Jesus Fausto / ros_lib_kinetic3

Increased buffer size

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

time.cpp@2:2e7b61982dd2, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:52:23 2018 +0000
Revision:
2:2e7b61982dd2
Parent:
0:9e9b7db60fd5 
Working towards recieving twists

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 "ros/time.h"
garyservin 0:9e9b7db60fd5 36
garyservin 0:9e9b7db60fd5 37 namespace ros
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 void normalizeSecNSec(uint32_t& sec, uint32_t& nsec){
garyservin 0:9e9b7db60fd5 40 uint32_t nsec_part= nsec % 1000000000UL;
garyservin 0:9e9b7db60fd5 41 uint32_t sec_part = nsec / 1000000000UL;
garyservin 0:9e9b7db60fd5 42 sec += sec_part;
garyservin 0:9e9b7db60fd5 43 nsec = nsec_part;
garyservin 0:9e9b7db60fd5 44 }
garyservin 0:9e9b7db60fd5 45
garyservin 0:9e9b7db60fd5 46 Time& Time::fromNSec(int32_t t)
garyservin 0:9e9b7db60fd5 47 {
garyservin 0:9e9b7db60fd5 48 sec = t / 1000000000;
garyservin 0:9e9b7db60fd5 49 nsec = t % 1000000000;
garyservin 0:9e9b7db60fd5 50 normalizeSecNSec(sec, nsec);
garyservin 0:9e9b7db60fd5 51 return *this;
garyservin 0:9e9b7db60fd5 52 }
garyservin 0:9e9b7db60fd5 53
garyservin 0:9e9b7db60fd5 54 Time& Time::operator +=(const Duration &rhs)
garyservin 0:9e9b7db60fd5 55 {
garyservin 0:9e9b7db60fd5 56 sec += rhs.sec;
garyservin 0:9e9b7db60fd5 57 nsec += rhs.nsec;
garyservin 0:9e9b7db60fd5 58 normalizeSecNSec(sec, nsec);
garyservin 0:9e9b7db60fd5 59 return *this;
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61
garyservin 0:9e9b7db60fd5 62 Time& Time::operator -=(const Duration &rhs){
garyservin 0:9e9b7db60fd5 63 sec += -rhs.sec;
garyservin 0:9e9b7db60fd5 64 nsec += -rhs.nsec;
garyservin 0:9e9b7db60fd5 65 normalizeSecNSec(sec, nsec);
garyservin 0:9e9b7db60fd5 66 return *this;
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68 }