Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

duration.cpp@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 /*
akashvibhute 0:30537dec6e0b 2 * Software License Agreement (BSD License)
akashvibhute 0:30537dec6e0b 3 *
akashvibhute 0:30537dec6e0b 4 * Copyright (c) 2011, Willow Garage, Inc.
akashvibhute 0:30537dec6e0b 5 * All rights reserved.
akashvibhute 0:30537dec6e0b 6 *
akashvibhute 0:30537dec6e0b 7 * Redistribution and use in source and binary forms, with or without
akashvibhute 0:30537dec6e0b 8 * modification, are permitted provided that the following conditions
akashvibhute 0:30537dec6e0b 9 * are met:
akashvibhute 0:30537dec6e0b 10 *
akashvibhute 0:30537dec6e0b 11 * * Redistributions of source code must retain the above copyright
akashvibhute 0:30537dec6e0b 12 * notice, this list of conditions and the following disclaimer.
akashvibhute 0:30537dec6e0b 13 * * Redistributions in binary form must reproduce the above
akashvibhute 0:30537dec6e0b 14 * copyright notice, this list of conditions and the following
akashvibhute 0:30537dec6e0b 15 * disclaimer in the documentation and/or other materials provided
akashvibhute 0:30537dec6e0b 16 * with the distribution.
akashvibhute 0:30537dec6e0b 17 * * Neither the name of Willow Garage, Inc. nor the names of its
akashvibhute 0:30537dec6e0b 18 * contributors may be used to endorse or promote prducts derived
akashvibhute 0:30537dec6e0b 19 * from this software without specific prior written permission.
akashvibhute 0:30537dec6e0b 20 *
akashvibhute 0:30537dec6e0b 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
akashvibhute 0:30537dec6e0b 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
akashvibhute 0:30537dec6e0b 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
akashvibhute 0:30537dec6e0b 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
akashvibhute 0:30537dec6e0b 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
akashvibhute 0:30537dec6e0b 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
akashvibhute 0:30537dec6e0b 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
akashvibhute 0:30537dec6e0b 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
akashvibhute 0:30537dec6e0b 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
akashvibhute 0:30537dec6e0b 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
akashvibhute 0:30537dec6e0b 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
akashvibhute 0:30537dec6e0b 32 * POSSIBILITY OF SUCH DAMAGE.
akashvibhute 0:30537dec6e0b 33 */
akashvibhute 0:30537dec6e0b 34
akashvibhute 0:30537dec6e0b 35 #include <math.h>
akashvibhute 0:30537dec6e0b 36 #include "ros/duration.h"
akashvibhute 0:30537dec6e0b 37
akashvibhute 0:30537dec6e0b 38 namespace ros
akashvibhute 0:30537dec6e0b 39 {
akashvibhute 0:30537dec6e0b 40 void normalizeSecNSecSigned(long &sec, long &nsec)
akashvibhute 0:30537dec6e0b 41 {
akashvibhute 0:30537dec6e0b 42 long nsec_part = nsec;
akashvibhute 0:30537dec6e0b 43 long sec_part = sec;
akashvibhute 0:30537dec6e0b 44
akashvibhute 0:30537dec6e0b 45 while (nsec_part > 1000000000L)
akashvibhute 0:30537dec6e0b 46 {
akashvibhute 0:30537dec6e0b 47 nsec_part -= 1000000000L;
akashvibhute 0:30537dec6e0b 48 ++sec_part;
akashvibhute 0:30537dec6e0b 49 }
akashvibhute 0:30537dec6e0b 50 while (nsec_part < 0)
akashvibhute 0:30537dec6e0b 51 {
akashvibhute 0:30537dec6e0b 52 nsec_part += 1000000000L;
akashvibhute 0:30537dec6e0b 53 --sec_part;
akashvibhute 0:30537dec6e0b 54 }
akashvibhute 0:30537dec6e0b 55 sec = sec_part;
akashvibhute 0:30537dec6e0b 56 nsec = nsec_part;
akashvibhute 0:30537dec6e0b 57 }
akashvibhute 0:30537dec6e0b 58
akashvibhute 0:30537dec6e0b 59 Duration& Duration::operator+=(const Duration &rhs)
akashvibhute 0:30537dec6e0b 60 {
akashvibhute 0:30537dec6e0b 61 sec += rhs.sec;
akashvibhute 0:30537dec6e0b 62 nsec += rhs.nsec;
akashvibhute 0:30537dec6e0b 63 normalizeSecNSecSigned(sec, nsec);
akashvibhute 0:30537dec6e0b 64 return *this;
akashvibhute 0:30537dec6e0b 65 }
akashvibhute 0:30537dec6e0b 66
akashvibhute 0:30537dec6e0b 67 Duration& Duration::operator-=(const Duration &rhs){
akashvibhute 0:30537dec6e0b 68 sec += -rhs.sec;
akashvibhute 0:30537dec6e0b 69 nsec += -rhs.nsec;
akashvibhute 0:30537dec6e0b 70 normalizeSecNSecSigned(sec, nsec);
akashvibhute 0:30537dec6e0b 71 return *this;
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73
akashvibhute 0:30537dec6e0b 74 Duration& Duration::operator*=(double scale){
akashvibhute 0:30537dec6e0b 75 sec *= scale;
akashvibhute 0:30537dec6e0b 76 nsec *= scale;
akashvibhute 0:30537dec6e0b 77 normalizeSecNSecSigned(sec, nsec);
akashvibhute 0:30537dec6e0b 78 return *this;
akashvibhute 0:30537dec6e0b 79 }
akashvibhute 0:30537dec6e0b 80
akashvibhute 0:30537dec6e0b 81 }
akashvibhute 0:30537dec6e0b 82