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include/robot/impl/time.h

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+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, 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
+*     notice, this list of conditions and the following disclaimer.
+*   * 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.
+*   * Neither the name of Willow Garage, Inc. nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+#ifndef ROBOT_TIME_IMPL_H_INCLUDED
+#define ROBOT_TIME_IMPL_H_INCLUDED
+
+/*********************************************************************
+** Headers
+*********************************************************************/
+
+#include <robot/platform.h>
+#include <iostream>
+#include <cmath>
+#include <limits>
+#include <robot/exception.h>
+#include <robot/time.h>
+
+/*********************************************************************
+** Cross Platform Headers
+*********************************************************************/
+
+#if defined(_WIN32)
+  #include <sys/timeb.h>
+#else
+  #include <sys/time.h>
+#endif
+
+namespace robot
+{
+
+  template<class T, class D>
+  T& TimeBase<T, D>::fromNSec(uint64_t t)
+  {
+    uint64_t sec64 = 0;
+    uint64_t nsec64 = t;
+
+    normalizeSecNSec(sec64, nsec64);
+
+    sec = static_cast<uint32_t>(sec64);
+    nsec = static_cast<uint32_t>(nsec64);
+
+    return *static_cast<T*>(this);
+  }
+
+  template<class T, class D>
+  T& TimeBase<T, D>::fromSec(double t) {
+      if (t < 0)
+        throw std::runtime_error("Time cannot be negative.");
+      if (!std::isfinite(t))
+        throw std::runtime_error("Time has to be finite.");
+      constexpr double maxInt64AsDouble = static_cast<double>(std::numeric_limits<int64_t>::max());
+      if (t >= maxInt64AsDouble)
+        throw std::runtime_error("Time is out of 64-bit integer range");
+      int64_t sec64 = static_cast<int64_t>(floor(t));
+      if (sec64 > std::numeric_limits<uint32_t>::max())
+        throw std::runtime_error("Time is out of dual 32-bit range");
+      sec = static_cast<uint32_t>(sec64);
+  nsec = static_cast<uint32_t>(std::llround((t-sec) * 1e9));
+      // avoid rounding errors
+      sec += (nsec / 1000000000ul);
+      nsec %= 1000000000ul;
+      return *static_cast<T*>(this);
+  }
+
+  template<class T, class D>
+  D TimeBase<T, D>::operator-(const T &rhs) const
+  {
+    D d;
+    return d.fromNSec(toNSec() - rhs.toNSec());
+  }
+
+  template<class T, class D>
+  T TimeBase<T, D>::operator-(const D &rhs) const
+  {
+    return *static_cast<const T*>(this) + ( -rhs);
+  }
+
+  template<class T, class D>
+  T TimeBase<T, D>::operator+(const D &rhs) const
+  {
+    int64_t sec_sum  = static_cast<uint64_t>(sec) + static_cast<uint64_t>(rhs.sec);
+    int64_t nsec_sum = static_cast<uint64_t>(nsec) + static_cast<uint64_t>(rhs.nsec);
+
+    // Throws an exception if we go out of 32-bit range
+    normalizeSecNSecUnsigned(sec_sum, nsec_sum);
+
+    // now, it's safe to downcast back to uint32 bits
+    return T(static_cast<uint32_t>(sec_sum), static_cast<uint32_t>(nsec_sum));
+  }
+
+  template<class T, class D>
+  T& TimeBase<T, D>::operator+=(const D &rhs)
+  {
+    *this = *this + rhs;
+    return *static_cast<T*>(this);
+  }
+
+  template<class T, class D>
+  T& TimeBase<T, D>::operator-=(const D &rhs)
+  {
+    *this += (-rhs);
+    return *static_cast<T*>(this);
+  }
+
+  template<class T, class D>
+  bool TimeBase<T, D>::operator==(const T &rhs) const
+  {
+    return sec == rhs.sec && nsec == rhs.nsec;
+  }
+
+  template<class T, class D>
+  bool TimeBase<T, D>::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, class D>
+  bool TimeBase<T, D>::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, class D>
+  bool TimeBase<T, D>::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, class D>
+  bool TimeBase<T, D>::operator>=(const T &rhs) const
+  {
+    if (sec > rhs.sec)
+      return true;
+    else if (sec == rhs.sec && nsec >= rhs.nsec)
+      return true;
+    return false;
+  }
+
+  // boost::posix_time conversion removed in std-only build
+}
+
+#endif // ROBOT_IMPL_TIME_H_INCLUDED