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!

ros/time.h@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 #ifndef ROS_TIME_H_
akashvibhute 0:30537dec6e0b 36 #define ROS_TIME_H_
akashvibhute 0:30537dec6e0b 37
akashvibhute 0:30537dec6e0b 38 #include <ros/duration.h>
akashvibhute 0:30537dec6e0b 39 #include <math.h>
akashvibhute 0:30537dec6e0b 40
akashvibhute 0:30537dec6e0b 41 namespace ros
akashvibhute 0:30537dec6e0b 42 {
akashvibhute 0:30537dec6e0b 43 void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);
akashvibhute 0:30537dec6e0b 44
akashvibhute 0:30537dec6e0b 45 class Time
akashvibhute 0:30537dec6e0b 46 {
akashvibhute 0:30537dec6e0b 47 public:
akashvibhute 0:30537dec6e0b 48 unsigned long sec, nsec;
akashvibhute 0:30537dec6e0b 49
akashvibhute 0:30537dec6e0b 50 Time() : sec(0), nsec(0) {}
akashvibhute 0:30537dec6e0b 51 Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec)
akashvibhute 0:30537dec6e0b 52 {
akashvibhute 0:30537dec6e0b 53 normalizeSecNSec(sec, nsec);
akashvibhute 0:30537dec6e0b 54 }
akashvibhute 0:30537dec6e0b 55
akashvibhute 0:30537dec6e0b 56 double toSec() const { return (double)sec + 1e-9*(double)nsec; };
akashvibhute 0:30537dec6e0b 57 void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) floor((t-sec) * 1e9); };
akashvibhute 0:30537dec6e0b 58
akashvibhute 0:30537dec6e0b 59 unsigned long toNsec() { return (unsigned long)sec*1000000000ull + (unsigned long)nsec; };
akashvibhute 0:30537dec6e0b 60 Time& fromNSec(long t);
akashvibhute 0:30537dec6e0b 61
akashvibhute 0:30537dec6e0b 62 Time& operator +=(const Duration &rhs);
akashvibhute 0:30537dec6e0b 63 Time& operator -=(const Duration &rhs);
akashvibhute 0:30537dec6e0b 64
akashvibhute 0:30537dec6e0b 65 static Time now();
akashvibhute 0:30537dec6e0b 66 static void setNow( Time & new_now);
akashvibhute 0:30537dec6e0b 67 };
akashvibhute 0:30537dec6e0b 68
akashvibhute 0:30537dec6e0b 69 }
akashvibhute 0:30537dec6e0b 70
akashvibhute 0:30537dec6e0b 71 #endif
akashvibhute 0:30537dec6e0b 72