Added spin_until_future_complete and spin_node_until_future_complete …

…helper functions
ros2 · Apr 20, 2015 · e531758 · e531758
1 parent 0f8ccd2
commit e531758
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diff --git a/rclcpp/include/rclcpp/executors.hpp b/rclcpp/include/rclcpp/executors.hpp
@@ -26,6 +26,20 @@ namespace executors
 using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
 using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
 
+template <typename FutureT>
+std::shared_future<FutureT> &
+spin_node_until_future_complete(
+  rclcpp::executor::Executor & executor, Node::SharedPtr & node_ptr,
+  std::shared_future<FutureT> & future)
+{
+  std::future_status status;
+  do {
+    executor.spin_node_some(node_ptr);
+    status = future.wait_for(std::chrono::seconds(0));
+  } while (status != std::future_status::ready && rclcpp::utilities::ok());
+  return future;
+}
+
 } // namespace executors
 } // namespace rclcpp
 

diff --git a/rclcpp/include/rclcpp/rclcpp.hpp b/rclcpp/include/rclcpp/rclcpp.hpp
@@ -76,6 +76,17 @@ void spin(Node::SharedPtr & node_ptr)
   executor.spin();
 }
 
+template <typename FutureT>
+std::shared_future<FutureT> &
+spin_until_future_complete(
+  Node::SharedPtr & node_ptr, std::shared_future<FutureT> & future)
+{
+  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::executors::spin_node_until_future_complete<FutureT>(
+    executor, node_ptr, future);
+  return future;
+}
+
 } /* namespace rclcpp */
 
 #endif /* RCLCPP_RCLCPP_RCLCPP_HPP_ */