node_clock.hpp

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// 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 "rclcpp/callback_group.hpp"
#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_parameters_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/time_source.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_PUBLIC
  virtual
  ~NodeClock();

  RCLCPP_PUBLIC
  virtual
  rclcpp::Clock::SharedPtr
  get_clock();

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::Clock::SharedPtr ros_clock_;
  rclcpp::TimeSource time_source_;
};

}  // namespace node_interfaces
}  // namespace rclcpp

#endif  // RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_