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
Diff: duration.cpp
- Revision:
- 4:2cbca0ac2569
- Parent:
- 3:dff241b66f84
--- a/duration.cpp Sat Nov 12 23:53:04 2011 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,81 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote prducts derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include <math.h> -#include "ros/duration.h" - -namespace ros -{ - void normalizeSecNSecSigned(long &sec, long &nsec) - { - long nsec_part = nsec; - long sec_part = sec; - - while (nsec_part > 1000000000L) - { - nsec_part -= 1000000000L; - ++sec_part; - } - while (nsec_part < 0) - { - nsec_part += 1000000000L; - --sec_part; - } - sec = sec_part; - nsec = nsec_part; - } - - Duration& Duration::operator+=(const Duration &rhs) - { - sec += rhs.sec; - nsec += rhs.nsec; - normalizeSecNSecSigned(sec, nsec); - return *this; - } - - Duration& Duration::operator-=(const Duration &rhs){ - sec += -rhs.sec; - nsec += -rhs.nsec; - normalizeSecNSecSigned(sec, nsec); - return *this; - } - - Duration& Duration::operator*=(double scale){ - sec *= scale; - nsec *= scale; - normalizeSecNSecSigned(sec, nsec); - return *this; - } - -} \ No newline at end of file