commit 7645d2fefdbd06b4ad3b9045d55ee80e1f1cfe31
author Brian Silverman <brians> Sat Mar 30 18:53:56 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 18:53:56 2013 -0700
tree b33f74621f83c9695bf2572149646600baa149a8
parent a4f9ef24c8bf32f22bed592179eb1ded6a932a9c

cleaned/added features to some timing stuff

aos/common/control_loop/Timing.cpp

diff --git a/aos/common/control_loop/Timing.cpp b/aos/common/control_loop/Timing.cpp
index 6db179c..3a58036 100644
--- a/aos/common/control_loop/Timing.cpp
+++ b/aos/common/control_loop/Timing.cpp
@@ -9,12 +9,11 @@
 namespace time {
 
 void PhasedLoopXMS(int ms, int offset) {
-  // TODO(brians): Rewrite this cleaner.
   // TODO(brians): Tests!
-  int64_t period_nsec = Time::InMS(ms).nsec();
-  SleepUntil(Time::InNS((Time::Now().ToNSec() / period_nsec +
-                         static_cast<int64_t>(1)) * period_nsec +
-                        Time::InUS(offset).ToNSec()));
+  const Time frequency = Time::InMS(ms);
+  SleepUntil((Time::Now() / frequency.ToNSec()) *
+             frequency.ToNSec() +
+             frequency + Time::InUS(offset));
 }
 
 }  // namespace timing

aos/common/time.h

diff --git a/aos/common/time.h b/aos/common/time.h
index 14cc19e..ea703f7 100644
--- a/aos/common/time.h
+++ b/aos/common/time.h
@@ -79,9 +79,15 @@
   static Time Now(clockid_t clock = kDefaultClock);
 
   // Constructs a Time representing seconds.
+  // TODO(brians): fix and test the negative cases for all of these
   static Time InSeconds(double seconds) {
-    return Time(static_cast<int32_t>(seconds),
-                (seconds - static_cast<int32_t>(seconds)) * kNSecInSec);
+    if (seconds < 0.0) {
+      return Time(static_cast<int32_t>(seconds) - 1,
+                  (seconds - static_cast<int32_t>(seconds) + 1.0) * kNSecInSec);
+    } else {
+      return Time(static_cast<int32_t>(seconds),
+                  (seconds - static_cast<int32_t>(seconds)) * kNSecInSec);
+    }
   }
 
   // Constructs a time representing microseconds.
@@ -92,7 +98,12 @@
 
   // Constructs a time representing microseconds.
   static Time InUS(int useconds) {
-    return Time(useconds / kUSecInSec, (useconds % kUSecInSec) * kNSecInUSec);
+    if (useconds < 0) {
+      return Time(useconds / kUSecInSec - 1,
+                  (useconds % kUSecInSec) * kNSecInUSec + kNSecInSec);
+    } else {
+      return Time(useconds / kUSecInSec, (useconds % kUSecInSec) * kNSecInUSec);
+    }
   }
 
   // Constructs a time representing mseconds.
@@ -126,6 +137,13 @@
         (static_cast<int64_t>(nsec_) / static_cast<int64_t>(kNSecInMSec));
   }
 
+  // Returns the time represent in microseconds.
+  // TODO(brians): test this
+  int64_t ToUSec() const {
+    return static_cast<int64_t>(sec_) * static_cast<int64_t>(kUSecInSec) +
+        (static_cast<int64_t>(nsec_) / static_cast<int64_t>(kNSecInUSec));
+  }
+
   // Returns the time represented in fractional seconds.
   double ToSeconds() const {
     return static_cast<double>(sec_) + static_cast<double>(nsec_) / kNSecInSec;