00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #include <ros/duration.h> 00035 #include <ros/impl/duration.h> 00036 00037 namespace ros { 00038 00039 void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec) 00040 { 00041 int64_t nsec_part = nsec % 1000000000L; 00042 int64_t sec_part = sec + nsec / 1000000000L; 00043 if (nsec_part < 0) 00044 { 00045 nsec_part += 1000000000L; 00046 --sec_part; 00047 } 00048 00049 if (sec_part < INT_MIN || sec_part > INT_MAX) 00050 throw std::runtime_error("Duration is out of dual 32-bit range"); 00051 00052 sec = sec_part; 00053 nsec = nsec_part; 00054 } 00055 00056 void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec) 00057 { 00058 int64_t sec64 = sec; 00059 int64_t nsec64 = nsec; 00060 00061 normalizeSecNSecSigned(sec64, nsec64); 00062 00063 sec = (int32_t)sec64; 00064 nsec = (int32_t)nsec64; 00065 } 00066 00067 template class DurationBase<Duration>; 00068 template class DurationBase<WallDuration>; 00069 } 00070