liu isad / rosserial_mbed_lib

rosserial for Hydro

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

ros/time.h@1:ff0ec969dad1, 2011-10-16 (annotated)

Committer:
nucho
Date:
Sun Oct 16 07:19:36 2011 +0000
Revision:
1:ff0ec969dad1
Parent:
0:77afd7560544
Child:
5:c30c76e8c3f1
This program supported the revision of 143 of rosserial.

And the bug fix of receive of array data.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 0:77afd7560544 1 /*
nucho 0:77afd7560544 2 * Software License Agreement (BSD License)
nucho 0:77afd7560544 3 *
nucho 0:77afd7560544 4 * Copyright (c) 2011, Willow Garage, Inc.
nucho 0:77afd7560544 5 * All rights reserved.
nucho 0:77afd7560544 6 *
nucho 0:77afd7560544 7 * Redistribution and use in source and binary forms, with or without
nucho 0:77afd7560544 8 * modification, are permitted provided that the following conditions
nucho 0:77afd7560544 9 * are met:
nucho 0:77afd7560544 10 *
nucho 0:77afd7560544 11 * * Redistributions of source code must retain the above copyright
nucho 0:77afd7560544 12 * notice, this list of conditions and the following disclaimer.
nucho 0:77afd7560544 13 * * Redistributions in binary form must reproduce the above
nucho 0:77afd7560544 14 * copyright notice, this list of conditions and the following
nucho 0:77afd7560544 15 * disclaimer in the documentation and/or other materials provided
nucho 0:77afd7560544 16 * with the distribution.
nucho 0:77afd7560544 17 * * Neither the name of Willow Garage, Inc. nor the names of its
nucho 0:77afd7560544 18 * contributors may be used to endorse or promote prducts derived
nucho 0:77afd7560544 19 * from this software without specific prior written permission.
nucho 0:77afd7560544 20 *
nucho 0:77afd7560544 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
nucho 0:77afd7560544 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
nucho 0:77afd7560544 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
nucho 0:77afd7560544 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
nucho 0:77afd7560544 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
nucho 0:77afd7560544 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
nucho 0:77afd7560544 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
nucho 0:77afd7560544 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucho 0:77afd7560544 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
nucho 0:77afd7560544 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
nucho 0:77afd7560544 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
nucho 0:77afd7560544 32 * POSSIBILITY OF SUCH DAMAGE.
nucho 0:77afd7560544 33 */
nucho 0:77afd7560544 34
nucho 1:ff0ec969dad1 35 #ifndef ROS_TIME_H_
nucho 1:ff0ec969dad1 36 #define ROS_TIME_H_
nucho 0:77afd7560544 37
nucho 0:77afd7560544 38 #include <ros/duration.h>
nucho 0:77afd7560544 39 #include <math.h>
nucho 0:77afd7560544 40
nucho 0:77afd7560544 41 namespace ros {
nucho 0:77afd7560544 42 void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);
nucho 0:77afd7560544 43
nucho 0:77afd7560544 44 class Time {
nucho 0:77afd7560544 45 public:
nucho 0:77afd7560544 46 unsigned long sec, nsec;
nucho 0:77afd7560544 47
nucho 0:77afd7560544 48 Time() : sec(0), nsec(0) {}
nucho 0:77afd7560544 49 Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) {
nucho 0:77afd7560544 50 normalizeSecNSec(sec, nsec);
nucho 0:77afd7560544 51 }
nucho 0:77afd7560544 52
nucho 0:77afd7560544 53 double toSec() const {
nucho 0:77afd7560544 54 return (double)sec + 1e-9*(double)nsec;
nucho 0:77afd7560544 55 };
nucho 0:77afd7560544 56 void fromSec(double t) {
nucho 0:77afd7560544 57 sec = (unsigned long) floor(t);
nucho 0:77afd7560544 58 nsec = (unsigned long) round((t-sec) * 1e9);
nucho 0:77afd7560544 59 };
nucho 0:77afd7560544 60
nucho 0:77afd7560544 61 unsigned long toNsec() {
nucho 0:77afd7560544 62 return (unsigned long)sec*1000000000ull + (unsigned long)nsec;
nucho 0:77afd7560544 63 };
nucho 0:77afd7560544 64 Time& fromNSec(long t);
nucho 0:77afd7560544 65
nucho 0:77afd7560544 66 Time& operator +=(const Duration &rhs);
nucho 0:77afd7560544 67 Time& operator -=(const Duration &rhs);
nucho 0:77afd7560544 68
nucho 0:77afd7560544 69 static Time now();
nucho 0:77afd7560544 70 static void setNow( Time & new_now);
nucho 0:77afd7560544 71
nucho 0:77afd7560544 72 int round(double x) {
nucho 0:77afd7560544 73 int a;
nucho 0:77afd7560544 74 a = floor(x + 0.5);
nucho 0:77afd7560544 75 return a;
nucho 0:77afd7560544 76 }
nucho 0:77afd7560544 77
nucho 1:ff0ec969dad1 78 };
nucho 0:77afd7560544 79
nucho 0:77afd7560544 80 }
nucho 0:77afd7560544 81
nucho 1:ff0ec969dad1 82 #endif