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Explain return value of spin_until_future_complete (#792)

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Signed-off-by: Dan Rose <dan@digilabs.io>
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Dan Rose 2019-08-08 15:29:10 -05:00 • committed by ivanpauno
parent 41a99b64d3
commit 78ab3731c9
1 changed files with 3 additions and 2 deletions
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5
rclcpp/include/rclcpp/executor.hpp
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@ -47,6 +47,7 @@ namespace executor
/// Return codes to be used with spin_until_future_complete. /// Return codes to be used with spin_until_future_complete.
/** /**
* SUCCESS: The future is complete and can be accessed with "get" without blocking. * SUCCESS: The future is complete and can be accessed with "get" without blocking.
* This does not indicate that the operation succeeded; "get" may still throw an exception.
* INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error. * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
* TIMEOUT: Spinning timed out. * TIMEOUT: Spinning timed out.
*/ */
@ -210,8 +211,8 @@ public:
/// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted. /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
/** /**
* \param[in] future The future to wait on. If SUCCESS, the future is safe to access after this * \param[in] future The future to wait on. If this function returns SUCCESS, the future can be
* function. * accessed without blocking (though it may still throw an exception).
* \param[in] timeout Optional timeout parameter, which gets passed to Executor::spin_node_once. * \param[in] timeout Optional timeout parameter, which gets passed to Executor::spin_node_once.
* `-1` is block forever, `0` is non-blocking. * `-1` is block forever, `0` is non-blocking.
* If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return * If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return