![](/media/cache/profiles/94aef38441efa3380a3bed3faf1f9d5d.50x50_q85.jpg)
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
time.cpp
- Committer:
- nucho
- Date:
- 2011-08-19
- Revision:
- 0:06fc856e99ca
File content as of revision 0:06fc856e99ca:
/* * 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. */ /* * Author: Michael Ferguson */ #include "ros/time.h" #include "ros.h" namespace ros { void normalizeSecNSec(unsigned long& sec, unsigned long& nsec){ unsigned long nsec_part= nsec % 1000000000UL; unsigned long sec_part = nsec / 1000000000UL; sec += sec_part; nsec = nsec_part; } Time& Time::fromNSec(long t) { sec = t / 1000000000; nsec = t % 1000000000; normalizeSecNSec(sec, nsec); return *this; } Time& Time::operator +=(const Duration &rhs) { sec += rhs.sec; nsec += rhs.nsec; normalizeSecNSec(sec, nsec); return *this; } Time& Time::operator -=(const Duration &rhs){ sec += -rhs.sec; nsec += -rhs.nsec; normalizeSecNSec(sec, nsec); return *this; } }