src/duration.cpp
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34  #include <ros/duration.h>
35 #include <ros/impl/duration.h>
36 
37 namespace ros {
38 
39  Duration::Duration(const Rate& rate)
40  : DurationBase<Duration>(rate.expectedCycleTime().sec, rate.expectedCycleTime().nsec)
41  { }
42 
44  : DurationBase<WallDuration>(rate.expectedCycleTime().sec, rate.expectedCycleTime().nsec)
45  { }
46 
47  void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec)
48  {
49  int64_t nsec_part = nsec % 1000000000L;
50  int64_t sec_part = sec + nsec / 1000000000L;
51  if (nsec_part < 0)
52  {
53  nsec_part += 1000000000L;
54  --sec_part;
55  }
56 
57  if (sec_part < INT_MIN || sec_part > INT_MAX)
58  throw std::runtime_error("Duration is out of dual 32-bit range");
59 
60  sec = sec_part;
61  nsec = nsec_part;
62  }
63 
64  void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec)
65  {
66  int64_t sec64 = sec;
67  int64_t nsec64 = nsec;
68 
69  normalizeSecNSecSigned(sec64, nsec64);
70 
71  sec = (int32_t)sec64;
72  nsec = (int32_t)nsec64;
73  }
74 
75  template class DurationBase<Duration>;
76  template class DurationBase<WallDuration>;
77 }
78 
ROSTIME_DECL void normalizeSecNSecSigned(int64_t &sec, int64_t &nsec)
Class to help run loops at a desired frequency.
Definition: rate.h:51
Duration representation for use with the WallTime class.
Definition: duration.h:136
Base class for Duration implementations. Provides storage, common functions and operator overloads...
Definition: duration.h:72
Duration representation for use with the Time class.
Definition: duration.h:108


rostime
Author(s): Josh Faust
autogenerated on Thu Dec 21 2017 03:22:01