of Willow Garage, Inc. nor the names of its
Jeonghoon 7:13dd93a0efe8 18 * contributors may be used to endorse or promote prducts derived
Jeonghoon 7:13dd93a0efe8 19 * from this software without specific prior written permission.
Jeonghoon 7:13dd93a0efe8 20 *
Jeonghoon 7:13dd93a0efe8 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Jeonghoon 7:13dd93a0efe8 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Jeonghoon 7:13dd93a0efe8 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Jeonghoon 7:13dd93a0efe8 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
Jeonghoon 7:13dd93a0efe8 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
Jeonghoon 7:13dd93a0efe8 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
Jeonghoon 7:13dd93a0efe8 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Jeonghoon 7:13dd93a0efe8 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Jeonghoon 7:13dd93a0efe8 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
Jeonghoon 7:13dd93a0efe8 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
Jeonghoon 7:13dd93a0efe8 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Jeonghoon 7:13dd93a0efe8 32 * POSSIBILITY OF SUCH DAMAGE.
Jeonghoon 7:13dd93a0efe8 33 */
Jeonghoon 7:13dd93a0efe8 34
Jeonghoon 7:13dd93a0efe8 35 #include "ros/time.h"
Jeonghoon 7:13dd93a0efe8 36
Jeonghoon 7:13dd93a0efe8 37 namespace ros
Jeonghoon 7:13dd93a0efe8 38 {
Jeonghoon 7:13dd93a0efe8 39 void normalizeSecNSec(uint32_t& sec, uint32_t& nsec){
Jeonghoon 7:13dd93a0efe8 40 uint32_t nsec_part= nsec % 1000000000UL;
Jeonghoon 7:13dd93a0efe8 41 uint32_t sec_part = nsec / 1000000000UL;
Jeonghoon 7:13dd93a0efe8 42 sec += sec_part;
Jeonghoon 7:13dd93a0efe8 43 nsec = nsec_part;
Jeonghoon 7:13dd93a0efe8 44 }
Jeonghoon 7:13dd93a0efe8 45
Jeonghoon 7:13dd93a0efe8 46 Time& Time::fromNSec(int32_t t)
Jeonghoon 7:13dd93a0efe8 47 {
Jeonghoon 7:13dd93a0efe8 48 sec = t / 1000000000;
Jeonghoon 7:13dd93a0efe8 49 nsec = t % 1000000000;
Jeonghoon 7:13dd93a0efe8 50 normalizeSecNSec(sec, nsec);
Jeonghoon 7:13dd93a0efe8 51 return *this;
Jeonghoon 7:13dd93a0efe8 52 }
Jeonghoon 7:13dd93a0efe8 53
Jeonghoon 7:13dd93a0efe8 54 Time& Time::operator +=(const Duration &rhs)
Jeonghoon 7:13dd93a0efe8 55 {
Jeonghoon 7:13dd93a0efe8 56 sec += rhs.sec;
Jeonghoon 7:13dd93a0efe8 57 nsec += rhs.nsec;
Jeonghoon 7:13dd93a0efe8 58 normalizeSecNSec(sec, nsec);
Jeonghoon 7:13dd93a0efe8 59 return *this;
Jeonghoon 7:13dd93a0efe8 60 }
Jeonghoon 7:13dd93a0efe8 61
Jeonghoon 7:13dd93a0efe8 62 Time& Time::operator -=(const Duration &rhs){
Jeonghoon 7:13dd93a0efe8 63 sec += -rhs.sec;
Jeonghoon 7:13dd93a0efe8 64 nsec += -rhs.nsec;
Jeonghoon 7:13dd93a0efe8 65 normalizeSecNSec(sec, nsec);
Jeonghoon 7:13dd93a0efe8 66 return *this;
Jeonghoon 7:13dd93a0efe8 67 }
Jeonghoon 7:13dd93a0efe8 68 }