// Copyright 2018 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.

#include "rclcpp/node_interfaces/node_time_source.hpp"

#include <memory>

#include <string>

using rclcpp::node_interfaces::NodeTimeSource;

NodeTimeSource::NodeTimeSource(

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::node_interfaces::NodeClockInterface::SharedPtr node_clock,

rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,

const rclcpp::QoS & qos,

bool use_clock_thread)

: node_base_(std::move(node_base)),

node_topics_(std::move(node_topics)),

node_graph_(std::move(node_graph)),

node_services_(std::move(node_services)),

node_logging_(std::move(node_logging)),

node_clock_(std::move(node_clock)),

node_parameters_(std::move(node_parameters)),

time_source_(qos, use_clock_thread)

{

time_source_.attachNode(

node_base_,

node_topics_,

node_graph_,

node_services_,

node_logging_,

node_clock_,

node_parameters_);

time_source_.attachClock(node_clock_->get_clock());

}

NodeTimeSource::~NodeTimeSource()

{}