Time.java

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// author: Jason Wolfe



package ros.communication;

import ros.Ros;

public class Time extends TimeUnit {
        public Time() {}
        
        public Time(int secs, int nsecs) {
                this.secs = secs;
                this.nsecs = nsecs;
                normalize();
        }

        public Time(double secs) {
                this.secs = (int) secs;
                this.nsecs = (int) ((secs - this.secs) * 1000000000);
                normalize();
        }

        public Time(Time t) {
                this.secs = t.secs;
                this.nsecs = t.nsecs;
        }
        
        public Time add (Duration d) {
                return new Time(secs + d.secs,nsecs + d.nsecs);
        }

        public Time subtract (Duration d) {
                return new Time(secs - d.secs,nsecs - d.nsecs);
        }

        public Duration subtract (Time t) {
                return new Duration(secs - t.secs,nsecs - t.nsecs);
        }

        public boolean laterThan(Time t) {
                normalize();
                t.normalize();
                return (secs > t.secs) || ((secs == t.secs) && nsecs > t.nsecs);
        }

        public static Time now() { return Ros.getInstance().now(); }
        
        public boolean inFuture() {
                normalize();
                return laterThan(now());
        }
        
        public boolean hasElapsed(Duration d) {
                return now().subtract(this).isLonger(d);
        }

        public String toString() {
                return secs + ":" + nsecs;
        }
}