Pipe Inpection Robot / Mbed OS GPG_motor_latest

complete motor

Dependencies:   BufferedSerial motor_sn7544

ros/time.h@13:3ac8d2472417, 2019-11-21 (annotated)

Committer:
Jeonghoon
Date:
Thu Nov 21 11:39:20 2019 +0000
Revision:
13:3ac8d2472417
Parent:
7:13dd93a0efe8 
complete motor

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 #ifndef ROS_TIME_H_
Jeonghoon 7:13dd93a0efe8 36 #define ROS_TIME_H_
Jeonghoon 7:13dd93a0efe8 37
Jeonghoon 7:13dd93a0efe8 38 #include "ros/duration.h"
Jeonghoon 7:13dd93a0efe8 39 #include <math.h>
Jeonghoon 7:13dd93a0efe8 40 #include <stdint.h>
Jeonghoon 7:13dd93a0efe8 41
Jeonghoon 7:13dd93a0efe8 42 namespace ros
Jeonghoon 7:13dd93a0efe8 43 {
Jeonghoon 7:13dd93a0efe8 44 void normalizeSecNSec(uint32_t &sec, uint32_t &nsec);
Jeonghoon 7:13dd93a0efe8 45
Jeonghoon 7:13dd93a0efe8 46 class Time
Jeonghoon 7:13dd93a0efe8 47 {
Jeonghoon 7:13dd93a0efe8 48 public:
Jeonghoon 7:13dd93a0efe8 49 uint32_t sec, nsec;
Jeonghoon 7:13dd93a0efe8 50
Jeonghoon 7:13dd93a0efe8 51 Time() : sec(0), nsec(0) {}
Jeonghoon 7:13dd93a0efe8 52 Time(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
Jeonghoon 7:13dd93a0efe8 53 {
Jeonghoon 7:13dd93a0efe8 54 normalizeSecNSec(sec, nsec);
Jeonghoon 7:13dd93a0efe8 55 }
Jeonghoon 7:13dd93a0efe8 56
Jeonghoon 7:13dd93a0efe8 57 double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); }
Jeonghoon 7:13dd93a0efe8 58 double toSec() const { return (double)sec + 1e-9*(double)nsec; };
Jeonghoon 7:13dd93a0efe8 59 void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
Jeonghoon 7:13dd93a0efe8 60
Jeonghoon 7:13dd93a0efe8 61 uint32_t toNsec() { return (uint32_t)sec*1000000000ull + (uint32_t)nsec; };
Jeonghoon 7:13dd93a0efe8 62 Time& fromNSec(int32_t t);
Jeonghoon 7:13dd93a0efe8 63
Jeonghoon 7:13dd93a0efe8 64 Time& operator +=(const Duration &rhs);
Jeonghoon 7:13dd93a0efe8 65 Time& operator -=(const Duration &rhs);
Jeonghoon 7:13dd93a0efe8 66
Jeonghoon 7:13dd93a0efe8 67 static Time now();
Jeonghoon 7:13dd93a0efe8 68 static void setNow( Time & new_now);
Jeonghoon 7:13dd93a0efe8 69 };
Jeonghoon 7:13dd93a0efe8 70
Jeonghoon 7:13dd93a0efe8 71 }
Jeonghoon 7:13dd93a0efe8 72
Jeonghoon 7:13dd93a0efe8 73 #endif