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/* 

 * 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,

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

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

 * POSSIBILITY OF SUCH DAMAGE.

 */

#include "ros.h"

#include "ros/time.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;

  }

}