ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
Diff: ros/time.h
- Revision:
- 2:f2240ad62eaf
- Parent:
- 1:a849bf78d77f
--- a/ros/time.h Sat Dec 31 00:59:58 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,73 +0,0 @@ -/* - * 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. - */ - -#ifndef ROS_TIME_H_ -#define ROS_TIME_H_ - -#include "ros/duration.h" -#include <math.h> -#include <stdint.h> - -namespace ros -{ - void normalizeSecNSec(uint32_t &sec, uint32_t &nsec); - - class Time - { - public: - uint32_t sec, nsec; - - Time() : sec(0), nsec(0) {} - Time(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec) - { - normalizeSecNSec(sec, nsec); - } - - double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); } - double toSec() const { return (double)sec + 1e-9*(double)nsec; }; - void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); }; - - uint32_t toNsec() { return (uint32_t)sec*1000000000ull + (uint32_t)nsec; }; - Time& fromNSec(int32_t t); - - Time& operator +=(const Duration &rhs); - Time& operator -=(const Duration &rhs); - - static Time now(); - static void setNow( Time & new_now); - }; - -} - -#endif