From 90ba163953c428ca05da331bcbc2fc0e9ebff5cb Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Tue, 28 Apr 2015 10:08:28 -0700
Subject: [PATCH] Added spin_node_until_future_complete

---
 rclcpp/include/rclcpp/executors.hpp | 17 +++++++++++++++++
 rclcpp/include/rclcpp/rclcpp.hpp    | 11 +++++++++++
 2 files changed, 28 insertions(+)

diff --git a/rclcpp/include/rclcpp/executors.hpp b/rclcpp/include/rclcpp/executors.hpp
index 8428aa65d0..cc965efa8c 100644
--- 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
index 040cf3897e..02d835a37f 100644
--- 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_ */