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C++ ROS Client Library API
node_time_source.hpp
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1 // Copyright 2018 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_TIME_SOURCE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_TIME_SOURCE_HPP_
17 
19 #include "rclcpp/clock.hpp"
20 #include "rclcpp/macros.hpp"
26 #include "rclcpp/time_source.hpp"
28 
29 namespace rclcpp
30 {
31 namespace node_interfaces
32 {
33 
36 {
37 public:
39 
41  explicit NodeTimeSource(
42  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
43  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
44  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
45  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
46  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
47  rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
48  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters
49  );
50 
52  virtual
54 
55 private:
56  RCLCPP_DISABLE_COPY(NodeTimeSource)
57 
58  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
59  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
60  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
61  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
62  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
63  rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
64  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
65 
66  rclcpp::TimeSource time_source_;
67 };
68 
69 } // namespace node_interfaces
70 } // namespace rclcpp
71 
72 #endif // RCLCPP__NODE_INTERFACES__NODE_TIME_SOURCE_HPP_
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
This header provides the get_node_topics_interface() template function.
Definition: allocator_common.hpp:24
NodeTimeSource(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::node_interfaces::NodeClockInterface::SharedPtr node_clock, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters)
Implementation of the NodeTimeSource part of the Node API.
Definition: node_time_source.hpp:35
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
Pure virtual interface class for the NodeTimeSource part of the Node API.
Definition: node_time_source_interface.hpp:29
Definition: time_source.hpp:34