ClockYarp.h

/*
 * Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_CLOCKYARP_H
#define ROBOTSIO_CLOCKYARP_H
 
#include <RobotsIO/Utils/Clock.h>
 
#include <yarp/os/Network.h>
 
namespace RobotsIO {
    namespace Utils {
        class ClockYarp;
    }
}
 
class RobotsIO::Utils::ClockYarp : public RobotsIO::Utils::Clock
{
public:
    ClockYarp();
 
    virtual ~ClockYarp();
 
    double now() const override;
 
    void delay(const int& milliseconds) const override;
 
private:
    yarp::os::Network yarp_;
 
    const std::string log_name_ = "ClockYarp";
};
 
#endif /* ROBOTSIO_CLOCKYARP_H */