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Merge pull request #25 from ros2/spin-node-until-future-complete

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Added spin_node_until_future_complete
This commit is contained in:
Esteve Fernandez 2015-04-28 15:09:22 -07:00
commit 8ad1f1f4c5
2 changed files with 30 additions and 0 deletions
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19
rclcpp/include/rclcpp/executors.hpp
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@ -15,8 +15,11 @@
#ifndef RCLCPP_RCLCPP_EXECUTORS_HPP_ #ifndef RCLCPP_RCLCPP_EXECUTORS_HPP_
#define RCLCPP_RCLCPP_EXECUTORS_HPP_ #define RCLCPP_RCLCPP_EXECUTORS_HPP_
#include <future>
#include <rclcpp/executors/multi_threaded_executor.hpp> #include <rclcpp/executors/multi_threaded_executor.hpp>
#include <rclcpp/executors/single_threaded_executor.hpp> #include <rclcpp/executors/single_threaded_executor.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/utilities.hpp>
namespace rclcpp namespace rclcpp
{ {
@ -26,6 +29,22 @@ namespace executors
using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor; using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor; using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
template<typename FutureT>
std::shared_future<FutureT> &
spin_node_until_future_complete(
rclcpp::executor::Executor & executor, rclcpp::node::Node::SharedPtr & node_ptr,
std::shared_future<FutureT> & future)
{
std::future_status status;
// TODO: does not work recursively right, can't call spin_node_until_future_complete
// inside a callback executed by an executor.
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 executors
} // namespace rclcpp } // namespace rclcpp

11
rclcpp/include/rclcpp/rclcpp.hpp
View file

@ -76,6 +76,17 @@ void spin(Node::SharedPtr & node_ptr)
executor.spin(); 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 */ } /* namespace rclcpp */
#endif /* RCLCPP_RCLCPP_RCLCPP_HPP_ */ #endif /* RCLCPP_RCLCPP_RCLCPP_HPP_ */