c93beb5d16
Resolves #595 * Separate the Node Time Source from the Node Clock * Implement initial value checking of use_sim_time parameter parameter * Be sure to update all newly attached clocks * Homogenizing the behavior to use the last received value otherwise zero time when enabling sim time. * Add virtual destructors to interface classes
49 lines
1.4 KiB
C++
49 lines
1.4 KiB
C++
// 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_INTERFACE_HPP_
|
|
#define RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_
|
|
|
|
#include "rclcpp/callback_group.hpp"
|
|
#include "rclcpp/clock.hpp"
|
|
#include "rclcpp/macros.hpp"
|
|
#include "rclcpp/visibility_control.hpp"
|
|
|
|
namespace rclcpp
|
|
{
|
|
namespace node_interfaces
|
|
{
|
|
|
|
/// Pure virtual interface class for the NodeClock part of the Node API.
|
|
class NodeClockInterface
|
|
{
|
|
public:
|
|
RCLCPP_SMART_PTR_ALIASES_ONLY(NodeClockInterface)
|
|
|
|
RCLCPP_PUBLIC
|
|
virtual
|
|
~NodeClockInterface() = default;
|
|
|
|
/// Get a ROS clock which will be kept up to date by the node.
|
|
RCLCPP_PUBLIC
|
|
virtual
|
|
rclcpp::Clock::SharedPtr
|
|
get_clock() = 0;
|
|
};
|
|
|
|
} // namespace node_interfaces
|
|
} // namespace rclcpp
|
|
|
|
#endif // RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_
|