From 5b6de09cce60e916df2a33dcf98c2c23e991f4af Mon Sep 17 00:00:00 2001
From: Donghee Ye <donghee.ye@samsung.com>
Date: Mon, 23 Mar 2020 11:28:50 +0900
Subject: [PATCH] Apply comment: add spin_once_impl private method

Signed-off-by: Donghee Ye <donghee.ye@samsung.com>
---
 rclcpp/include/rclcpp/executor.hpp |  9 +++++----
 rclcpp/src/rclcpp/executor.cpp     | 13 +++++++++----
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index bee3f92d0f..21d3f73dd6 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -251,10 +251,8 @@ class Executor
     RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
     while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
-      AnyExecutable any_exec;
-      if (get_next_executable(any_exec, timeout_left)) {
-        execute_any_executable(any_exec);
-      }
+      spin_once_impl(timeout_left);
+
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
@@ -368,6 +366,9 @@ class Executor
 private:
   RCLCPP_DISABLE_COPY(Executor)
 
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout);
+
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
   std::list<const rcl_guard_condition_t *> guard_conditions_;
 };
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index 3b4d74d598..64aa7f7e15 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -246,6 +246,14 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
   }
 }
 
+void
+Executor::spin_once_impl(std::chrono::nanoseconds timeout) {
+  AnyExecutable any_exec;
+  if (get_next_executable(any_exec, timeout)) {
+    execute_any_executable(any_exec);
+  }
+}
+
 void
 Executor::spin_once(std::chrono::nanoseconds timeout)
 {
@@ -253,10 +261,7 @@ Executor::spin_once(std::chrono::nanoseconds timeout)
     throw std::runtime_error("spin_once() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  AnyExecutable any_exec;
-  if (get_next_executable(any_exec, timeout)) {
-    execute_any_executable(any_exec);
-  }
+  spin_once_impl(timeout);
 }
 
 void