nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
ros/time.h@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
- Child:
- 1:098e75fd5ad2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | /* |
| nucho | 0:06fc856e99ca | 2 | * Software License Agreement (BSD License) |
| nucho | 0:06fc856e99ca | 3 | * |
| nucho | 0:06fc856e99ca | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
| nucho | 0:06fc856e99ca | 5 | * All rights reserved. |
| nucho | 0:06fc856e99ca | 6 | * |
| nucho | 0:06fc856e99ca | 7 | * Redistribution and use in source and binary forms, with or without |
| nucho | 0:06fc856e99ca | 8 | * modification, are permitted provided that the following conditions |
| nucho | 0:06fc856e99ca | 9 | * are met: |
| nucho | 0:06fc856e99ca | 10 | * |
| nucho | 0:06fc856e99ca | 11 | * * Redistributions of source code must retain the above copyright |
| nucho | 0:06fc856e99ca | 12 | * notice, this list of conditions and the following disclaimer. |
| nucho | 0:06fc856e99ca | 13 | * * Redistributions in binary form must reproduce the above |
| nucho | 0:06fc856e99ca | 14 | * copyright notice, this list of conditions and the following |
| nucho | 0:06fc856e99ca | 15 | * disclaimer in the documentation and/or other materials provided |
| nucho | 0:06fc856e99ca | 16 | * with the distribution. |
| nucho | 0:06fc856e99ca | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
| nucho | 0:06fc856e99ca | 18 | * contributors may be used to endorse or promote prducts derived |
| nucho | 0:06fc856e99ca | 19 | * from this software without specific prior written permission. |
| nucho | 0:06fc856e99ca | 20 | * |
| nucho | 0:06fc856e99ca | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| nucho | 0:06fc856e99ca | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| nucho | 0:06fc856e99ca | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| nucho | 0:06fc856e99ca | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| nucho | 0:06fc856e99ca | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| nucho | 0:06fc856e99ca | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| nucho | 0:06fc856e99ca | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| nucho | 0:06fc856e99ca | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| nucho | 0:06fc856e99ca | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| nucho | 0:06fc856e99ca | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| nucho | 0:06fc856e99ca | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| nucho | 0:06fc856e99ca | 32 | * POSSIBILITY OF SUCH DAMAGE. |
| nucho | 0:06fc856e99ca | 33 | */ |
| nucho | 0:06fc856e99ca | 34 | |
| nucho | 0:06fc856e99ca | 35 | /* |
| nucho | 0:06fc856e99ca | 36 | * Author: Michael Ferguson |
| nucho | 0:06fc856e99ca | 37 | */ |
| nucho | 0:06fc856e99ca | 38 | |
| nucho | 0:06fc856e99ca | 39 | #ifndef ros_time_h_included |
| nucho | 0:06fc856e99ca | 40 | #define ros_time_h_included |
| nucho | 0:06fc856e99ca | 41 | |
| nucho | 0:06fc856e99ca | 42 | #include <ros/duration.h> |
| nucho | 0:06fc856e99ca | 43 | #include <math.h> |
| nucho | 0:06fc856e99ca | 44 | |
| nucho | 0:06fc856e99ca | 45 | |
| nucho | 0:06fc856e99ca | 46 | namespace ros { |
| nucho | 0:06fc856e99ca | 47 | void normalizeSecNSec(unsigned long &sec, unsigned long &nsec); |
| nucho | 0:06fc856e99ca | 48 | |
| nucho | 0:06fc856e99ca | 49 | |
| nucho | 0:06fc856e99ca | 50 | class Time { |
| nucho | 0:06fc856e99ca | 51 | public: |
| nucho | 0:06fc856e99ca | 52 | unsigned long sec, nsec; |
| nucho | 0:06fc856e99ca | 53 | |
| nucho | 0:06fc856e99ca | 54 | Time() : sec(0), nsec(0) {} |
| nucho | 0:06fc856e99ca | 55 | Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) { |
| nucho | 0:06fc856e99ca | 56 | normalizeSecNSec(sec, nsec); |
| nucho | 0:06fc856e99ca | 57 | } |
| nucho | 0:06fc856e99ca | 58 | |
| nucho | 0:06fc856e99ca | 59 | double toSec() const { |
| nucho | 0:06fc856e99ca | 60 | return (double)sec + 1e-9*(double)nsec; |
| nucho | 0:06fc856e99ca | 61 | }; |
| nucho | 0:06fc856e99ca | 62 | void fromSec(double t) { |
| nucho | 0:06fc856e99ca | 63 | sec = (unsigned long) floor(t); |
| nucho | 0:06fc856e99ca | 64 | nsec = (unsigned long) round((t-sec) * 1e9); |
| nucho | 0:06fc856e99ca | 65 | }; |
| nucho | 0:06fc856e99ca | 66 | |
| nucho | 0:06fc856e99ca | 67 | unsigned long toNsec() { |
| nucho | 0:06fc856e99ca | 68 | return (unsigned long)sec*1000000000ull + (unsigned long)nsec; |
| nucho | 0:06fc856e99ca | 69 | }; |
| nucho | 0:06fc856e99ca | 70 | Time& fromNSec(long t); |
| nucho | 0:06fc856e99ca | 71 | |
| nucho | 0:06fc856e99ca | 72 | Time& operator +=(const Duration &rhs); |
| nucho | 0:06fc856e99ca | 73 | Time& operator -=(const Duration &rhs); |
| nucho | 0:06fc856e99ca | 74 | |
| nucho | 0:06fc856e99ca | 75 | static Time now(); |
| nucho | 0:06fc856e99ca | 76 | static void setNow( Time & new_now); |
| nucho | 0:06fc856e99ca | 77 | |
| nucho | 0:06fc856e99ca | 78 | int round(double x) { |
| nucho | 0:06fc856e99ca | 79 | int a; |
| nucho | 0:06fc856e99ca | 80 | a = floor(x + 0.5); |
| nucho | 0:06fc856e99ca | 81 | return a; |
| nucho | 0:06fc856e99ca | 82 | } |
| nucho | 0:06fc856e99ca | 83 | |
| nucho | 0:06fc856e99ca | 84 | |
| nucho | 0:06fc856e99ca | 85 | }; |
| nucho | 0:06fc856e99ca | 86 | } |
| nucho | 0:06fc856e99ca | 87 | |
| nucho | 0:06fc856e99ca | 88 | #endif |