Added spin_node_until_future_complete

ros2 · Apr 28, 2015 · 90ba163 · 90ba163
1 parent 1bf595d
commit 90ba163
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Showing 2 changed files with 28 additions and 0 deletions.
diff --git a/rclcpp/include/rclcpp/executors.hpp b/rclcpp/include/rclcpp/executors.hpp
@@ -15,8 +15,11 @@
 #ifndef RCLCPP_RCLCPP_EXECUTORS_HPP_
 #define RCLCPP_RCLCPP_EXECUTORS_HPP_
 
+#include <future>
 #include <rclcpp/executors/multi_threaded_executor.hpp>
 #include <rclcpp/executors/single_threaded_executor.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/utilities.hpp>
 
 namespace rclcpp
 {
@@ -26,6 +29,20 @@ namespace executors
 using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
 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;
+ 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 rclcpp
 

diff --git a/rclcpp/include/rclcpp/rclcpp.hpp b/rclcpp/include/rclcpp/rclcpp.hpp
@@ -76,6 +76,17 @@ void spin(Node::SharedPtr & node_ptr)
  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 */
 
 #endif /* RCLCPP_RCLCPP_RCLCPP_HPP_ */