Program Listing for File node_clock.hpp
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// 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_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
#include "rclcpp/clock.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
namespace node_interfaces
{
class NodeClock : public NodeClockInterface
{
public:
RCLCPP_SMART_PTR_ALIASES_ONLY(NodeClock)
RCLCPP_PUBLIC
explicit NodeClock(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging);
RCLCPP_PUBLIC
virtual
~NodeClock();
RCLCPP_PUBLIC
rclcpp::Clock::SharedPtr
get_clock() override;
RCLCPP_PUBLIC
rclcpp::Clock::ConstSharedPtr
get_clock() const override;
private:
RCLCPP_DISABLE_COPY(NodeClock)
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
rclcpp::Clock::SharedPtr ros_clock_;
};
} // namespace node_interfaces
} // namespace rclcpp
#endif // RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_