Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/time.cpp@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 /*
scarter1 0:020db18a476d 2 * Software License Agreement (BSD License)
scarter1 0:020db18a476d 3 *
scarter1 0:020db18a476d 4 * Copyright (c) 2011, Willow Garage, Inc.
scarter1 0:020db18a476d 5 * All rights reserved.
scarter1 0:020db18a476d 6 *
scarter1 0:020db18a476d 7 * Redistribution and use in source and binary forms, with or without
scarter1 0:020db18a476d 8 * modification, are permitted provided that the following conditions
scarter1 0:020db18a476d 9 * are met:
scarter1 0:020db18a476d 10 *
scarter1 0:020db18a476d 11 * * Redistributions of source code must retain the above copyright
scarter1 0:020db18a476d 12 * notice, this list of conditions and the following disclaimer.
scarter1 0:020db18a476d 13 * * Redistributions in binary form must reproduce the above
scarter1 0:020db18a476d 14 * copyright notice, this list of conditions and the following
scarter1 0:020db18a476d 15 * disclaimer in the documentation and/or other materials provided
scarter1 0:020db18a476d 16 * with the distribution.
scarter1 0:020db18a476d 17 * * Neither the name of Willow Garage, Inc. nor the names of its
scarter1 0:020db18a476d 18 * contributors may be used to endorse or promote prducts derived
scarter1 0:020db18a476d 19 * from this software without specific prior written permission.
scarter1 0:020db18a476d 20 *
scarter1 0:020db18a476d 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
scarter1 0:020db18a476d 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
scarter1 0:020db18a476d 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
scarter1 0:020db18a476d 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
scarter1 0:020db18a476d 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
scarter1 0:020db18a476d 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
scarter1 0:020db18a476d 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
scarter1 0:020db18a476d 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
scarter1 0:020db18a476d 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
scarter1 0:020db18a476d 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
scarter1 0:020db18a476d 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
scarter1 0:020db18a476d 32 * POSSIBILITY OF SUCH DAMAGE.
scarter1 0:020db18a476d 33 */
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 #include "ros/time.h"
scarter1 0:020db18a476d 36
scarter1 0:020db18a476d 37 namespace ros
scarter1 0:020db18a476d 38 {
scarter1 0:020db18a476d 39 void normalizeSecNSec(uint32_t& sec, uint32_t& nsec)
scarter1 0:020db18a476d 40 {
scarter1 0:020db18a476d 41 uint32_t nsec_part = nsec % 1000000000UL;
scarter1 0:020db18a476d 42 uint32_t sec_part = nsec / 1000000000UL;
scarter1 0:020db18a476d 43 sec += sec_part;
scarter1 0:020db18a476d 44 nsec = nsec_part;
scarter1 0:020db18a476d 45 }
scarter1 0:020db18a476d 46
scarter1 0:020db18a476d 47 Time& Time::fromNSec(int32_t t)
scarter1 0:020db18a476d 48 {
scarter1 0:020db18a476d 49 sec = t / 1000000000;
scarter1 0:020db18a476d 50 nsec = t % 1000000000;
scarter1 0:020db18a476d 51 normalizeSecNSec(sec, nsec);
scarter1 0:020db18a476d 52 return *this;
scarter1 0:020db18a476d 53 }
scarter1 0:020db18a476d 54
scarter1 0:020db18a476d 55 Time& Time::operator +=(const Duration &rhs)
scarter1 0:020db18a476d 56 {
scarter1 0:020db18a476d 57 sec += rhs.sec;
scarter1 0:020db18a476d 58 nsec += rhs.nsec;
scarter1 0:020db18a476d 59 normalizeSecNSec(sec, nsec);
scarter1 0:020db18a476d 60 return *this;
scarter1 0:020db18a476d 61 }
scarter1 0:020db18a476d 62
scarter1 0:020db18a476d 63 Time& Time::operator -=(const Duration &rhs)
scarter1 0:020db18a476d 64 {
scarter1 0:020db18a476d 65 sec += -rhs.sec;
scarter1 0:020db18a476d 66 nsec += -rhs.nsec;
scarter1 0:020db18a476d 67 normalizeSecNSec(sec, nsec);
scarter1 0:020db18a476d 68 return *this;
scarter1 0:020db18a476d 69 }
scarter1 0:020db18a476d 70 }