From 951db6caae150fdec8c8fa2cc3f82154b42cb7db Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20=C5=A0koudlil?= <skoudmar@fel.cvut.cz>
Date: Mon, 8 Jan 2024 14:43:26 +0100
Subject: [PATCH] Add methods to access TimeSource and shared ROS clock

---
 r2r/src/nodes.rs | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/r2r/src/nodes.rs b/r2r/src/nodes.rs
index c0a385f..2fc1e99 100644
--- a/r2r/src/nodes.rs
+++ b/r2r/src/nodes.rs
@@ -1333,6 +1333,21 @@ impl Node {
         let s = unsafe { CStr::from_ptr(ptr) };
         s.to_str().unwrap_or("")
     }
+
+    /// Get TimeSource of the node
+    ///
+    /// See: [`TimeSource`]
+    #[cfg(feature = "sim-time")]
+    pub fn get_time_source(&self) -> TimeSource {
+        self.time_source.clone()
+    }
+
+    /// Get ROS clock of the node
+    ///
+    /// This is the same clock that is used by ROS timers created in [`Node::create_timer`].
+    pub fn get_ros_clock(&self) -> Arc<Mutex<Clock>> {
+        self.ros_clock.clone()
+    }
 }
 
 #[derive(Debug, Clone, PartialEq)]