edu.wpi.rail.jrosbridge.primitives

Class TimeBase<T extends Primitive>

java.lang.Object

edu.wpi.rail.jrosbridge.JsonWrapper

edu.wpi.rail.jrosbridge.primitives.Primitive

edu.wpi.rail.jrosbridge.primitives.TimeBase<T>

Type Parameters:

T - The type of TimeBase used in add and subtract.

All Implemented Interfaces:

Comparable<TimeBase<T>>

Direct Known Subclasses:

Duration, Time

public abstract class TimeBase<T extends Primitive>
extends Primitive
implements Comparable<TimeBase<T>>

The TimeBase class is an abstract implementation of common time/duration primitive functions for ROS time and duration primitives. Since these primitives are serialized like messages, they are immutable.

Version:

April 1, 2014

Author:

Russell Toris - rctoris@wpi.edu

Field Summary

Fields

Modifier and Type	Field and Description
static String	FIELD_NSECS The name of the nanoseconds field for the Primitive.
static String	FIELD_SECS The name of the seconds field for the Primitive.
protected static long	MILLI_TO_NSECS The number of milliseconds in a second.
protected static double	MILLI_TO_SECS The fraction of a second in a millisecond.
int	nsecs
protected static double	NSECS_TO_MILLI The number of milliseconds in a second.
protected static double	NSECS_TO_SECS The fraction of a second in a nanosecond.
int	secs
protected static long	SECS_TO_MILLI The number of milliseconds in a second.
protected static long	SECS_TO_NSECS The number of nanoseconds in a second.

Fields inherited from class edu.wpi.rail.jrosbridge.primitives.Primitive

EMPTY_MESSAGE

Fields inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

EMPTY_JSON

Constructor Summary

Constructors

Constructor and Description
TimeBase(double sec, String type) Create a new TimeBase with the given time in seconds (and partial seconds).
TimeBase(int secs, int nsecs, String type) Create a new TimeBase with the given time in seconds and nanoseconds.
TimeBase(long nano, String type) Create a new TimeBase with the given time in nanoseconds.
TimeBase(String type) Create an empty TimeBase with the given type field.

Method Summary

Methods

Modifier and Type	Method and Description
abstract T	add(T t) Add the given type to this TimeBase and return a new object with that value.
abstract T	clone() Create a clone of this TimeBase.
int	compareTo(TimeBase<T> t) Compare the given TimeBase object to this one.
int	getNsecs() Get the nanoseconds value of this TimeBase.
int	getSecs() Get the seconds value of this TimeBase.
boolean	isZero() Check if the value of this TimeBase is zero.
abstract T	subtract(T t) Subtract the given type to this TimeBase and return a new object with that value.
long	toNSec() Convert this TimeBase to nanoseconds.
double	toSec() Convert this TimeBase to seconds (and partial seconds).

Methods inherited from class edu.wpi.rail.jrosbridge.primitives.Primitive

fromUInt16, fromUInt16, fromUInt32, fromUInt32, fromUInt64, fromUInt64, fromUInt8, fromUInt8, getPrimitiveType, setPrimitiveType, toUInt16, toUInt16, toUInt32, toUInt32, toUInt64, toUInt64, toUInt8, toUInt8

Methods inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

equals, hashCode, toJsonObject, toString

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

FIELD_SECS

public static final String FIELD_SECS

The name of the seconds field for the Primitive.

See Also:

Constant Field Values

FIELD_NSECS

public static final String FIELD_NSECS

The name of the nanoseconds field for the Primitive.

See Also:

Constant Field Values

SECS_TO_MILLI

protected static final long SECS_TO_MILLI

The number of milliseconds in a second.

See Also:

Constant Field Values

MILLI_TO_SECS

protected static final double MILLI_TO_SECS

The fraction of a second in a millisecond.

See Also:

Constant Field Values

SECS_TO_NSECS

protected static final long SECS_TO_NSECS

The number of nanoseconds in a second.

See Also:

Constant Field Values

NSECS_TO_SECS

protected static final double NSECS_TO_SECS

The fraction of a second in a nanosecond.

See Also:

Constant Field Values

MILLI_TO_NSECS

protected static final long MILLI_TO_NSECS

The number of milliseconds in a second.

See Also:

Constant Field Values

NSECS_TO_MILLI

protected static final double NSECS_TO_MILLI

The number of milliseconds in a second.

See Also:

Constant Field Values

secs

public final int secs

nsecs

public final int nsecs

Constructor Detail

TimeBase

public TimeBase(String type)

Create an empty TimeBase with the given type field.

Parameters:

type - The type of primitive.

TimeBase

public TimeBase(double sec,
        String type)

Create a new TimeBase with the given time in seconds (and partial seconds).

Parameters:

sec - The time in seconds.

type - The type of TimeBase primitive.

TimeBase

public TimeBase(long nano,
        String type)

Create a new TimeBase with the given time in nanoseconds.

Parameters:

nano - The time in nanoseconds.

type - The type of TimeBase primitive.

TimeBase

public TimeBase(int secs,
        int nsecs,
        String type)

Create a new TimeBase with the given time in seconds and nanoseconds.

Parameters:

secs - The amount of seconds.

nsecs - The amount of additional nanoseconds.

type - The type of TimeBase primitive.

Method Detail

getSecs

public int getSecs()

Get the seconds value of this TimeBase.

Returns:

The seconds value of this TimeBase.

getNsecs

public int getNsecs()

Get the nanoseconds value of this TimeBase.

Returns:

The nanoseconds value of this TimeBase.

isZero

public boolean isZero()

Check if the value of this TimeBase is zero.

Returns:

If the value of this TimeBase is zero.

toSec

public double toSec()

Convert this TimeBase to seconds (and partial seconds).

Returns:

This TimeBase to seconds (and partial seconds).

toNSec

public long toNSec()

Convert this TimeBase to nanoseconds.

Returns:

This TimeBase to nanoseconds.

compareTo

public int compareTo(TimeBase<T> t)

Compare the given TimeBase object to this one.

Specified by:

compareTo in interface Comparable<TimeBase<T extends Primitive>>

Parameters:

t - The TimeBase to compare to.

Returns:

0 if the values are equal, less than 0 if t is less that this TimeBase, and greater than 0 otherwise.

add

public abstract T add(T t)

Add the given type to this TimeBase and return a new object with that value.

Parameters:

t - Add the given type to this TimeBase.

Returns:

A new object with the new value.

subtract

public abstract T subtract(T t)

Subtract the given type to this TimeBase and return a new object with that value.

Parameters:

t - Subtract the given type to this TimeBase.

Returns:

A new object with the new value.

clone

public abstract T clone()

Create a clone of this TimeBase.

Specified by:

clone in class JsonWrapper

Returns:

A clone of this TimeBase.