Revert "Revert "Replace deprecated spin_until_future_complete with spin_until_complete (#499)" (#504)"

wjwwood · audrow · commit 16a55aedb142 · 2023-02-01T00:02:53.000Z
This reverts commit 4318235. Signed-off-by: Audrow Nash <audrow@openrobotics.org>
diff --git a/test_communication/test/action_client_py.py b/test_communication/test/action_client_py.py
@@ -61,7 +61,7 @@ def feedback_callback(feedback):
             test.goal,
             feedback_callback=feedback_callback)
 
-        rclpy.spin_until_future_complete(node, goal_handle_future)
+        rclpy.spin_until_complete(node, goal_handle_future)
 
         goal_handle = goal_handle_future.result()
         if not goal_handle.accepted:
@@ -70,7 +70,7 @@ def feedback_callback(feedback):
 
         get_result_future = goal_handle.get_result_async()
 
-        rclpy.spin_until_future_complete(node, get_result_future)
+        rclpy.spin_until_complete(node, get_result_future)
 
         result = get_result_future.result()
 
diff --git a/test_communication/test/requester_py.py b/test_communication/test/requester_py.py
@@ -45,7 +45,7 @@ def requester(service_name, namespace):
             # Make one call to that service
             for req, resp in srv_fixtures:
                 future = client.call_async(req)
-                rclpy.spin_until_future_complete(node, future)
+                rclpy.spin_until_complete(node, future)
                 assert repr(future.result()) == repr(resp), \
                     'unexpected response %r\n\nwas expecting %r' % (future.result(), resp)
                 print('received reply #%d of %d' % (
diff --git a/test_communication/test/test_action_client.cpp b/test_communication/test/test_action_client.cpp
@@ -84,15 +84,15 @@ send_goals(
 
     using rclcpp::FutureReturnCode;
     // wait for the sent goal to be accepted
-    auto status = rclcpp::spin_until_future_complete(node, goal_handle_future, 1000s);
+    auto status = rclcpp::spin_until_complete(node, goal_handle_future, 1000s);
     if (status != FutureReturnCode::SUCCESS) {
       RCLCPP_ERROR(logger, "send goal call failed");
       return 1;
     }
 
     // wait for the result (feedback may be received in the meantime)
     auto result_future = action_client->async_get_result(goal_handle_future.get());
-    status = rclcpp::spin_until_future_complete(node, result_future, 1000s);
+    status = rclcpp::spin_until_complete(node, result_future, 1000s);
     if (status != FutureReturnCode::SUCCESS) {
       RCLCPP_ERROR(logger, "failed to receive a goal result in time");
       return 1;
diff --git a/test_quality_of_service/test/test_deadline.cpp b/test_quality_of_service/test/test_deadline.cpp
@@ -97,7 +97,7 @@ TEST_F(QosRclcppTestFixture, test_deadline) {
   subscriber->start();
 
   // the future will never be resolved, so simply time out to force the experiment to stop
-  executor->spin_until_future_complete(dummy_future, max_test_length);
+  executor->spin_until_complete(dummy_future, max_test_length);
   toggle_publisher_timer->cancel();
 
   EXPECT_GT(publisher->get_count(), 0);  // check if we published anything
diff --git a/test_quality_of_service/test/test_lifespan.cpp b/test_quality_of_service/test/test_lifespan.cpp
@@ -76,7 +76,7 @@ TEST_F(QosRclcppTestFixture, test_lifespan) {
   subscriber->start();
 
   // the future will never be resolved, so simply time out to force the experiment to stop
-  executor->spin_until_future_complete(dummy_future, max_test_length);
+  executor->spin_until_complete(dummy_future, max_test_length);
   toggle_subscriber_timer->cancel();
 
   EXPECT_GT(timer_fired_count, 0);
diff --git a/test_quality_of_service/test/test_liveliness.cpp b/test_quality_of_service/test/test_liveliness.cpp
@@ -110,7 +110,7 @@ TEST_F(QosRclcppTestFixture, test_automatic_liveliness_changed) {
   publisher->start();
 
   // the future will never be resolved, so simply time out to force the experiment to stop
-  executor->spin_until_future_complete(dummy_future, max_test_length);
+  executor->spin_until_complete(dummy_future, max_test_length);
   kill_publisher_timer->cancel();
 
   EXPECT_EQ(1, timer_fired_count);
diff --git a/test_rclcpp/test/parameter_fixtures.hpp b/test_rclcpp/test/parameter_fixtures.hpp
@@ -106,7 +106,7 @@ void test_set_parameters_async(
   printf("Setting parameters\n");
   std::vector<rclcpp::Parameter> parameters = get_test_parameters();
   auto set_parameters_results = parameters_client->set_parameters(parameters);
-  rclcpp::spin_until_future_complete(node, set_parameters_results);  // Wait for the results.
+  rclcpp::spin_until_complete(node, set_parameters_results);  // Wait for the results.
   printf("Got set_parameters result\n");
 
   if (successful_up_to < 0 || successful_up_to > static_cast<int>(parameters.size())) {
@@ -271,7 +271,7 @@ void test_get_parameters_async(
   // Test recursive depth (=0)
   auto result = parameters_client->list_parameters(
     {"foo", "bar"}, rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE);
-  rclcpp::spin_until_future_complete(node, result);
+  rclcpp::spin_until_complete(node, result);
   auto parameters_and_prefixes = result.get();
   for (auto & name : parameters_and_prefixes.names) {
     EXPECT_TRUE(name == "foo" || name == "bar" || name == "foo.first" || name == "foo.second");
@@ -283,7 +283,7 @@ void test_get_parameters_async(
   printf("Listing parameters with depth 1\n");
   // Test different depth
   auto result4 = parameters_client->list_parameters({"foo"}, 1);
-  rclcpp::spin_until_future_complete(node, result4);
+  rclcpp::spin_until_complete(node, result4);
   auto parameters_and_prefixes4 = result4.get();
   for (auto & name : parameters_and_prefixes4.names) {
     EXPECT_EQ(name, "foo");
@@ -295,7 +295,7 @@ void test_get_parameters_async(
   // Test different depth
   printf("Listing parameters with depth 2\n");
   auto result4a = parameters_client->list_parameters({"foo"}, 2);
-  rclcpp::spin_until_future_complete(node, result4a);
+  rclcpp::spin_until_complete(node, result4a);
   auto parameters_and_prefixes4a = result4a.get();
   for (auto & name : parameters_and_prefixes4a.names) {
     EXPECT_TRUE(name == "foo" || name == "foo.first" || name == "foo.second");
@@ -308,7 +308,7 @@ void test_get_parameters_async(
   printf("Getting parameters\n");
   // Get a few of the parameters just set.
   auto result2 = parameters_client->get_parameters({"foo", "bar", "baz"});
-  rclcpp::spin_until_future_complete(node, result2);
+  rclcpp::spin_until_complete(node, result2);
   for (auto & parameter : result2.get()) {
     if (parameter.get_name() == "foo") {
       EXPECT_STREQ("foo", parameter.get_name().c_str());
@@ -333,7 +333,7 @@ void test_get_parameters_async(
   // Get a few non existant parameters
   {
     auto result3 = parameters_client->get_parameters({"not_foo", "not_baz"});
-    rclcpp::spin_until_future_complete(node, result3);
+    rclcpp::spin_until_complete(node, result3);
     std::vector<rclcpp::Parameter> retrieved_params = result3.get();
     if (allowed_undeclared == false) {
       ASSERT_EQ(0u, retrieved_params.size());
@@ -350,7 +350,7 @@ void test_get_parameters_async(
   // List all of the parameters, using an empty prefix list
   auto result5 = parameters_client->list_parameters(
     {}, rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE);
-  rclcpp::spin_until_future_complete(node, result5);
+  rclcpp::spin_until_complete(node, result5);
   parameters_and_prefixes = result5.get();
   std::vector<std::string> all_names = {
     "foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar", "use_sim_time"
diff --git a/test_rclcpp/test/test_client_scope_client.cpp b/test_rclcpp/test/test_client_scope_client.cpp
@@ -63,7 +63,7 @@ TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_te
     std::cout.flush();
     auto result1 = client1->async_send_request(request1);
     if (
-      rclcpp::spin_until_future_complete(node, result1) !=
+      rclcpp::spin_until_complete(node, result1) !=
       rclcpp::FutureReturnCode::SUCCESS)
     {
       FAIL();
@@ -90,7 +90,7 @@ TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_te
     printf("sending second request\n");
     std::cout.flush();
     auto result2 = client2->async_send_request(request2);
-    if (rclcpp::spin_until_future_complete(node, result2) !=
+    if (rclcpp::spin_until_complete(node, result2) !=
       rclcpp::FutureReturnCode::SUCCESS)
     {
       FAIL();
diff --git a/test_rclcpp/test/test_client_scope_consistency_client.cpp b/test_rclcpp/test/test_client_scope_consistency_client.cpp
@@ -72,7 +72,7 @@ TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_r
     std::cout.flush();
     auto result1 = client1->async_send_request(request1);
 
-    ret1 = rclcpp::spin_until_future_complete(node, result1, 5s);
+    ret1 = rclcpp::spin_until_complete(node, result1, 5s);
     if (ret1 == rclcpp::FutureReturnCode::SUCCESS) {
       printf("received first result\n");
       std::cout.flush();
@@ -108,7 +108,7 @@ TEST_F(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_r
     std::cout.flush();
     auto result2 = client2->async_send_request(request2);
 
-    auto ret2 = rclcpp::spin_until_future_complete(node, result2, 5s);
+    auto ret2 = rclcpp::spin_until_complete(node, result2, 5s);
     if (ret2 == rclcpp::FutureReturnCode::SUCCESS) {
       printf("received second result\n");
       std::cout.flush();
diff --git a/test_rclcpp/test/test_multiple_service_calls.cpp b/test_rclcpp/test/test_multiple_service_calls.cpp
@@ -84,13 +84,13 @@ TEST_F(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), two_service_calls)
 
   printf("Waiting for first reply...\n");
   fflush(stdout);
-  rclcpp::spin_until_future_complete(node, result1);
+  rclcpp::spin_until_complete(node, result1);
   printf("Received first reply\n");
   EXPECT_EQ(1, result1.get()->sum);
 
   printf("Waiting for second reply...\n");
   fflush(stdout);
-  rclcpp::spin_until_future_complete(node, result2);
+  rclcpp::spin_until_complete(node, result2);
   printf("Received second reply\n");
   EXPECT_EQ(2, result2.get()->sum);
 }
diff --git a/test_rclcpp/test/test_multithreaded.cpp b/test_rclcpp/test/test_multithreaded.cpp
@@ -223,7 +223,7 @@ TEST_F(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients
     }
     // Wait on each future
     for (uint32_t i = 0; i < results.size(); ++i) {
-      auto result = executor.spin_until_future_complete(results[i]);
+      auto result = executor.spin_until_complete(results[i]);
       ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, result);
     }
 
diff --git a/test_rclcpp/test/test_services_client.cpp b/test_rclcpp/test/test_services_client.cpp
@@ -59,7 +59,7 @@ TEST_F(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_noreqid) {
 
   auto result = client->async_send_request(request);
 
-  auto ret = rclcpp::spin_until_future_complete(node, result, 5s);  // Wait for the result.
+  auto ret = rclcpp::spin_until_complete(node, result, 5s);  // Wait for the result.
   ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
 
   EXPECT_EQ(3, result.get()->sum);
@@ -79,7 +79,7 @@ TEST_F(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_reqid) {
 
   auto result = client->async_send_request(request);
 
-  auto ret = rclcpp::spin_until_future_complete(node, result, 5s);  // Wait for the result.
+  auto ret = rclcpp::spin_until_complete(node, result, 5s);  // Wait for the result.
   ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
 
   EXPECT_EQ(9, result.get()->sum);
@@ -106,7 +106,7 @@ TEST_F(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_return_request)
       EXPECT_EQ(9, future.get().second->sum);
     });
 
-  auto ret = rclcpp::spin_until_future_complete(node, result, 5s);  // Wait for the result.
+  auto ret = rclcpp::spin_until_complete(node, result, 5s);  // Wait for the result.
   ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
 }
 
@@ -131,7 +131,7 @@ TEST_F(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_two_ints_de
       EXPECT_EQ(9, future.get().second->sum);
     });
 
-  auto ret = rclcpp::spin_until_future_complete(node, result, 5s);  // Wait for the result.
+  auto ret = rclcpp::spin_until_complete(node, result, 5s);  // Wait for the result.
   ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
 }
 
@@ -156,6 +156,6 @@ TEST_F(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_two_ints_de
       EXPECT_EQ(9, future.get().second->sum);
     });
 
-  auto ret = rclcpp::spin_until_future_complete(node, result, 5s);  // Wait for the result.
+  auto ret = rclcpp::spin_until_complete(node, result, 5s);  // Wait for the result.
   ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
 }
diff --git a/test_rclcpp/test/test_spin.cpp b/test_rclcpp/test/test_spin.cpp
@@ -50,9 +50,9 @@ class CLASSNAME (test_spin, RMW_IMPLEMENTATION) : public ::testing::Test
 };
 
 /*
-   Ensures that the timeout behavior of spin_until_future_complete is correct.
+   Ensures that the timeout behavior of spin_until_complete is correct.
  */
-TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_future_complete_timeout) {
+TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_complete_timeout) {
   using rclcpp::FutureReturnCode;
   rclcpp::executors::SingleThreadedExecutor executor;
 
@@ -61,10 +61,10 @@ TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_future_complete
     std::promise<void> already_set_promise;
     std::shared_future<void> already_complete_future = already_set_promise.get_future();
     already_set_promise.set_value();
-    auto ret = executor.spin_until_future_complete(already_complete_future, 1s);
+    auto ret = executor.spin_until_complete(already_complete_future, 1s);
     EXPECT_EQ(FutureReturnCode::SUCCESS, ret);
     // Also try blocking with no timeout (default timeout of -1).
-    ret = executor.spin_until_future_complete(already_complete_future);
+    ret = executor.spin_until_complete(already_complete_future);
     EXPECT_EQ(FutureReturnCode::SUCCESS, ret);
   }
 
@@ -73,10 +73,10 @@ TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_future_complete
     std::promise<void> never_set_promise;
     std::shared_future<void> never_complete_future = never_set_promise.get_future();
     // Set the timeout just long enough to make sure it isn't incorrectly set.
-    auto ret = executor.spin_until_future_complete(never_complete_future, 50ms);
+    auto ret = executor.spin_until_complete(never_complete_future, 50ms);
     EXPECT_EQ(FutureReturnCode::TIMEOUT, ret);
     // Also try with zero timeout.
-    ret = executor.spin_until_future_complete(never_complete_future, 0s);
+    ret = executor.spin_until_complete(never_complete_future, 0s);
     EXPECT_EQ(FutureReturnCode::TIMEOUT, ret);
   }
 
@@ -87,7 +87,7 @@ TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_future_complete
       []() {
         std::this_thread::sleep_for(50ms);
       });
-    auto ret = executor.spin_until_future_complete(async_future, 100ms);
+    auto ret = executor.spin_until_complete(async_future, 100ms);
     EXPECT_EQ(FutureReturnCode::SUCCESS, ret);
   }
 
@@ -108,10 +108,10 @@ TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_future_complete
       });
     std::shared_future<void> never_completed_future = never_set_promise.get_future();
     // Try with a timeout long enough for both timers to fire at least once.
-    auto ret = executor.spin_until_future_complete(never_completed_future, 75ms);
+    auto ret = executor.spin_until_complete(never_completed_future, 75ms);
     EXPECT_EQ(FutureReturnCode::TIMEOUT, ret);
     // Also try with a timeout of zero (nonblocking).
-    ret = executor.spin_until_future_complete(never_completed_future, 0s);
+    ret = executor.spin_until_complete(never_completed_future, 0s);
     EXPECT_EQ(FutureReturnCode::TIMEOUT, ret);
   }
 
@@ -129,17 +129,17 @@ TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_future_complete
         // Do nothing.
       });
     std::shared_future<void> timer_fired_future = timer_fired_promise.get_future();
-    auto ret = executor.spin_until_future_complete(timer_fired_future, 100ms);
+    auto ret = executor.spin_until_complete(timer_fired_future, 100ms);
     EXPECT_EQ(FutureReturnCode::SUCCESS, ret);
-    // Also try again with blocking spin_until_future_complete.
+    // Also try again with blocking spin_until_complete.
     timer_fired_promise = std::promise<void>();
     timer_fired_future = timer_fired_promise.get_future();
-    ret = executor.spin_until_future_complete(timer_fired_future);
+    ret = executor.spin_until_complete(timer_fired_future);
     EXPECT_EQ(FutureReturnCode::SUCCESS, ret);
   }
 }
 
-TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete) {
+TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_complete) {
   auto node = rclcpp::Node::make_shared("test_spin");
 
   // Construct a fake future to wait on
@@ -156,12 +156,12 @@ TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete) {
   rclcpp::executors::SingleThreadedExecutor executor;
   executor.add_node(node);
   ASSERT_EQ(
-    executor.spin_until_future_complete(future),
+    executor.spin_until_complete(future),
     rclcpp::FutureReturnCode::SUCCESS);
   EXPECT_EQ(future.get(), true);
 }
 
-TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_timeout) {
+TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_complete_timeout) {
   auto node = rclcpp::Node::make_shared("test_spin");
 
   // Construct a fake future to wait on
@@ -175,18 +175,18 @@ TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_time
   auto timer = node->create_wall_timer(std::chrono::milliseconds(50), callback);
 
   ASSERT_EQ(
-    rclcpp::spin_until_future_complete(node, future, std::chrono::milliseconds(25)),
+    rclcpp::spin_until_complete(node, future, std::chrono::milliseconds(25)),
     rclcpp::FutureReturnCode::TIMEOUT);
 
   // If we wait a little longer, we should complete the future
   ASSERT_EQ(
-    rclcpp::spin_until_future_complete(node, future, std::chrono::milliseconds(50)),
+    rclcpp::spin_until_complete(node, future, std::chrono::milliseconds(50)),
     rclcpp::FutureReturnCode::SUCCESS);
 
   EXPECT_EQ(future.get(), true);
 }
 
-TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_interrupted) {
+TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_complete_interrupted) {
   auto node = rclcpp::Node::make_shared("test_spin");
 
   // Construct a fake future to wait on
@@ -206,7 +206,7 @@ TEST_F(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_inte
   auto shutdown_timer = node->create_wall_timer(std::chrono::milliseconds(25), shutdown_callback);
 
   ASSERT_EQ(
-    rclcpp::spin_until_future_complete(node, future, std::chrono::milliseconds(50)),
+    rclcpp::spin_until_complete(node, future, std::chrono::milliseconds(50)),
     rclcpp::FutureReturnCode::INTERRUPTED);
 }
 
diff --git a/test_rclcpp/test/test_subscription.cpp b/test_rclcpp/test/test_subscription.cpp
diff --git a/test_rclcpp/test/test_waitable.cpp b/test_rclcpp/test/test_waitable.cpp
