.. _program_listing_file_include_rclcpp_clock.hpp:

Program Listing for File clock.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_clock.hpp>` (``include/rclcpp/clock.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__CLOCK_HPP_
   #define RCLCPP__CLOCK_HPP_
   
   #include <functional>
   #include <memory>
   #include <mutex>
   
   #include "rclcpp/contexts/default_context.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/time.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   #include "rcl/time.h"
   #include "rcutils/time.h"
   #include "rcutils/types/rcutils_ret.h"
   
   namespace rclcpp
   {
   
   class TimeSource;
   
   class JumpHandler
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(JumpHandler)
   
     using pre_callback_t = std::function<void ()>;
     using post_callback_t = std::function<void (const rcl_time_jump_t &)>;
   
     JumpHandler(
       pre_callback_t pre_callback,
       post_callback_t post_callback,
       const rcl_jump_threshold_t & threshold);
   
     pre_callback_t pre_callback;
     post_callback_t post_callback;
     rcl_jump_threshold_t notice_threshold;
   };
   
   class Clock
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(Clock)
   
     
     RCLCPP_PUBLIC
     explicit Clock(rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
   
     RCLCPP_PUBLIC
     ~Clock();
   
     RCLCPP_PUBLIC
     Time
     now() const;
   
     RCLCPP_PUBLIC
     bool
     sleep_until(
       Time until,
       Context::SharedPtr context = contexts::get_global_default_context());
   
     RCLCPP_PUBLIC
     bool
     sleep_for(
       Duration rel_time,
       Context::SharedPtr context = contexts::get_global_default_context());
   
     RCLCPP_PUBLIC
     bool
     started();
   
     RCLCPP_PUBLIC
     bool
     wait_until_started(Context::SharedPtr context = contexts::get_global_default_context());
   
     RCLCPP_PUBLIC
     bool
     wait_until_started(
       const rclcpp::Duration & timeout,
       Context::SharedPtr context = contexts::get_global_default_context(),
       const rclcpp::Duration & wait_tick_ns = rclcpp::Duration(0, static_cast<uint32_t>(1e7)));
   
     RCLCPP_PUBLIC
     bool
     ros_time_is_active();
   
     RCLCPP_PUBLIC
     void
     cancel_sleep_or_wait();
   
     RCLCPP_PUBLIC
     rcl_clock_t *
     get_clock_handle() noexcept;
   
     RCLCPP_PUBLIC
     rcl_clock_type_t
     get_clock_type() const noexcept;
   
     RCLCPP_PUBLIC
     std::mutex &
     get_clock_mutex() noexcept;
   
     // Add a callback to invoke if the jump threshold is exceeded.
     RCLCPP_PUBLIC
     JumpHandler::SharedPtr
     create_jump_callback(
       JumpHandler::pre_callback_t pre_callback,
       JumpHandler::post_callback_t post_callback,
       const rcl_jump_threshold_t & threshold);
   
   private:
     // Invoke time jump callback
     RCLCPP_PUBLIC
     static void
     on_time_jump(
       const rcl_time_jump_t * time_jump,
       bool before_jump,
       void * user_data);
   
     class Impl;
   
     std::shared_ptr<Impl> impl_;
   };
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__CLOCK_HPP_