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refactor executor.spin_until_future_complete

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This commit is contained in:
William Woodall 2016-03-03 18:14:18 -08:00
parent 0c826497f1
commit e8f9344015
1 changed files with 21 additions and 14 deletions
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35
rclcpp/include/rclcpp/executor.hpp
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@ -184,23 +184,30 @@ public:
// Check the future before entering the while loop.
// If the future is already complete, don't try to spin.
std::future_status status = future.wait_for(std::chrono::seconds(0));
auto start_time = std::chrono::system_clock::now();
while (status != std::future_status::ready && rclcpp::utilities::ok()) {
spin_once(timeout);
if (timeout.count() >= 0) {
if (start_time + timeout < std::chrono::system_clock::now()) {
return TIMEOUT;
}
}
status = future.wait_for(std::chrono::seconds(0));
}
// If the future completed, and we weren't interrupted by ctrl-C, return the response
if (status == std::future_status::ready) {
return FutureReturnCode::SUCCESS;
}
auto start_time = std::chrono::steady_clock::now();
while (rclcpp::utilities::ok()) {
// Do one item of work.
spin_once(timeout);
// Check if the future is set, return SUCCESS if it is.
status = future.wait_for(std::chrono::seconds(0));
if (status == std::future_status::ready) {
return FutureReturnCode::SUCCESS;
}
// Otherwise check if we still have time to wait, return TIMEOUT if not.
auto elapsed_time = std::chrono::steady_clock::now() - start_time;
if (elapsed_time > timeout) {
return FutureReturnCode::TIMEOUT;
}
// Subtract the elapsed time from the original timeout.
timeout -= std::chrono::duration_cast<std::chrono::duration<int64_t, TimeT>>(elapsed_time);
}
// The future did not complete before ok() returned false, return INTERRUPTED.
return FutureReturnCode::INTERRUPTED;
}