.. _program_listing_file_include_rttest_utils.hpp:

Program Listing for File utils.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rttest_utils.hpp>` (``include/rttest/utils.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2015 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RTTEST__UTILS_HPP_
   #define RTTEST__UTILS_HPP_
   
   #include <stdint.h>
   #include <time.h>
   
   #define NSEC_PER_SEC 1000000000
   
   static inline bool timespec_gt(
     const struct timespec * t1,
     const struct timespec * t2)
   {
     if (t1->tv_sec > t2->tv_sec) {
       return true;
     }
     if (t1->tv_sec < t2->tv_sec) {
       return false;
     }
     return t1->tv_nsec > t2->tv_nsec;
   }
   
   static inline void normalize_timespec(struct timespec * t)
   {
     // TODO(jacquelinekay) improve
     while (t->tv_nsec >= NSEC_PER_SEC) {
       t->tv_nsec -= NSEC_PER_SEC;
       t->tv_sec++;
     }
   }
   
   static inline void add_timespecs(
     const struct timespec * t1,
     const struct timespec * t2,
     struct timespec * dst)
   {
     dst->tv_sec = t1->tv_sec + t2->tv_sec;
     dst->tv_nsec = t1->tv_nsec + t2->tv_nsec;
     normalize_timespec(dst);
   }
   
   static inline bool subtract_timespecs(
     const struct timespec * t1,
     const struct timespec * t2,
     struct timespec * dst)
   {
     if (timespec_gt(t2, t1)) {
       return subtract_timespecs(t2, t1, dst);
     }
   
     dst->tv_sec = t1->tv_sec - t2->tv_sec;
     dst->tv_nsec = t1->tv_nsec - t2->tv_nsec;
   
     normalize_timespec(dst);
     return true;
   }
   
   static inline uint64_t timespec_to_uint64(const struct timespec * t)
   {
     return static_cast<uint64_t>(t->tv_sec) * NSEC_PER_SEC + static_cast<uint64_t>(t->tv_nsec);
   }
   
   static inline void uint64_to_timespec(const uint64_t input, struct timespec * t)
   {
     uint64_t nsecs = input % NSEC_PER_SEC;
     uint64_t secs = (input - nsecs) / NSEC_PER_SEC;
     t->tv_sec = static_cast<time_t>(secs);
     t->tv_nsec = static_cast<long>(nsecs); // NOLINT for C type long
   }
   
   static inline void multiply_timespec(
     const struct timespec * t, const uint32_t i,
     struct timespec * result)
   {
     uint64_t result_nsec = i * timespec_to_uint64(t);
     uint64_to_timespec(result_nsec, result);
   }
   
   #endif  // RTTEST__UTILS_HPP_