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

ros/time.h@3:dff241b66f84, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:53:04 2011 +0000
Revision:
3:dff241b66f84
Parent:
1:098e75fd5ad2 
This program supported the revision of 167 of rosserial.

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 #ifndef ROS_TIME_H_
nucho 1:098e75fd5ad2 36 #define ROS_TIME_H_
nucho 0:06fc856e99ca 37
nucho 0:06fc856e99ca 38 #include <ros/duration.h>
nucho 0:06fc856e99ca 39 #include <math.h>
nucho 0:06fc856e99ca 40
nucho 0:06fc856e99ca 41 namespace ros {
nucho 0:06fc856e99ca 42 void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);
nucho 0:06fc856e99ca 43
nucho 0:06fc856e99ca 44 class Time {
nucho 0:06fc856e99ca 45 public:
nucho 0:06fc856e99ca 46 unsigned long sec, nsec;
nucho 0:06fc856e99ca 47
nucho 0:06fc856e99ca 48 Time() : sec(0), nsec(0) {}
nucho 0:06fc856e99ca 49 Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) {
nucho 0:06fc856e99ca 50 normalizeSecNSec(sec, nsec);
nucho 0:06fc856e99ca 51 }
nucho 0:06fc856e99ca 52
nucho 0:06fc856e99ca 53 double toSec() const {
nucho 0:06fc856e99ca 54 return (double)sec + 1e-9*(double)nsec;
nucho 0:06fc856e99ca 55 };
nucho 0:06fc856e99ca 56 void fromSec(double t) {
nucho 0:06fc856e99ca 57 sec = (unsigned long) floor(t);
nucho 0:06fc856e99ca 58 nsec = (unsigned long) round((t-sec) * 1e9);
nucho 0:06fc856e99ca 59 };
nucho 0:06fc856e99ca 60
nucho 0:06fc856e99ca 61 unsigned long toNsec() {
nucho 0:06fc856e99ca 62 return (unsigned long)sec*1000000000ull + (unsigned long)nsec;
nucho 0:06fc856e99ca 63 };
nucho 0:06fc856e99ca 64 Time& fromNSec(long t);
nucho 0:06fc856e99ca 65
nucho 0:06fc856e99ca 66 Time& operator +=(const Duration &rhs);
nucho 0:06fc856e99ca 67 Time& operator -=(const Duration &rhs);
nucho 0:06fc856e99ca 68
nucho 0:06fc856e99ca 69 static Time now();
nucho 0:06fc856e99ca 70 static void setNow( Time & new_now);
nucho 0:06fc856e99ca 71
nucho 0:06fc856e99ca 72 int round(double x) {
nucho 0:06fc856e99ca 73 int a;
nucho 0:06fc856e99ca 74 a = floor(x + 0.5);
nucho 0:06fc856e99ca 75 return a;
nucho 0:06fc856e99ca 76 }
nucho 0:06fc856e99ca 77
nucho 1:098e75fd5ad2 78 };
nucho 0:06fc856e99ca 79
nucho 0:06fc856e99ca 80 }
nucho 0:06fc856e99ca 81
nucho 1:098e75fd5ad2 82 #endif