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fix(ros): use 2 param for ros::time

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This commit is contained in:
TinyOh 2019-04-19 10:41:58 +08:00
parent 0c0c299c84
commit c279d97261
1 changed files with 23 additions and 3 deletions
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26
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -104,7 +104,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) { ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) {
static bool isInited = false; static bool isInited = false;
static double soft_time_begin(0); static std::uint32_t soft_time_begin(0);
static std::uint64_t hard_time_begin(0); static std::uint64_t hard_time_begin(0);
if (false == isInited) { if (false == isInited) {
@ -113,11 +113,31 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
isInited = true; isInited = true;
} }
std::uint64_t time_ns_detal = (_hard_time - hard_time_begin);
std::uint64_t time_ns_detal_s = time_ns_detal / 1000000;
std::uint64_t time_ns_detal_ns = time_ns_detal % 1000000;
return ros::Time( return ros::Time(
static_cast<double>(soft_time_begin + soft_time_begin + time_ns_detal_s,
static_cast<double>(_hard_time - hard_time_begin) * 0.000001f)); time_ns_detal_ns * 1000);
} }
// ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) {
// static bool isInited = false;
// static double soft_time_begin(0);
// static std::uint64_t hard_time_begin(0);
// if (false == isInited) {
// soft_time_begin = ros::Time::now().toSec();
// hard_time_begin = _hard_time;
// isInited = true;
// }
// return ros::Time(
// static_cast<double>(soft_time_begin +
// static_cast<double>(_hard_time - hard_time_begin) * 0.000001f));
// }
inline bool is_overflow(std::uint64_t now, inline bool is_overflow(std::uint64_t now,
std::uint64_t pre) { std::uint64_t pre) {
static std::uint64_t unit = static std::uint64_t unit =