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include/robot/duration.h
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185
include/robot/duration.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#ifndef ROBOT_DURATION_H
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#define ROBOT_DURATION_H
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/*********************************************************************
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** Pragmas
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*********************************************************************/
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#ifdef _MSC_VER
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// Robot_time has some magic interface that doesn't directly include
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// its implementation, this just disbales those warnings.
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#pragma warning(disable: 4244)
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#pragma warning(disable: 4661)
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#endif
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#include <iostream>
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#include <math.h>
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#include <stdexcept>
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#include <climits>
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#include <stdint.h>
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#include "robot_time_decl.h"
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namespace robot
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{
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ROBOT_TIME_DECL void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec);
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ROBOT_TIME_DECL void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
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/**
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* \brief Base class for Duration implementations. Provides storage, common functions and operator overloads.
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* This should not need to be used directly.
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*/
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template <class T>
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class DurationBase
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{
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public:
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int32_t sec, nsec;
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DurationBase() : sec(0), nsec(0) { }
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DurationBase(int32_t _sec, int32_t _nsec);
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explicit DurationBase(double t){fromSec(t);};
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T operator+(const T &rhs) const;
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T operator-(const T &rhs) const;
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T operator-() const;
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T operator*(double scale) const;
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T& operator+=(const T &rhs);
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T& operator-=(const T &rhs);
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T& operator*=(double scale);
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bool operator==(const T &rhs) const;
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inline bool operator!=(const T &rhs) const { return !(*static_cast<const T*>(this) == rhs); }
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bool operator>(const T &rhs) const;
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bool operator<(const T &rhs) const;
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bool operator>=(const T &rhs) const;
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bool operator<=(const T &rhs) const;
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double toSec() const { return static_cast<double>(sec) + 1e-9*static_cast<double>(nsec); };
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int64_t toNSec() const {return static_cast<int64_t>(sec)*1000000000ll + static_cast<int64_t>(nsec); };
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T& fromSec(double t);
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T& fromNSec(int64_t t);
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bool isZero() const;
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// boost::posix_time conversion removed in std-only build
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static const T MIN; //!< Minimum representable duration (negative)
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static const T MAX; //!< Maximum representable duration
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static const T ZERO; //!< Zero duration
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static const T DAY; //!< One day duration
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static const T HOUR; //!< One hour duration
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static const T MINUTE; //!< One minute duration
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static const T SECOND; //!< One second duration
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static const T MILLISECOND; //!< One millisecond duration
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static const T MICROSECOND; //!< One microsecond duration
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static const T NANOSECOND; //!< One nanosecond duration
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};
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class Rate;
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/**
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* \brief Duration representation for use with the Time class.
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*
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* robot::DurationBase provides most of its functionality.
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*/
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class ROBOT_TIME_DECL Duration : public DurationBase<Duration>
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{
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public:
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Duration()
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: DurationBase<Duration>()
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{ }
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Duration(int32_t _sec, int32_t _nsec)
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: DurationBase<Duration>(_sec, _nsec)
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{}
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explicit Duration(double t) { fromSec(t); }
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explicit Duration(const Rate&);
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/**
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* \brief sleep for the amount of time specified by this Duration. If a signal interrupts the sleep, resleeps for the time remaining.
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* @return True if the desired sleep duration was met, false otherwise.
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*/
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bool sleep() const;
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};
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extern ROBOT_TIME_DECL const Duration DURATION_MAX;
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extern ROBOT_TIME_DECL const Duration DURATION_MIN;
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template<> const Duration DurationBase<Duration>::MAX;
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template<> const Duration DurationBase<Duration>::MIN;
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template<> const Duration DurationBase<Duration>::ZERO;
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template<> const Duration DurationBase<Duration>::DAY;
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template<> const Duration DurationBase<Duration>::HOUR;
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template<> const Duration DurationBase<Duration>::MINUTE;
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template<> const Duration DurationBase<Duration>::SECOND;
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template<> const Duration DurationBase<Duration>::MILLISECOND;
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template<> const Duration DurationBase<Duration>::MICROSECOND;
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template<> const Duration DurationBase<Duration>::NANOSECOND;
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/**
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* \brief Duration representation for use with the WallTime class.
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*
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* robot::DurationBase provides most of its functionality.
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*/
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class ROBOT_TIME_DECL WallDuration : public DurationBase<WallDuration>
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{
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public:
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WallDuration()
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: DurationBase<WallDuration>()
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{ }
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WallDuration(int32_t _sec, int32_t _nsec)
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: DurationBase<WallDuration>(_sec, _nsec)
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{}
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explicit WallDuration(double t) { fromSec(t); }
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explicit WallDuration(const Rate&);
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/**
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* \brief sleep for the amount of time specified by this Duration. If a signal interrupts the sleep, resleeps for the time remaining.
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* @return True if the desired sleep duration was met, false otherwise.
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*/
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bool sleep() const;
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};
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template<> const WallDuration DurationBase<WallDuration>::MAX;
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template<> const WallDuration DurationBase<WallDuration>::MIN;
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template<> const WallDuration DurationBase<WallDuration>::ZERO;
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template<> const WallDuration DurationBase<WallDuration>::DAY;
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template<> const WallDuration DurationBase<WallDuration>::HOUR;
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template<> const WallDuration DurationBase<WallDuration>::MINUTE;
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template<> const WallDuration DurationBase<WallDuration>::SECOND;
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template<> const WallDuration DurationBase<WallDuration>::MILLISECOND;
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template<> const WallDuration DurationBase<WallDuration>::MICROSECOND;
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template<> const WallDuration DurationBase<WallDuration>::NANOSECOND;
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ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const Duration &rhs);
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ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const WallDuration &rhs);
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}
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#endif // ROBOT_DURATION_H
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