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Mirror clock API from Node to LifecycleNode (#417)

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* Mirror clock API from Node to LifecycleNode

Follow up to #407

* adding headers for completeness
This commit is contained in:
Tully Foote 2017-12-05 00:25:28 -08:00 • committed by GitHub
parent 2e4e85f141
commit 713ee8059c
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4 changed files with 44 additions and 2 deletions
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17
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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@ -30,12 +30,14 @@
#include "rclcpp/callback_group.hpp"
#include "rclcpp/client.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/context.hpp"
#include "rclcpp/event.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/message_memory_strategy.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_parameters_interface.hpp"
@ -46,6 +48,7 @@
#include "rclcpp/publisher.hpp"
#include "rclcpp/service.hpp"
#include "rclcpp/subscription.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/timer.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
@ -326,11 +329,24 @@ public:
rclcpp::event::Event::SharedPtr event,
std::chrono::nanoseconds timeout);
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::Clock::SharedPtr
get_clock();
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::Time
now();
/// Return the Node's internal NodeBaseInterface implementation.
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
get_node_base_interface();
/// Return the Node's internal NodeClockInterface implementation.
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeClockInterface::SharedPtr
get_node_clock_interface();
/// Return the Node's internal NodeGraphInterface implementation.
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
@ -480,6 +496,7 @@ private:
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
bool use_intra_process_comms_;