Replace deprecated spin_until_future_complete with spin_until_complete

Signed-off-by: Hubert Liberacki <[email protected]>

Author: hliberacki

test_communication/test/action_client_py.py

@@ -37,15 +37,17 @@ def send_goals(node, action_type, tests):
     import rclpy
     from rclpy.action import ActionClient
 
-    action_client = ActionClient(node, action_type, 'test/action/' + action_type.__name__)
+    action_client = ActionClient(
+        node, action_type, 'test/action/' + action_type.__name__)
 
     if not action_client.wait_for_server(20):
         print('Action server not available after waiting', file=sys.stderr)
         return 1
 
     test_index = 0
     while rclpy.ok() and test_index < len(tests):
-        print('Sending goal for test number {}'.format(test_index), file=sys.stderr)
+        print('Sending goal for test number {}'.format(
+            test_index), file=sys.stderr)
 
         test = tests[test_index]
 
@@ -61,7 +63,7 @@ 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 +72,7 @@ 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()
 
@@ -94,7 +96,8 @@ def generate_fibonacci_goal_tests():
 
     valid_result_sequence = [0, 1]
     for i in range(1, goal.order):
-        valid_result_sequence.append(valid_result_sequence[i] + valid_result_sequence[i-1])
+        valid_result_sequence.append(
+            valid_result_sequence[i] + valid_result_sequence[i-1])
 
     test = ActionClientTest(goal)
 
@@ -171,7 +174,8 @@ def is_result_valid(get_result_response):
 if __name__ == '__main__':
     import rclpy
 
-    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser = argparse.ArgumentParser(
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
     parser.add_argument('action_type', help='type of the ROS action')
     parser.add_argument('namespace', help='namespace of the ROS node')
     args = parser.parse_args()
@@ -184,9 +188,11 @@ def is_result_valid(get_result_response):
         if 'Fibonacci' == args.action_type:
             rc = send_goals(node, Fibonacci, generate_fibonacci_goal_tests())
         elif 'NestedMessage' == args.action_type:
-            rc = send_goals(node, NestedMessage, generate_nested_message_goal_tests())
+            rc = send_goals(node, NestedMessage,
+                            generate_nested_message_goal_tests())
         else:
-            print('Unknown action type {!r}'.format(args.action_type), file=sys.stderr)
+            print('Unknown action type {!r}'.format(
+                args.action_type), file=sys.stderr)
     except KeyboardInterrupt:
         print('Action client stopped cleanly')
     except ExternalShutdownException:

test_communication/test/requester_py.py

@@ -45,9 +45,10 @@ 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)
+                    'unexpected response %r\n\nwas expecting %r' % (
+                        future.result(), resp)
                 print('received reply #%d of %d' % (
                     srv_fixtures.index([req, resp]) + 1, len(srv_fixtures)))
         finally:
@@ -57,7 +58,8 @@ def requester(service_name, namespace):
 
 
 if __name__ == '__main__':
-    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser = argparse.ArgumentParser(
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
     parser.add_argument('service_name', help='name of the ROS message')
     parser.add_argument('namespace', help='namespace of the ROS node')
     args = parser.parse_args()

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;

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

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);

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);

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"

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();

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();

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);
 }

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);
     }
 

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);
 }