rosserial for Hydro
Fork of rosserial_mbed_lib by
ros/time.h@5:c30c76e8c3f1, 2014-05-08 (annotated)
- Committer:
- isad
- Date:
- Thu May 08 06:34:18 2014 +0000
- Revision:
- 5:c30c76e8c3f1
- Parent:
- 1:ff0ec969dad1
rosserial_mbed for ROS hydro
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
isad | 5:c30c76e8c3f1 | 1 | /* |
isad | 5:c30c76e8c3f1 | 2 | * Software License Agreement (BSD License) |
isad | 5:c30c76e8c3f1 | 3 | * |
isad | 5:c30c76e8c3f1 | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
isad | 5:c30c76e8c3f1 | 5 | * All rights reserved. |
isad | 5:c30c76e8c3f1 | 6 | * |
isad | 5:c30c76e8c3f1 | 7 | * Redistribution and use in source and binary forms, with or without |
isad | 5:c30c76e8c3f1 | 8 | * modification, are permitted provided that the following conditions |
isad | 5:c30c76e8c3f1 | 9 | * are met: |
isad | 5:c30c76e8c3f1 | 10 | * |
isad | 5:c30c76e8c3f1 | 11 | * * Redistributions of source code must retain the above copyright |
isad | 5:c30c76e8c3f1 | 12 | * notice, this list of conditions and the following disclaimer. |
isad | 5:c30c76e8c3f1 | 13 | * * Redistributions in binary form must reproduce the above |
isad | 5:c30c76e8c3f1 | 14 | * copyright notice, this list of conditions and the following |
isad | 5:c30c76e8c3f1 | 15 | * disclaimer in the documentation and/or other materials provided |
isad | 5:c30c76e8c3f1 | 16 | * with the distribution. |
isad | 5:c30c76e8c3f1 | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
isad | 5:c30c76e8c3f1 | 18 | * contributors may be used to endorse or promote prducts derived |
isad | 5:c30c76e8c3f1 | 19 | * from this software without specific prior written permission. |
isad | 5:c30c76e8c3f1 | 20 | * |
isad | 5:c30c76e8c3f1 | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
isad | 5:c30c76e8c3f1 | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
isad | 5:c30c76e8c3f1 | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
isad | 5:c30c76e8c3f1 | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
isad | 5:c30c76e8c3f1 | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
isad | 5:c30c76e8c3f1 | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
isad | 5:c30c76e8c3f1 | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
isad | 5:c30c76e8c3f1 | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
isad | 5:c30c76e8c3f1 | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
isad | 5:c30c76e8c3f1 | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
isad | 5:c30c76e8c3f1 | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
isad | 5:c30c76e8c3f1 | 32 | * POSSIBILITY OF SUCH DAMAGE. |
isad | 5:c30c76e8c3f1 | 33 | */ |
isad | 5:c30c76e8c3f1 | 34 | |
isad | 5:c30c76e8c3f1 | 35 | #ifndef ROS_TIME_H_ |
isad | 5:c30c76e8c3f1 | 36 | #define ROS_TIME_H_ |
isad | 5:c30c76e8c3f1 | 37 | |
isad | 5:c30c76e8c3f1 | 38 | #include <ros/duration.h> |
isad | 5:c30c76e8c3f1 | 39 | #include <math.h> |
isad | 5:c30c76e8c3f1 | 40 | |
isad | 5:c30c76e8c3f1 | 41 | namespace ros |
isad | 5:c30c76e8c3f1 | 42 | { |
isad | 5:c30c76e8c3f1 | 43 | void normalizeSecNSec(unsigned long &sec, unsigned long &nsec); |
isad | 5:c30c76e8c3f1 | 44 | |
isad | 5:c30c76e8c3f1 | 45 | class Time |
isad | 5:c30c76e8c3f1 | 46 | { |
isad | 5:c30c76e8c3f1 | 47 | public: |
isad | 5:c30c76e8c3f1 | 48 | unsigned long sec, nsec; |
isad | 5:c30c76e8c3f1 | 49 | |
isad | 5:c30c76e8c3f1 | 50 | Time() : sec(0), nsec(0) {} |
isad | 5:c30c76e8c3f1 | 51 | Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) |
isad | 5:c30c76e8c3f1 | 52 | { |
isad | 5:c30c76e8c3f1 | 53 | normalizeSecNSec(sec, nsec); |
isad | 5:c30c76e8c3f1 | 54 | } |
isad | 5:c30c76e8c3f1 | 55 | |
isad | 5:c30c76e8c3f1 | 56 | double toSec() const { return (double)sec + 1e-9*(double)nsec; }; |
isad | 5:c30c76e8c3f1 | 57 | void fromSec(double t) { sec = (unsigned long) floor(t); nsec = (unsigned long) rint((t-sec) * 1e9); }; |
isad | 5:c30c76e8c3f1 | 58 | |
isad | 5:c30c76e8c3f1 | 59 | unsigned long toNsec() { return (unsigned long)sec*1000000000ull + (unsigned long)nsec; }; |
isad | 5:c30c76e8c3f1 | 60 | Time& fromNSec(long t); |
isad | 5:c30c76e8c3f1 | 61 | |
isad | 5:c30c76e8c3f1 | 62 | Time& operator +=(const Duration &rhs); |
isad | 5:c30c76e8c3f1 | 63 | Time& operator -=(const Duration &rhs); |
isad | 5:c30c76e8c3f1 | 64 | |
isad | 5:c30c76e8c3f1 | 65 | static Time now(); |
isad | 5:c30c76e8c3f1 | 66 | static void setNow( Time & new_now); |
isad | 5:c30c76e8c3f1 | 67 | }; |
isad | 5:c30c76e8c3f1 | 68 | |
isad | 5:c30c76e8c3f1 | 69 | } |
isad | 5:c30c76e8c3f1 | 70 | |
isad | 5:c30c76e8c3f1 | 71 | #endif |