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include/robot/impl/duration.h

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+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2010, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
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+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
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+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
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+ *********************************************************************/
+#ifndef ROBOT_TIME_IMPL_DURATION_H_INCLUDED
+#define ROBOT_TIME_IMPL_DURATION_H_INCLUDED
+
+#include <cmath>
+#include <limits>
+
+#include <robot/duration.h>
+#include <robot/rate.h>
+
+namespace robot {
+  //
+  // DurationBase template member function implementation
+  //
+  template<class T>
+  DurationBase<T>::DurationBase(int32_t _sec, int32_t _nsec)
+  : sec(_sec), nsec(_nsec)
+  {
+    normalizeSecNSecSigned(sec, nsec);
+  }
+
+  template<class T>
+  T& DurationBase<T>::fromSec(double d)
+  {
+    if (!std::isfinite(d))
+      throw std::runtime_error("Duration has to be finite.");
+    constexpr double minInt64AsDouble = static_cast<double>(std::numeric_limits<int64_t>::min());
+    constexpr double maxInt64AsDouble = static_cast<double>(std::numeric_limits<int64_t>::max());
+    if (d <= minInt64AsDouble || d >= maxInt64AsDouble)
+      throw std::runtime_error("Duration is out of 64-bit integer range");
+    int64_t sec64 = static_cast<int64_t>(floor(d));
+    if (sec64 < std::numeric_limits<int32_t>::min() || sec64 > std::numeric_limits<int32_t>::max())
+      throw std::runtime_error("Duration is out of dual 32-bit range");
+    sec = static_cast<int32_t>(sec64);
+    nsec = static_cast<int32_t>(std::llround((d - sec) * 1e9));
+    int32_t rollover = nsec / 1000000000ul;
+    sec += rollover;
+    nsec %= 1000000000ul;
+    return *static_cast<T*>(this);
+  }
+
+  template<class T>
+  T& DurationBase<T>::fromNSec(int64_t t)
+  {
+    int64_t sec64 = t / 1000000000LL;
+    if (sec64 < std::numeric_limits<int32_t>::min() || sec64 > std::numeric_limits<int32_t>::max())
+      throw std::runtime_error("Duration is out of dual 32-bit range");
+    sec = static_cast<int32_t>(sec64);
+    nsec = static_cast<int32_t>(t % 1000000000LL);
+
+    normalizeSecNSecSigned(sec, nsec);
+
+    return *static_cast<T*>(this);
+  }
+
+  template<class T>
+  T DurationBase<T>::operator+(const T &rhs) const
+  {
+    T t;
+    return t.fromNSec(toNSec() + rhs.toNSec());
+  }
+
+  template<class T>
+  T DurationBase<T>::operator*(double scale) const
+  {
+    return T(toSec() * scale);
+  }
+
+  template<class T>
+  T DurationBase<T>::operator-(const T &rhs) const
+  {
+    T t;
+    return t.fromNSec(toNSec() - rhs.toNSec());
+  }
+
+  template<class T>
+  T DurationBase<T>::operator-() const
+  {
+    T t;
+    return t.fromNSec(-toNSec());
+  }
+
+  template<class T>
+  T& DurationBase<T>::operator+=(const T &rhs)
+  {
+    *this = *this + rhs;
+    return *static_cast<T*>(this);
+  }
+
+  template<class T>
+  T& DurationBase<T>::operator-=(const T &rhs)
+  {
+    *this += (-rhs);
+    return *static_cast<T*>(this);
+  }
+
+  template<class T>
+  T& DurationBase<T>::operator*=(double scale)
+  {
+    fromSec(toSec() * scale);
+    return *static_cast<T*>(this);
+  }
+
+  template<class T>
+  bool DurationBase<T>::operator<(const T &rhs) const
+  {
+    if (sec < rhs.sec)
+      return true;
+    else if (sec == rhs.sec && nsec < rhs.nsec)
+      return true;
+    return false;
+  }
+
+  template<class T>
+  bool DurationBase<T>::operator>(const T &rhs) const
+  {
+    if (sec > rhs.sec)
+      return true;
+    else if (sec == rhs.sec && nsec > rhs.nsec)
+      return true;
+    return false;
+  }
+
+  template<class T>
+  bool DurationBase<T>::operator<=(const T &rhs) const
+  {
+    if (sec < rhs.sec)
+      return true;
+    else if (sec == rhs.sec && nsec <= rhs.nsec)
+      return true;
+    return false;
+  }
+
+  template<class T>
+  bool DurationBase<T>::operator>=(const T &rhs) const
+  {
+    if (sec > rhs.sec)
+      return true;
+    else if (sec == rhs.sec && nsec >= rhs.nsec)
+      return true;
+    return false;
+  }
+
+  template<class T>
+  bool DurationBase<T>::operator==(const T &rhs) const
+  {
+    return sec == rhs.sec && nsec == rhs.nsec;
+  }
+
+  template<class T>
+  bool DurationBase<T>::isZero() const
+  {
+    return sec == 0 && nsec == 0;
+  }
+
+  // boost::posix_time conversion removed in std-only build
+}
+#endif