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Accept taking an rvalue reference future in spin_until_future_complete #971

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merged 1 commit into from
Jan 30, 2020
Merged

Accept taking an rvalue reference future in spin_until_future_complete #971

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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/executor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -223,7 +223,7 @@ class Executor
template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
FutureReturnCode
spin_until_future_complete(
std::shared_future<ResponseT> & future,
const std::shared_future<ResponseT> & 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
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8 changes: 4 additions & 4 deletions rclcpp/include/rclcpp/executors.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ rclcpp::executor::FutureReturnCode
spin_node_until_future_complete(
rclcpp::executor::Executor & executor,
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
std::shared_future<ResponseT> & future,
const std::shared_future<ResponseT> & 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
Expand All @@ -87,7 +87,7 @@ rclcpp::executor::FutureReturnCode
spin_node_until_future_complete(
rclcpp::executor::Executor & executor,
std::shared_ptr<NodeT> node_ptr,
std::shared_future<ResponseT> & future,
const std::shared_future<ResponseT> & future,
std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
{
return rclcpp::executors::spin_node_until_future_complete(
Expand All @@ -103,7 +103,7 @@ template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::mi
rclcpp::executor::FutureReturnCode
spin_until_future_complete(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
std::shared_future<FutureT> & future,
const std::shared_future<FutureT> & future,
std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
{
rclcpp::executors::SingleThreadedExecutor executor;
Expand All @@ -115,7 +115,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
rclcpp::executor::FutureReturnCode
spin_until_future_complete(
std::shared_ptr<NodeT> node_ptr,
std::shared_future<FutureT> & future,
const std::shared_future<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);
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