57600-->921600
Dependencies: BufferedSerial ledControl2
Fork of ros_lib_kinetic by
Diff: time.cpp
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/time.cpp Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,68 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2011, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote prducts derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "ros/time.h" + +namespace ros +{ + void normalizeSecNSec(uint32_t& sec, uint32_t& nsec){ + uint32_t nsec_part= nsec % 1000000000UL; + uint32_t sec_part = nsec / 1000000000UL; + sec += sec_part; + nsec = nsec_part; + } + + Time& Time::fromNSec(int32_t t) + { + sec = t / 1000000000; + nsec = t % 1000000000; + normalizeSecNSec(sec, nsec); + return *this; + } + + Time& Time::operator +=(const Duration &rhs) + { + sec += rhs.sec; + nsec += rhs.nsec; + normalizeSecNSec(sec, nsec); + return *this; + } + + Time& Time::operator -=(const Duration &rhs){ + sec += -rhs.sec; + nsec += -rhs.nsec; + normalizeSecNSec(sec, nsec); + return *this; + } +}