/*
?*?Software?License?Agreement?（BSD?License）
?*
?*?Copyright?（c）?2011?Willow?Garage?Inc.
?*?All?rights?reserved.
?*
?*?Redistribution?and?use?in?source?and?binary?forms?with?or?without
?*?modification?are?permitted?provided?that?the?following?conditions
?*?are?met:
?*
?*??*?Redistributions?of?source?code?must?retain?the?above?copyright
?*????notice?this?list?of?conditions?and?the?following?disclaimer.
?*??*?Redistributions?in?binary?form?must?reproduce?the?above
?*????copyright?notice?this?list?of?conditions?and?the?following
?*????disclaimer?in?the?documentation?and/or?other?materials?provided
?*????with?the?distribution.
?*??*?Neither?the?name?of?Willow?Garage?Inc.?nor?the?names?of?its
?*????contributors?may?be?used?to?endorse?or?promote?prducts?derived
?*????from?this?software?without?specific?prior?written?permission.
?*
?*?THIS?SOFTWARE?IS?PROVIDED?BY?THE?COPYRIGHT?HOLDERS?AND?CONTRIBUTORS
?*?“AS?IS“?AND?ANY?EXPRESS?OR?IMPLIED?WARRANTIES?INCLUDING?BUT?NOT
?*?LIMITED?TO?THE?IMPLIED?WARRANTIES?OF?MERCHANTABILITY?AND?FITNESS
?*?FOR?A?PARTICULAR?PURPOSE?ARE?DISCLAIMED.?IN?NO?EVENT?SHALL?THE
?*?COPYRIGHT?OWNER?OR?CONTRIBUTORS?BE?LIABLE?FOR?ANY?DIRECT?INDIRECT
?*?INCIDENTAL?SPECIAL?EXEMPLARY?OR?CONSEQUENTIAL?DAMAGES?（INCLUDING
?*?BUT?NOT?LIMITED?TO?PROCUREMENT?OF?SUBSTITUTE?GOODS?OR?SERVICES;
?*?LOSS?OF?USE?DATA?OR?PROFITS;?OR?BUSINESS?INTERRUPTION）?HOWEVER
?*?CAUSED?AND?ON?ANY?THEORY?OF?LIABILITY?WHETHER?IN?CONTRACT?STRICT
?*?LIABILITY?OR?TORT?（INCLUDING?NEGLIGENCE?OR?OTHERWISE）?ARISING?IN
?*?ANY?WAY?OUT?OF?THE?USE?OF?THIS?SOFTWARE?EVEN?IF?ADVISED?OF?THE
?*?POSSIBILITY?OF?SUCH?DAMAGE.
?*/

#include?
#include?“ros/duration.h“

namespace?ros
{
void?normalizeSecNSecSigned（int32_t?&sec?int32_t?&nsec）
{
??int32_t?nsec_part?=?nsec;
??int32_t?sec_part?=?sec;

??while?（nsec_part?>?1000000000L）
??{
????nsec_part?-=?1000000000L;
????++sec_part;
??}
??while?（nsec_part???{
????nsec_part?+=?1000000000L;
????--sec_part;
??}
??sec?=?sec_part;
??nsec?=?nsec_part;
}

Duration&?Duration::operator+=（const?Duration?&rhs）
{
??sec?+=?rhs.sec;
??nsec?+=?rhs.nsec;
??normalizeSecNSecSigned（sec?nsec）;
??return?*this;
}

Duration&?Duration::operator-=（const?Duration?&rhs）
{
??sec?+=?-rhs.sec;
??nsec?+=?-rhs.nsec;
??normalizeSecNSecSigned（sec?nsec）;
??return?*this;
}

Duration&?Duration::operator*=（double?scale）
{
??sec?*=?scale;
??nsec?*=?scale;
??normalizeSecNSecSigned（sec?nsec）;
??return?*this;
}

}