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Add getClock method to Node interface #139

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Add getClock method to Node interface #139

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6 changes: 6 additions & 0 deletions rcljava/src/main/java/org/ros2/rcljava/node/Node.java
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
import org.ros2.rcljava.service.RMWRequestId;
import org.ros2.rcljava.service.Service;
import org.ros2.rcljava.subscription.Subscription;
import org.ros2.rcljava.time.Clock;
import org.ros2.rcljava.timer.Timer;
import org.ros2.rcljava.timer.WallTimer;

Expand All @@ -41,6 +42,11 @@
* A Node must be created via @{link RCLJava#createNode(String)}
*/
public interface Node extends Disposable {
/**
* @return The nodes @{link Clock}.
*/
Clock getClock();

/**
* return All the @{link Client}s that have been created by this instance.
*/
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7 changes: 7 additions & 0 deletions rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
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Expand Up @@ -176,6 +176,13 @@ private static native <T extends MessageDefinition> long nativeCreatePublisherHa
private static native <T extends MessageDefinition> long nativeCreateSubscriptionHandle(
long handle, Class<T> messageType, String topic, long qosProfileHandle);

/**
* {@inheritDoc}
*/
public final Clock getClock() {
return this.clock;
}

/**
* {@inheritDoc}
*/
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