root / quad2 / arduino / src / ros_lib / time.cpp @ c1426757
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1 | c1426757 | Tom Mullins | /*
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2 | * Software License Agreement (BSD License)
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3 | *
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4 | * Copyright (c) 2011, Willow Garage, Inc.
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5 | * All rights reserved.
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6 | *
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7 | * Redistribution and use in source and binary forms, with or without
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8 | * modification, are permitted provided that the following conditions
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9 | * are met:
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10 | *
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11 | * * Redistributions of source code must retain the above copyright
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12 | * notice, this list of conditions and the following disclaimer.
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13 | * * Redistributions in binary form must reproduce the above
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14 | * copyright notice, this list of conditions and the following
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15 | * disclaimer in the documentation and/or other materials provided
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16 | * with the distribution.
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17 | * * Neither the name of Willow Garage, Inc. nor the names of its
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18 | * contributors may be used to endorse or promote prducts derived
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19 | * from this software without specific prior written permission.
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20 | *
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21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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32 | * POSSIBILITY OF SUCH DAMAGE.
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33 | */
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34 | |||
35 | #include "ros.h" |
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36 | #include "ros/time.h" |
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37 | |||
38 | namespace ros
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39 | { |
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40 | void normalizeSecNSec(unsigned long& sec, unsigned long& nsec){ |
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41 | unsigned long nsec_part= nsec % 1000000000UL; |
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42 | unsigned long sec_part = nsec / 1000000000UL; |
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43 | sec += sec_part; |
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44 | nsec = nsec_part; |
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45 | } |
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46 | |||
47 | Time& Time::fromNSec(long t)
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48 | { |
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49 | sec = t / 1000000000;
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50 | nsec = t % 1000000000;
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51 | normalizeSecNSec(sec, nsec); |
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52 | return *this; |
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53 | } |
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54 | |||
55 | Time& Time::operator +=(const Duration &rhs) |
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56 | { |
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57 | sec += rhs.sec; |
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58 | nsec += rhs.nsec; |
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59 | normalizeSecNSec(sec, nsec); |
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60 | return *this; |
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61 | } |
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62 | |||
63 | Time& Time::operator -=(const Duration &rhs){ |
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64 | sec += -rhs.sec; |
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65 | nsec += -rhs.nsec; |
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66 | normalizeSecNSec(sec, nsec); |
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67 | return *this; |
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68 | } |
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69 | |||
70 | } |