.. _program_listing_file_include_rclcpp_time_source.hpp:

Program Listing for File time_source.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_time_source.hpp>` (``include/rclcpp/time_source.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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__TIME_SOURCE_HPP_
   #define RCLCPP__TIME_SOURCE_HPP_
   
   #include <memory>
   #include <vector>
   
   #include "rcl/time.h"
   
   #include "builtin_interfaces/msg/time.hpp"
   #include "rosgraph_msgs/msg/clock.hpp"
   #include "rcl_interfaces/msg/parameter_event.hpp"
   
   #include "rclcpp/node.hpp"
   #include "rclcpp/executors.hpp"
   #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
   
   
   namespace rclcpp
   {
   class Clock;
   
   class TimeSource
   {
   public:
   
     RCLCPP_PUBLIC
     explicit TimeSource(
       rclcpp::Node::SharedPtr node,
       const rclcpp::QoS & qos = rclcpp::ClockQoS(),
       bool use_clock_thread = true);
   
   
     RCLCPP_PUBLIC
     explicit TimeSource(
       const rclcpp::QoS & qos = rclcpp::ClockQoS(),
       bool use_clock_thread = true);
   
     // The TimeSource is uncopyable
     TimeSource(const TimeSource &) = delete;
     TimeSource & operator=(const TimeSource &) = delete;
   
     // The TimeSource is moveable
     TimeSource(TimeSource &&) = default;
     TimeSource & operator=(TimeSource &&) = default;
   
   
     RCLCPP_PUBLIC
     void attachNode(rclcpp::Node::SharedPtr node);
   
   
     RCLCPP_PUBLIC
     void attachNode(
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
       rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
       rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
       rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
       rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
       rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface,
       rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_interface);
   
     RCLCPP_PUBLIC
     void detachNode();
   
   
     RCLCPP_PUBLIC
     void attachClock(rclcpp::Clock::SharedPtr clock);
   
     RCLCPP_PUBLIC
     void detachClock(rclcpp::Clock::SharedPtr clock);
   
     RCLCPP_PUBLIC
     bool get_use_clock_thread();
   
     RCLCPP_PUBLIC
     void set_use_clock_thread(bool use_clock_thread);
   
     RCLCPP_PUBLIC
     bool clock_thread_is_joinable();
   
     RCLCPP_PUBLIC
     ~TimeSource();
   
   private:
     class NodeState;
     std::shared_ptr<NodeState> node_state_;
   
     // Preserve the arguments received by the constructor for reuse at runtime
     bool constructed_use_clock_thread_;
     rclcpp::QoS constructed_qos_;
   };
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__TIME_SOURCE_HPP_