Refactor future #80
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Refactor future #80
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Signed-off-by: Ivan Santiago Paunovic <[email protected]>
Signed-off-by: Ivan Santiago Paunovic <[email protected]>
Signed-off-by: Ivan Santiago Paunovic <[email protected]>
Signed-off-by: Ivan Santiago Paunovic <[email protected]>
Signed-off-by: Ivan Santiago Paunovic <[email protected]>
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I think we could actually use https://docs.oracle.com/javase/8/docs/api/java/util/concurrent/CompletableFuture.html instead of our own implementation of a Future. |
jacobperron
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Jul 26, 2021
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LGTM, one suggestion.
I guess we should update the examples repo too: https://github.com/osrf/ros2_java_examples
rcljava/src/main/java/org/ros2/rcljava/concurrent/RCLFuture.java
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Signed-off-by: Ivan Santiago Paunovic <[email protected]>
Signed-off-by: Ivan Santiago Paunovic <[email protected]>
Signed-off-by: Ivan Santiago Paunovic <[email protected]>
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Signed-off-by: Ivan Santiago Paunovic <[email protected]>
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Don't use
spin()inRCLFuture.get().The problem with that is that you cannot currently call
spin()more than once, so that model is really limited.This uses a model more similar to the one in
rclcpp.You can block on a future while spinning in another thread, or use
Executor.spinUntilComplete().That model is still somewhat limited, but a bit better.
Note: this may break prexisting code that were calling
Future.get()without spinning.