Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

duration.cpp@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 /*
garyservin 0:9e9b7db60fd5 2 * Software License Agreement (BSD License)
garyservin 0:9e9b7db60fd5 3 *
garyservin 0:9e9b7db60fd5 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:9e9b7db60fd5 5 * All rights reserved.
garyservin 0:9e9b7db60fd5 6 *
garyservin 0:9e9b7db60fd5 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:9e9b7db60fd5 8 * modification, are permitted provided that the following conditions
garyservin 0:9e9b7db60fd5 9 * are met:
garyservin 0:9e9b7db60fd5 10 *
garyservin 0:9e9b7db60fd5 11 * * Redistributions of source code must retain the above copyright
garyservin 0:9e9b7db60fd5 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:9e9b7db60fd5 13 * * Redistributions in binary form must reproduce the above
garyservin 0:9e9b7db60fd5 14 * copyright notice, this list of conditions and the following
garyservin 0:9e9b7db60fd5 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:9e9b7db60fd5 16 * with the distribution.
garyservin 0:9e9b7db60fd5 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:9e9b7db60fd5 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:9e9b7db60fd5 19 * from this software without specific prior written permission.
garyservin 0:9e9b7db60fd5 20 *
garyservin 0:9e9b7db60fd5 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:9e9b7db60fd5 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:9e9b7db60fd5 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:9e9b7db60fd5 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:9e9b7db60fd5 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:9e9b7db60fd5 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:9e9b7db60fd5 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:9e9b7db60fd5 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:9e9b7db60fd5 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:9e9b7db60fd5 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:9e9b7db60fd5 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:9e9b7db60fd5 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:9e9b7db60fd5 33 */
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 #include <math.h>
garyservin 0:9e9b7db60fd5 36 #include "ros/duration.h"
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 namespace ros
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 int32_t nsec_part = nsec;
garyservin 0:9e9b7db60fd5 43 int32_t sec_part = sec;
garyservin 0:9e9b7db60fd5 44
garyservin 0:9e9b7db60fd5 45 while (nsec_part > 1000000000L)
garyservin 0:9e9b7db60fd5 46 {
garyservin 0:9e9b7db60fd5 47 nsec_part -= 1000000000L;
garyservin 0:9e9b7db60fd5 48 ++sec_part;
garyservin 0:9e9b7db60fd5 49 }
garyservin 0:9e9b7db60fd5 50 while (nsec_part < 0)
garyservin 0:9e9b7db60fd5 51 {
garyservin 0:9e9b7db60fd5 52 nsec_part += 1000000000L;
garyservin 0:9e9b7db60fd5 53 --sec_part;
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55 sec = sec_part;
garyservin 0:9e9b7db60fd5 56 nsec = nsec_part;
garyservin 0:9e9b7db60fd5 57 }
garyservin 0:9e9b7db60fd5 58
garyservin 0:9e9b7db60fd5 59 Duration& Duration::operator+=(const Duration &rhs)
garyservin 0:9e9b7db60fd5 60 {
garyservin 0:9e9b7db60fd5 61 sec += rhs.sec;
garyservin 0:9e9b7db60fd5 62 nsec += rhs.nsec;
garyservin 0:9e9b7db60fd5 63 normalizeSecNSecSigned(sec, nsec);
garyservin 0:9e9b7db60fd5 64 return *this;
garyservin 0:9e9b7db60fd5 65 }
garyservin 0:9e9b7db60fd5 66
garyservin 0:9e9b7db60fd5 67 Duration& Duration::operator-=(const Duration &rhs){
garyservin 0:9e9b7db60fd5 68 sec += -rhs.sec;
garyservin 0:9e9b7db60fd5 69 nsec += -rhs.nsec;
garyservin 0:9e9b7db60fd5 70 normalizeSecNSecSigned(sec, nsec);
garyservin 0:9e9b7db60fd5 71 return *this;
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73
garyservin 0:9e9b7db60fd5 74 Duration& Duration::operator*=(double scale){
garyservin 0:9e9b7db60fd5 75 sec *= scale;
garyservin 0:9e9b7db60fd5 76 nsec *= scale;
garyservin 0:9e9b7db60fd5 77 normalizeSecNSecSigned(sec, nsec);
garyservin 0:9e9b7db60fd5 78 return *this;
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 }