Pipe Inpection Robot / Mbed OS capstone_finish

capstone_finish

Dependencies:   BufferedSerial motor_sn7544

time.cpp@10:ca4e4062701a, 2019-11-26 (annotated)

Committer:
Jeonghoon
Date:
Tue Nov 26 15:30:27 2019 +0000
Revision:
10:ca4e4062701a
Parent:
3:2a3664dc6634 
capstone finish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 /*
Jeonghoon 3:2a3664dc6634 2 * Software License Agreement (BSD License)
Jeonghoon 3:2a3664dc6634 3 *
Jeonghoon 3:2a3664dc6634 4 * Copyright (c) 2011, Willow Garage, Inc.
Jeonghoon 3:2a3664dc6634 5 * All rights reserved.
Jeonghoon 3:2a3664dc6634 6 *
Jeonghoon 3:2a3664dc6634 7 * Redistribution and use in source and binary forms, with or without
Jeonghoon 3:2a3664dc6634 8 * modification, are permitted provided that the following conditions
Jeonghoon 3:2a3664dc6634 9 * are met:
Jeonghoon 3:2a3664dc6634 10 *
Jeonghoon 3:2a3664dc6634 11 * * Redistributions of source code must retain the above copyright
Jeonghoon 3:2a3664dc6634 12 * notice, this list of conditions and the following disclaimer.
Jeonghoon 3:2a3664dc6634 13 * * Redistributions in binary form must reproduce the above
Jeonghoon 3:2a3664dc6634 14 * copyright notice, this list of conditions and the following
Jeonghoon 3:2a3664dc6634 15 * disclaimer in the documentation and/or other materials provided
Jeonghoon 3:2a3664dc6634 16 * with the distribution.
Jeonghoon 3:2a3664dc6634 17 * * Neither the name of Willow Garage, Inc. nor the names of its
Jeonghoon 3:2a3664dc6634 18 * contributors may be used to endorse or promote prducts derived
Jeonghoon 3:2a3664dc6634 19 * from this software without specific prior written permission.
Jeonghoon 3:2a3664dc6634 20 *
Jeonghoon 3:2a3664dc6634 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Jeonghoon 3:2a3664dc6634 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Jeonghoon 3:2a3664dc6634 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Jeonghoon 3:2a3664dc6634 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
Jeonghoon 3:2a3664dc6634 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
Jeonghoon 3:2a3664dc6634 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
Jeonghoon 3:2a3664dc6634 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Jeonghoon 3:2a3664dc6634 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Jeonghoon 3:2a3664dc6634 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
Jeonghoon 3:2a3664dc6634 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
Jeonghoon 3:2a3664dc6634 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Jeonghoon 3:2a3664dc6634 32 * POSSIBILITY OF SUCH DAMAGE.
Jeonghoon 3:2a3664dc6634 33 */
Jeonghoon 3:2a3664dc6634 34
Jeonghoon 3:2a3664dc6634 35 #include "ros/time.h"
Jeonghoon 3:2a3664dc6634 36
Jeonghoon 3:2a3664dc6634 37 namespace ros
Jeonghoon 3:2a3664dc6634 38 {
Jeonghoon 3:2a3664dc6634 39 void normalizeSecNSec(uint32_t& sec, uint32_t& nsec){
Jeonghoon 3:2a3664dc6634 40 uint32_t nsec_part= nsec % 1000000000UL;
Jeonghoon 3:2a3664dc6634 41 uint32_t sec_part = nsec / 1000000000UL;
Jeonghoon 3:2a3664dc6634 42 sec += sec_part;
Jeonghoon 3:2a3664dc6634 43 nsec = nsec_part;
Jeonghoon 3:2a3664dc6634 44 }
Jeonghoon 3:2a3664dc6634 45
Jeonghoon 3:2a3664dc6634 46 Time& Time::fromNSec(int32_t t)
Jeonghoon 3:2a3664dc6634 47 {
Jeonghoon 3:2a3664dc6634 48 sec = t / 1000000000;
Jeonghoon 3:2a3664dc6634 49 nsec = t % 1000000000;
Jeonghoon 3:2a3664dc6634 50 normalizeSecNSec(sec, nsec);
Jeonghoon 3:2a3664dc6634 51 return *this;
Jeonghoon 3:2a3664dc6634 52 }
Jeonghoon 3:2a3664dc6634 53
Jeonghoon 3:2a3664dc6634 54 Time& Time::operator +=(const Duration &rhs)
Jeonghoon 3:2a3664dc6634 55 {
Jeonghoon 3:2a3664dc6634 56 sec += rhs.sec;
Jeonghoon 3:2a3664dc6634 57 nsec += rhs.nsec;
Jeonghoon 3:2a3664dc6634 58 normalizeSecNSec(sec, nsec);
Jeonghoon 3:2a3664dc6634 59 return *this;
Jeonghoon 3:2a3664dc6634 60 }
Jeonghoon 3:2a3664dc6634 61
Jeonghoon 3:2a3664dc6634 62 Time& Time::operator -=(const Duration &rhs){
Jeonghoon 3:2a3664dc6634 63 sec += -rhs.sec;
Jeonghoon 3:2a3664dc6634 64 nsec += -rhs.nsec;
Jeonghoon 3:2a3664dc6634 65 normalizeSecNSec(sec, nsec);
Jeonghoon 3:2a3664dc6634 66 return *this;
Jeonghoon 3:2a3664dc6634 67 }
Jeonghoon 3:2a3664dc6634 68 }