Simon Krogedal / ros_lib_melodic

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

Dependencies:   BufferedSerial

ros/duration.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
1:da82487f547e 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 /*
Gary Servin 0:04ac6be8229a 2 * Software License Agreement (BSD License)
Gary Servin 0:04ac6be8229a 3 *
Gary Servin 0:04ac6be8229a 4 * Copyright (c) 2011, Willow Garage, Inc.
Gary Servin 0:04ac6be8229a 5 * All rights reserved.
Gary Servin 0:04ac6be8229a 6 *
Gary Servin 0:04ac6be8229a 7 * Redistribution and use in source and binary forms, with or without
Gary Servin 0:04ac6be8229a 8 * modification, are permitted provided that the following conditions
Gary Servin 0:04ac6be8229a 9 * are met:
Gary Servin 0:04ac6be8229a 10 *
Gary Servin 0:04ac6be8229a 11 * * Redistributions of source code must retain the above copyright
Gary Servin 0:04ac6be8229a 12 * notice, this list of conditions and the following disclaimer.
Gary Servin 0:04ac6be8229a 13 * * Redistributions in binary form must reproduce the above
Gary Servin 0:04ac6be8229a 14 * copyright notice, this list of conditions and the following
Gary Servin 0:04ac6be8229a 15 * disclaimer in the documentation and/or other materials provided
Gary Servin 0:04ac6be8229a 16 * with the distribution.
Gary Servin 0:04ac6be8229a 17 * * Neither the name of Willow Garage, Inc. nor the names of its
Gary Servin 0:04ac6be8229a 18 * contributors may be used to endorse or promote prducts derived
Gary Servin 0:04ac6be8229a 19 * from this software without specific prior written permission.
Gary Servin 0:04ac6be8229a 20 *
Gary Servin 0:04ac6be8229a 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Gary Servin 0:04ac6be8229a 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Gary Servin 0:04ac6be8229a 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Gary Servin 0:04ac6be8229a 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
Gary Servin 0:04ac6be8229a 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
Gary Servin 0:04ac6be8229a 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
Gary Servin 0:04ac6be8229a 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Gary Servin 0:04ac6be8229a 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Gary Servin 0:04ac6be8229a 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
Gary Servin 0:04ac6be8229a 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
Gary Servin 0:04ac6be8229a 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Gary Servin 0:04ac6be8229a 32 * POSSIBILITY OF SUCH DAMAGE.
Gary Servin 0:04ac6be8229a 33 */
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 #ifndef _ROS_DURATION_H_
Gary Servin 0:04ac6be8229a 36 #define _ROS_DURATION_H_
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 #include <math.h>
Gary Servin 0:04ac6be8229a 39 #include <stdint.h>
Gary Servin 0:04ac6be8229a 40
Gary Servin 0:04ac6be8229a 41 namespace ros
Gary Servin 0:04ac6be8229a 42 {
Gary Servin 0:04ac6be8229a 43
Gary Servin 0:04ac6be8229a 44 void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
Gary Servin 0:04ac6be8229a 45
Gary Servin 0:04ac6be8229a 46 class Duration
Gary Servin 0:04ac6be8229a 47 {
Gary Servin 0:04ac6be8229a 48 public:
Gary Servin 0:04ac6be8229a 49 int32_t sec, nsec;
Gary Servin 0:04ac6be8229a 50
Gary Servin 0:04ac6be8229a 51 Duration() : sec(0), nsec(0) {}
Gary Servin 0:04ac6be8229a 52 Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
Gary Servin 0:04ac6be8229a 53 {
Gary Servin 0:04ac6be8229a 54 normalizeSecNSecSigned(sec, nsec);
Gary Servin 0:04ac6be8229a 55 }
Gary Servin 0:04ac6be8229a 56
Gary Servin 1:da82487f547e 57 double round(double number)
Gary Servin 1:da82487f547e 58 {
Gary Servin 1:da82487f547e 59 return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5);
Gary Servin 1:da82487f547e 60 };
Gary Servin 0:04ac6be8229a 61 double toSec() const
Gary Servin 0:04ac6be8229a 62 {
Gary Servin 0:04ac6be8229a 63 return (double)sec + 1e-9 * (double)nsec;
Gary Servin 0:04ac6be8229a 64 };
Gary Servin 0:04ac6be8229a 65 void fromSec(double t)
Gary Servin 0:04ac6be8229a 66 {
Gary Servin 0:04ac6be8229a 67 sec = (uint32_t) floor(t);
Gary Servin 0:04ac6be8229a 68 nsec = (uint32_t) round((t - sec) * 1e9);
Gary Servin 0:04ac6be8229a 69 };
Gary Servin 0:04ac6be8229a 70
Gary Servin 0:04ac6be8229a 71 Duration& operator+=(const Duration &rhs);
Gary Servin 0:04ac6be8229a 72 Duration& operator-=(const Duration &rhs);
Gary Servin 0:04ac6be8229a 73 Duration& operator*=(double scale);
Gary Servin 0:04ac6be8229a 74 };
Gary Servin 0:04ac6be8229a 75
Gary Servin 0:04ac6be8229a 76 }
Gary Servin 0:04ac6be8229a 77
Gary Servin 0:04ac6be8229a 78 #endif
Gary Servin 0:04ac6be8229a 79