rostime: rostime: time.h Source File

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00034 
00035 #ifndef ROS_TIME_IMPL_H_INCLUDED
00036 #define ROS_TIME_IMPL_H_INCLUDED
00037 
00038 /*********************************************************************
00039 ** Headers
00040 *********************************************************************/
00041 
00042 #include <ros/platform.h>
00043 #include <iostream>
00044 #include <cmath>
00045 #include <ros/exception.h>
00046 #include <ros/time.h>
00047 #include <boost/date_time/posix_time/posix_time.hpp>
00048 
00049 /*********************************************************************
00050 ** Cross Platform Headers
00051 *********************************************************************/
00052 
00053 #ifdef WIN32
00054   #include <sys/timeb.h>
00055 #else
00056   #include <sys/time.h>
00057 #endif
00058 
00059 namespace ros
00060 {
00061 
00062   template<class T, class D>
00063   T& TimeBase<T, D>::fromNSec(uint64_t t)
00064   {
00065     sec  = (int32_t)(t / 1000000000);
00066     nsec = (int32_t)(t % 1000000000);
00067 
00068     normalizeSecNSec(sec, nsec);
00069 
00070     return *static_cast<T*>(this);
00071   }
00072 
00073   template<class T, class D>
00074   D TimeBase<T, D>::operator-(const T &rhs) const
00075   {
00076     return D((int32_t)sec -  (int32_t)rhs.sec,
00077              (int32_t)nsec - (int32_t)rhs.nsec); // carry handled in ctor
00078   }
00079 
00080   template<class T, class D>
00081   T TimeBase<T, D>::operator-(const D &rhs) const
00082   {
00083     return *static_cast<const T*>(this) + ( -rhs);
00084   }
00085 
00086   template<class T, class D>
00087   T TimeBase<T, D>::operator+(const D &rhs) const
00088   {
00089     int64_t sec_sum  = (int64_t)sec  + (int64_t)rhs.sec;
00090     int64_t nsec_sum = (int64_t)nsec + (int64_t)rhs.nsec;
00091 
00092     // Throws an exception if we go out of 32-bit range
00093     normalizeSecNSecUnsigned(sec_sum, nsec_sum);
00094 
00095     // now, it's safe to downcast back to uint32 bits
00096     return T((uint32_t)sec_sum, (uint32_t)nsec_sum);
00097   }
00098 
00099   template<class T, class D>
00100   T& TimeBase<T, D>::operator+=(const D &rhs)
00101   {
00102     *this = *this + rhs;
00103     return *static_cast<T*>(this);
00104   }
00105 
00106   template<class T, class D>
00107   T& TimeBase<T, D>::operator-=(const D &rhs)
00108   {
00109     *this += (-rhs);
00110     return *static_cast<T*>(this);
00111   }
00112 
00113   template<class T, class D>
00114   bool TimeBase<T, D>::operator==(const T &rhs) const
00115   {
00116     return sec == rhs.sec && nsec == rhs.nsec;
00117   }
00118 
00119   template<class T, class D>
00120   bool TimeBase<T, D>::operator<(const T &rhs) const
00121   {
00122     if (sec < rhs.sec)
00123       return true;
00124     else if (sec == rhs.sec && nsec < rhs.nsec)
00125       return true;
00126     return false;
00127   }
00128 
00129   template<class T, class D>
00130   bool TimeBase<T, D>::operator>(const T &rhs) const
00131   {
00132     if (sec > rhs.sec)
00133       return true;
00134     else if (sec == rhs.sec && nsec > rhs.nsec)
00135       return true;
00136     return false;
00137   }
00138 
00139   template<class T, class D>
00140   bool TimeBase<T, D>::operator<=(const T &rhs) const
00141   {
00142     if (sec < rhs.sec)
00143       return true;
00144     else if (sec == rhs.sec && nsec <= rhs.nsec)
00145       return true;
00146     return false;
00147   }
00148 
00149   template<class T, class D>
00150   bool TimeBase<T, D>::operator>=(const T &rhs) const
00151   {
00152     if (sec > rhs.sec)
00153       return true;
00154     else if (sec == rhs.sec && nsec >= rhs.nsec)
00155       return true;
00156     return false;
00157   }
00158 
00159   template<class T, class D>
00160   boost::posix_time::ptime
00161   TimeBase<T, D>::toBoost() const
00162   {
00163     namespace pt = boost::posix_time;
00164 #if defined(BOOST_DATE_TIME_HAS_NANOSECONDS)
00165     return pt::from_time_t(sec) + pt::nanoseconds(nsec);
00166 #else
00167     return pt::from_time_t(sec) + pt::microseconds(nsec/1000.0);
00168 #endif
00169   }
00170 
00171 
00172 }
00173 
00174 #endif // ROS_IMPL_TIME_H_INCLUDED
00175