.. _program_listing_file__tmp_ws_src_realtime_tools_include_realtime_tools_realtime_clock.h:

Program Listing for File realtime_clock.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_realtime_tools_include_realtime_tools_realtime_clock.h>` (``/tmp/ws/src/realtime_tools/include/realtime_tools/realtime_clock.h``)

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

.. code-block:: cpp

   // Copyright (c) 2013, hiDOF, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the hiDOF, Inc. nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /*
    * Publishing ROS messages is difficult, as the publish function is
    * not realtime safe.  This class provides the proper locking so that
    * you can call publish in realtime and a separate (non-realtime)
    * thread will ensure that the message gets published over ROS.
    *
    * Author: Wim Meeussen
    */
   
   #ifndef REALTIME_TOOLS__REALTIME_CLOCK_H_
   #define REALTIME_TOOLS__REALTIME_CLOCK_H_
   
   #include <mutex>
   #include <thread>
   
   #include "rclcpp/clock.hpp"
   #include "rclcpp/duration.hpp"
   #include "rclcpp/logger.hpp"
   #include "rclcpp/time.hpp"
   
   namespace realtime_tools
   {
   class RealtimeClock
   {
   public:
     RealtimeClock();
   
     explicit RealtimeClock(rclcpp::Clock::SharedPtr clock);
   
     RealtimeClock(rclcpp::Clock::SharedPtr clock, rclcpp::Logger logger);
   
     ~RealtimeClock();
   
     [[deprecated]] rclcpp::Time getSystemTime(const rclcpp::Time & realtime_time = rclcpp::Time());
   
     rclcpp::Time now(const rclcpp::Time & realtime_time = rclcpp::Time());
   
   private:
     void loop();
   
     rclcpp::Clock::SharedPtr clock_;
     rclcpp::Logger logger_;
     unsigned int lock_misses_ = 0;
     rclcpp::Time system_time_;
     rclcpp::Duration clock_offset_{0, 0u};
   
     rclcpp::Time last_realtime_time_;
     bool running_ = false;
     bool initialized_ = false;
     std::mutex mutex_;
     std::thread thread_;
   };  // class
   
   }  // namespace realtime_tools
   #endif  // REALTIME_TOOLS__REALTIME_CLOCK_H_