TimeStamp.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#include <cob_trajectory_controller/TimeStamp.h>

//-----------------------------------------------------------------------------
TimeStamp::TimeStamp()
{
        m_TimeStamp.tv_sec = 0;
        m_TimeStamp.tv_nsec = 0;
}

void TimeStamp::SetNow()
{
        ::clock_gettime(CLOCK_REALTIME, &m_TimeStamp);
}

double TimeStamp::TimespecToDouble(const ::timespec& LargeInt)
{
        return double(LargeInt.tv_sec) + double(LargeInt.tv_nsec) / 1e9;
}

::timespec TimeStamp::DoubleToTimespec(double TimeS)
{
        ::timespec DeltaTime;
        if (! ( TimeS < 4e9 && TimeS > 0.0 ))
        {
                DeltaTime.tv_sec = 0;
                DeltaTime.tv_nsec = 0;
                return DeltaTime;
        }

        DeltaTime.tv_sec = ::time_t(TimeS);
        DeltaTime.tv_nsec
                = static_cast<long int>((TimeS - double(DeltaTime.tv_sec)) * 1e9);

        return DeltaTime;
}

double TimeStamp::operator-(const TimeStamp& EarlierTime) const
{
        ::timespec Res;

        Res.tv_sec = m_TimeStamp.tv_sec - EarlierTime.m_TimeStamp.tv_sec;
        Res.tv_nsec = m_TimeStamp.tv_nsec - EarlierTime.m_TimeStamp.tv_nsec;

        if (Res.tv_nsec < 0) {
                Res.tv_sec--;
                Res.tv_nsec += 1000000000;
        }

        return TimespecToDouble(Res);
}

void TimeStamp::operator+=(double TimeS)
{
        ::timespec Dbl = DoubleToTimespec(TimeS);
        m_TimeStamp.tv_sec += Dbl.tv_sec;
        m_TimeStamp.tv_nsec += Dbl.tv_nsec;
        if (m_TimeStamp.tv_nsec > 1000000000)
        {
                m_TimeStamp.tv_sec++;
                m_TimeStamp.tv_nsec -= 1000000000;
        }
}

void TimeStamp::operator-=(double TimeS)
{
        ::timespec Dbl = DoubleToTimespec(TimeS);
        m_TimeStamp.tv_sec -= Dbl.tv_sec;
        m_TimeStamp.tv_nsec -= Dbl.tv_nsec;
        if (m_TimeStamp.tv_nsec < 0.0)
        {
                m_TimeStamp.tv_sec--;
                m_TimeStamp.tv_nsec += 1000000000;
        }
}

bool TimeStamp::operator>(const TimeStamp& Time)
{
        if (m_TimeStamp.tv_sec > Time.m_TimeStamp.tv_sec) return true;
        if ((m_TimeStamp.tv_sec == Time.m_TimeStamp.tv_sec) &&
                (m_TimeStamp.tv_nsec > Time.m_TimeStamp.tv_nsec)) return true;
        return false;
}

bool TimeStamp::operator<(const TimeStamp& Time)
{
        if (m_TimeStamp.tv_sec < Time.m_TimeStamp.tv_sec) return true;
        if ((m_TimeStamp.tv_sec == Time.m_TimeStamp.tv_sec) &&
                (m_TimeStamp.tv_nsec < Time.m_TimeStamp.tv_nsec)) return true;
        return false;
}

void TimeStamp::getTimeStamp(long& lSeconds, long& lNanoSeconds)
{
        lSeconds = m_TimeStamp.tv_sec;
        lNanoSeconds = m_TimeStamp.tv_nsec;
};

void TimeStamp::setTimeStamp(const long& lSeconds, const long& lNanoSeconds)
{
        m_TimeStamp.tv_sec = lSeconds;
        m_TimeStamp.tv_nsec = lNanoSeconds;
};