ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information

Dependencies:   BufferedSerial

Dependents:   rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more

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Show/hide line numbers duration.cpp Source File

duration.cpp

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2011, Willow Garage, Inc.
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions
00009  * are met:
00010  *
00011  *  * Redistributions of source code must retain the above copyright
00012  *    notice, this list of conditions and the following disclaimer.
00013  *  * Redistributions in binary form must reproduce the above
00014  *    copyright notice, this list of conditions and the following
00015  *    disclaimer in the documentation and/or other materials provided
00016  *    with the distribution.
00017  *  * Neither the name of Willow Garage, Inc. nor the names of its
00018  *    contributors may be used to endorse or promote prducts derived
00019  *    from this software without specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  * POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 
00035 #include <math.h>
00036 #include "ros/duration.h"
00037 
00038 namespace ros
00039 {
00040   void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
00041   {
00042     int32_t nsec_part = nsec;
00043     int32_t sec_part = sec;
00044 
00045     while (nsec_part > 1000000000L)
00046     {
00047       nsec_part -= 1000000000L;
00048       ++sec_part;
00049     }
00050     while (nsec_part < 0)
00051     {
00052       nsec_part += 1000000000L;
00053       --sec_part;
00054     }
00055     sec = sec_part;
00056     nsec = nsec_part;
00057   }
00058 
00059   Duration& Duration::operator+=(const Duration &rhs)
00060   {
00061     sec += rhs.sec;
00062     nsec += rhs.nsec;
00063     normalizeSecNSecSigned(sec, nsec);
00064     return *this;
00065   }
00066 
00067   Duration& Duration::operator-=(const Duration &rhs){
00068     sec += -rhs.sec;
00069     nsec += -rhs.nsec;
00070     normalizeSecNSecSigned(sec, nsec);
00071     return *this;
00072   }
00073 
00074   Duration& Duration::operator*=(double scale){
00075     sec *= scale;
00076     nsec *= scale;
00077     normalizeSecNSecSigned(sec, nsec);
00078     return *this;
00079   }
00080 
00081 }