77 lines
2.6 KiB
C++
77 lines
2.6 KiB
C++
// Copyright 2017 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
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#define RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
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#include "rclcpp/clock.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/node_interfaces/node_base_interface.hpp"
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#include "rclcpp/node_interfaces/node_clock_interface.hpp"
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#include "rclcpp/node_interfaces/node_graph_interface.hpp"
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#include "rclcpp/node_interfaces/node_logging_interface.hpp"
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#include "rclcpp/node_interfaces/node_services_interface.hpp"
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#include "rclcpp/node_interfaces/node_topics_interface.hpp"
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#include "rclcpp/visibility_control.hpp"
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namespace rclcpp
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{
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namespace node_interfaces
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{
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/// Implementation of the NodeClock part of the Node API.
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class NodeClock : public NodeClockInterface
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(NodeClock)
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RCLCPP_PUBLIC
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explicit NodeClock(
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
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rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
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rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
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rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
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rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging);
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RCLCPP_PUBLIC
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virtual
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~NodeClock();
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/// Get a clock which will be kept up to date by the node.
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RCLCPP_PUBLIC
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rclcpp::Clock::SharedPtr
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get_clock() override;
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/// Get a clock which will be kept up to date by the node.
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RCLCPP_PUBLIC
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rclcpp::Clock::ConstSharedPtr
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get_clock() const override;
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private:
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RCLCPP_DISABLE_COPY(NodeClock)
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
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rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
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rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
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rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
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rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
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rclcpp::Clock::SharedPtr ros_clock_;
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};
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} // namespace node_interfaces
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} // namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
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