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165 lines
4.6 KiB
165 lines
4.6 KiB
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, 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 products 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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#ifndef ROS_TIME_IMPL_H_INCLUDED
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#define ROS_TIME_IMPL_H_INCLUDED
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/*********************************************************************
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** Headers
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*********************************************************************/
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#include <ros/platform.h>
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#include <iostream>
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#include <cmath>
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#include <ros/exception.h>
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#include <ros/time.h>
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/*********************************************************************
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** Cross Platform Headers
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*********************************************************************/
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#ifdef WIN32
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#include <sys/timeb.h>
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#else
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#include <sys/time.h>
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#endif
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namespace rs2rosinternal
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{
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template<class T, class D>
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T& TimeBase<T, D>::fromNSec(uint64_t t)
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{
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uint64_t sec64 = 0;
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uint64_t nsec64 = t;
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normalizeSecNSec(sec64, nsec64);
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sec = (uint32_t)sec64;
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nsec = (uint32_t)nsec64;
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return *static_cast<T*>(this);
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}
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template<class T, class D>
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D TimeBase<T, D>::operator-(const T &rhs) const
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{
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return D((int32_t)sec - (int32_t)rhs.sec,
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(int32_t)nsec - (int32_t)rhs.nsec); // carry handled in ctor
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}
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template<class T, class D>
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T TimeBase<T, D>::operator-(const D &rhs) const
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{
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return *static_cast<const T*>(this) + ( -rhs);
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}
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template<class T, class D>
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T TimeBase<T, D>::operator+(const D &rhs) const
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{
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int64_t sec_sum = (int64_t)sec + (int64_t)rhs.sec;
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int64_t nsec_sum = (int64_t)nsec + (int64_t)rhs.nsec;
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// Throws an exception if we go out of 32-bit range
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normalizeSecNSecUnsigned(sec_sum, nsec_sum);
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// now, it's safe to downcast back to uint32 bits
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return T((uint32_t)sec_sum, (uint32_t)nsec_sum);
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}
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template<class T, class D>
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T& TimeBase<T, D>::operator+=(const D &rhs)
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{
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*this = *this + rhs;
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return *static_cast<T*>(this);
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}
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template<class T, class D>
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T& TimeBase<T, D>::operator-=(const D &rhs)
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{
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*this += (-rhs);
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return *static_cast<T*>(this);
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}
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template<class T, class D>
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bool TimeBase<T, D>::operator==(const T &rhs) const
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{
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return sec == rhs.sec && nsec == rhs.nsec;
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}
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template<class T, class D>
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bool TimeBase<T, D>::operator<(const T &rhs) const
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{
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if (sec < rhs.sec)
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return true;
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else if (sec == rhs.sec && nsec < rhs.nsec)
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return true;
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return false;
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}
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template<class T, class D>
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bool TimeBase<T, D>::operator>(const T &rhs) const
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{
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if (sec > rhs.sec)
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return true;
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else if (sec == rhs.sec && nsec > rhs.nsec)
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return true;
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return false;
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}
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template<class T, class D>
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bool TimeBase<T, D>::operator<=(const T &rhs) const
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{
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if (sec < rhs.sec)
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return true;
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else if (sec == rhs.sec && nsec <= rhs.nsec)
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return true;
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return false;
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}
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template<class T, class D>
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bool TimeBase<T, D>::operator>=(const T &rhs) const
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{
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if (sec > rhs.sec)
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return true;
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else if (sec == rhs.sec && nsec >= rhs.nsec)
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return true;
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return false;
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}
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}
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#endif // ROS_IMPL_TIME_H_INCLUDED
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