node_clock.hpp

// Copyright 2017 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 RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
 
#include "rcl/time.h"
#include "rclcpp/clock.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
namespace node_interfaces
{
 
class NodeClock : public NodeClockInterface
{
public:
  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeClock)
 
  RCLCPP_PUBLIC
  explicit NodeClock(
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
    rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
    rcl_clock_type_t clock_type);
 
  RCLCPP_PUBLIC
  virtual
  ~NodeClock();
 
  RCLCPP_PUBLIC
  rclcpp::Clock::SharedPtr
  get_clock() override;
 
  RCLCPP_PUBLIC
  rclcpp::Clock::ConstSharedPtr
  get_clock() const override;
 
private:
  RCLCPP_DISABLE_COPY(NodeClock)
 
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
 
  rclcpp::Clock::SharedPtr clock_;
};
 
}  // namespace node_interfaces
}  // namespace rclcpp
 
#endif  // RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_