nucho / Mbed 2 deprecated rosserial_mbed

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

duration.cpp@1:098e75fd5ad2, 2011-10-16 (annotated)

Committer:
nucho
Date:
Sun Oct 16 07:17:43 2011 +0000
Revision:
1:098e75fd5ad2
Parent:
0:06fc856e99ca 
This program supported the revision of 143 of rosserial.

And the bug fix of receive of array data.

Who changed what in which revision?

UserRevisionLine numberNew 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 1:098e75fd5ad2 35 #include <math.h>
nucho 0:06fc856e99ca 36 #include "ros/duration.h"
nucho 0:06fc856e99ca 37
nucho 0:06fc856e99ca 38 namespace ros
nucho 0:06fc856e99ca 39 {
nucho 0:06fc856e99ca 40 void normalizeSecNSecSigned(long &sec, long &nsec)
nucho 0:06fc856e99ca 41 {
nucho 0:06fc856e99ca 42 long nsec_part = nsec;
nucho 0:06fc856e99ca 43 long sec_part = sec;
nucho 0:06fc856e99ca 44
nucho 0:06fc856e99ca 45 while (nsec_part > 1000000000L)
nucho 0:06fc856e99ca 46 {
nucho 0:06fc856e99ca 47 nsec_part -= 1000000000L;
nucho 0:06fc856e99ca 48 ++sec_part;
nucho 0:06fc856e99ca 49 }
nucho 0:06fc856e99ca 50 while (nsec_part < 0)
nucho 0:06fc856e99ca 51 {
nucho 0:06fc856e99ca 52 nsec_part += 1000000000L;
nucho 0:06fc856e99ca 53 --sec_part;
nucho 0:06fc856e99ca 54 }
nucho 0:06fc856e99ca 55 sec = sec_part;
nucho 0:06fc856e99ca 56 nsec = nsec_part;
nucho 0:06fc856e99ca 57 }
nucho 0:06fc856e99ca 58
nucho 0:06fc856e99ca 59 Duration& Duration::operator+=(const Duration &rhs)
nucho 0:06fc856e99ca 60 {
nucho 0:06fc856e99ca 61 sec += rhs.sec;
nucho 0:06fc856e99ca 62 nsec += rhs.nsec;
nucho 0:06fc856e99ca 63 normalizeSecNSecSigned(sec, nsec);
nucho 0:06fc856e99ca 64 return *this;
nucho 0:06fc856e99ca 65 }
nucho 0:06fc856e99ca 66
nucho 0:06fc856e99ca 67 Duration& Duration::operator-=(const Duration &rhs){
nucho 0:06fc856e99ca 68 sec += -rhs.sec;
nucho 0:06fc856e99ca 69 nsec += -rhs.nsec;
nucho 0:06fc856e99ca 70 normalizeSecNSecSigned(sec, nsec);
nucho 0:06fc856e99ca 71 return *this;
nucho 0:06fc856e99ca 72 }
nucho 0:06fc856e99ca 73
nucho 0:06fc856e99ca 74 Duration& Duration::operator*=(double scale){
nucho 0:06fc856e99ca 75 sec *= scale;
nucho 0:06fc856e99ca 76 nsec *= scale;
nucho 0:06fc856e99ca 77 normalizeSecNSecSigned(sec, nsec);
nucho 0:06fc856e99ca 78 return *this;
nucho 0:06fc856e99ca 79 }
nucho 0:06fc856e99ca 80
nucho 1:098e75fd5ad2 81 }