nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

time.cpp@4:684f39d0c346, 2012-02-29 (annotated)

Committer:
nucho
Date:
Wed Feb 29 23:00:21 2012 +0000
Revision:
4:684f39d0c346
Parent:
0:77afd7560544 

        

        
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/* 





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 * Software License Agreement (BSD License)





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 *





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 * Copyright (c) 2011, Willow Garage, Inc.





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 * All rights reserved.





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 *





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 * Redistribution and use in source and binary forms, with or without





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 * modification, are permitted provided that the following conditions





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 * are met:





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 *





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 *  * Redistributions of source code must retain the above copyright





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 *    notice, this list of conditions and the following disclaimer.





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 *  * Redistributions in binary form must reproduce the above





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 *    copyright notice, this list of conditions and the following





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 *    disclaimer in the documentation and/or other materials provided





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 *    with the distribution.





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 *  * Neither the name of Willow Garage, Inc. nor the names of its





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 *    contributors may be used to endorse or promote prducts derived





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 *    from this software without specific prior written permission.





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 *





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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS





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 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT





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 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS





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 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE





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 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,





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 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,





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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;





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 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER





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 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT





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 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN





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 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE





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 * POSSIBILITY OF SUCH DAMAGE.





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 */





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/* 





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 * Author: Michael Ferguson





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 */





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#include "ros/time.h"





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#include "ros.h"





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namespace ros





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{





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  void normalizeSecNSec(unsigned long& sec, unsigned long& nsec){





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    unsigned long nsec_part= nsec % 1000000000UL;





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    unsigned long sec_part = nsec / 1000000000UL;





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    sec += sec_part;





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    nsec = nsec_part;





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  }





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  Time& Time::fromNSec(long t)





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  {





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    sec = t / 1000000000;





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    nsec = t % 1000000000;





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    normalizeSecNSec(sec, nsec);





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    return *this;





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  }





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  Time& Time::operator +=(const Duration &rhs)





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  {





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    sec += rhs.sec;





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    nsec += rhs.nsec;





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    normalizeSecNSec(sec, nsec);





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    return *this; 





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  }





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  Time& Time::operator -=(const Duration &rhs){





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    sec += -rhs.sec;





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    nsec += -rhs.nsec;





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    normalizeSecNSec(sec, nsec);





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    return *this;





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  }





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}