rclcpp  master
C++ ROS Client Library API
node_clock.hpp
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1 // Copyright 2017 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
17 
19 #include "rclcpp/clock.hpp"
20 #include "rclcpp/macros.hpp"
25 #include "rclcpp/time_source.hpp"
27 
28 namespace rclcpp
29 {
30 namespace node_interfaces
31 {
32 
35 {
36 public:
38 
40  explicit NodeClock(
41  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
42  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
43  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
44  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services);
45 
47  virtual
48  ~NodeClock();
49 
52  virtual
53  rclcpp::Clock::SharedPtr
54  get_clock();
55 
56 private:
58 
59  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
60  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
61  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
62  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
63 
64  rclcpp::Clock::SharedPtr ros_clock_;
65  rclcpp::TimeSource time_source_;
66 };
67 
68 } // namespace node_interfaces
69 } // namespace rclcpp
70 
71 #endif // RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
Definition: time_source.hpp:35
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
Definition: allocator_common.hpp:24
Pure virtual interface class for the NodeClock part of the Node API.
Definition: node_clock_interface.hpp:29
Implementation of the NodeClock part of the Node API.
Definition: node_clock.hpp:34
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)
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
virtual rclcpp::Clock::SharedPtr get_clock()
Get a clock which will be kept up to date by the node.