Allow spin_until_future_complete to accept std::future

rclcpp/include/rclcpp/executor.hpp

@@ -188,10 +188,10 @@ class Executor
    *   code.
    * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
    */
-  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  template<typename FutureResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   FutureReturnCode
   spin_until_future_complete(
-    const std::shared_future<ResponseT> & future,
+    const FutureResponseT & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete

rclcpp/include/rclcpp/executors.hpp

@@ -66,12 +66,12 @@ using rclcpp::executors::SingleThreadedExecutor;
  *   If the time spent inside the blocking loop exceeds this timeout, return a `TIMEOUT` return code.
  * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
  */
-template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+template<typename FutureResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const std::shared_future<ResponseT> & future,
+  const FutureResponseT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
@@ -82,13 +82,13 @@ spin_node_until_future_complete(
   return retcode;
 }
 
-template<typename NodeT = rclcpp::Node, typename ResponseT, typename TimeRepT = int64_t,
+template<typename NodeT = rclcpp::Node, typename FutureResponseT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
-  const std::shared_future<ResponseT> & future,
+  const FutureResponseT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::executors::spin_node_until_future_complete(
@@ -104,7 +104,7 @@ template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::mi
 rclcpp::FutureReturnCode
 spin_until_future_complete(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const std::shared_future<FutureT> & future,
+  const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   rclcpp::executors::SingleThreadedExecutor executor;
@@ -116,7 +116,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
 rclcpp::FutureReturnCode
 spin_until_future_complete(
   std::shared_ptr<NodeT> node_ptr,
-  const std::shared_future<FutureT> & future,
+  const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::spin_until_future_complete(node_ptr->get_node_base_interface(), future, timeout);

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -143,10 +143,10 @@ class StaticSingleThreadedExecutor : public rclcpp::Executor
    *  exec.add_node(node);
    *  exec.spin_until_future_complete(future);
    */
-  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  template<typename FutureResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   rclcpp::FutureReturnCode
   spin_until_future_complete(
-    std::shared_future<ResponseT> & future,
+    FutureResponseT & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     std::future_status status = future.wait_for(std::chrono::seconds(0));

rclcpp/test/test_executor.cpp

@@ -67,3 +67,47 @@ TEST_F(TestExecutors, addTemporaryNode) {
   executor.add_node(std::make_shared<rclcpp::Node>("temporary_node"));
   EXPECT_NO_THROW(executor.spin_some());
 }
+
+// Make sure that the spin_until_future_complete works correctly with std::future
+TEST_F(TestExecutors, testSpinUntilFutureComplete) {
+  rclcpp::executors::SingleThreadedExecutor executor;
+  std::future<void> future;
+  rclcpp::FutureReturnCode ret;
+
+  // test success
+  future = std::async([]() {
+    return;
+  });
+  ret = executor.spin_until_future_complete(future, 1s);
+  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+
+  // test timeout
+  future = std::async([]() {
+    std::this_thread::sleep_for(20ms);
+    return;
+  });
+  ret = executor.spin_until_future_complete(future, 10ms);
+  EXPECT_EQ(rclcpp::FutureReturnCode::TIMEOUT, ret);
+}
+
+// Make sure that the spin_until_future_complete works correctly with std::shared_future
+TEST_F(TestExecutors, testSpinUntilFutureCompleteSharedFuture) {
+  rclcpp::executors::SingleThreadedExecutor executor;
+  std::future<void> future;
+  rclcpp::FutureReturnCode ret;
+
+  // test success
+  future = std::async([]() {
+    return;
+  });
+  ret = executor.spin_until_future_complete(future.share(), 1s);
+  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+
+  // test timeout
+  future = std::async([]() {
+    std::this_thread::sleep_for(20ms);
+    return;
+  });
+  ret = executor.spin_until_future_complete(future.share(), 10ms);
+  EXPECT_EQ(rclcpp::FutureReturnCode::TIMEOUT, ret);
+}