?? timespec.c
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/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public * License as published by the Free Software Foundation; * either version 2 of the License, or (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE. See the GNU General Public License for more * details. * * You should have received a copy of the GNU General * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place, * Suite 330, Boston, MA 02111-1307 USA * ********************************************************/#include <sys/time.h>#include <time.h>#include <stdio.h>void timespec_now(struct timespec *ts){ struct timeval tv; // get the current time gettimeofday(&tv, NULL); ts->tv_sec=tv.tv_sec; ts->tv_nsec=tv.tv_usec*1000; }void timespec_addms(struct timespec *ts, long ms){ int sec=ms/1000; ms=ms-sec*1000; // perform the addition ts->tv_nsec+=ms*1000000; // adjust the time ts->tv_sec+=ts->tv_nsec/1000000000 + sec; ts->tv_nsec=ts->tv_nsec%1000000000;}int timespec_compare(struct timespec *a, struct timespec *b){ if (a->tv_sec!=b->tv_sec) return a->tv_sec-b->tv_sec; return a->tv_nsec-b->tv_nsec;}void timespec_print(struct timespec *a){ printf("%li.%09li\n",a->tv_sec, a->tv_nsec);}
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