From 92529eac82b4ad95d0c12e5165521237d45cff5d Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Tue, 22 Sep 2020 09:34:18 -0700
Subject: [PATCH] Add getClock method to Node interface

Useful for getting the current time from the Clock instance.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 rcljava/src/main/java/org/ros2/rcljava/node/Node.java     | 6 ++++++
 rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java | 7 +++++++
 2 files changed, 13 insertions(+)

diff --git a/rcljava/src/main/java/org/ros2/rcljava/node/Node.java b/rcljava/src/main/java/org/ros2/rcljava/node/Node.java
index 0a3ba7ad..c5c034a7 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/node/Node.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/node/Node.java
@@ -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;
 
@@ -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.
    */
diff --git a/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java b/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
index 9fdc1c27..c8af8640 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
@@ -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}
    */