This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
Diff: ros/time.h
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
diff -r 000000000000 -r 77afd7560544 ros/time.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros/time.h Fri Aug 19 09:06:30 2011 +0000 @@ -0,0 +1,88 @@ +/* + * 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 + */ + +#ifndef ros_time_h_included +#define ros_time_h_included + +#include <ros/duration.h> +#include <math.h> + + +namespace ros { +void normalizeSecNSec(unsigned long &sec, unsigned long &nsec); + + +class Time { +public: + unsigned long sec, nsec; + + Time() : sec(0), nsec(0) {} + Time(unsigned long _sec, unsigned long _nsec) : sec(_sec), nsec(_nsec) { + normalizeSecNSec(sec, nsec); + } + + double toSec() const { + return (double)sec + 1e-9*(double)nsec; + }; + void fromSec(double t) { + sec = (unsigned long) floor(t); + nsec = (unsigned long) round((t-sec) * 1e9); + }; + + unsigned long toNsec() { + return (unsigned long)sec*1000000000ull + (unsigned long)nsec; + }; + Time& fromNSec(long t); + + Time& operator +=(const Duration &rhs); + Time& operator -=(const Duration &rhs); + + static Time now(); + static void setNow( Time & new_now); + + int round(double x) { + int a; + a = floor(x + 0.5); + return a; + } + + +}; +} + +#endif