Accept taking an rvalue ref future in spin_until_future_complete (#971)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
ros2 · Jan 30, 2020 · c2b8558 · c2b8558
1 parent 3ec882c
commit c2b8558
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
@@ -223,7 +223,7 @@ class Executor
   template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   FutureReturnCode
   spin_until_future_complete(
-    std::shared_future<ResponseT> & future,
+    const std::shared_future<ResponseT> & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete

diff --git a/rclcpp/include/rclcpp/executors.hpp b/rclcpp/include/rclcpp/executors.hpp
@@ -70,7 +70,7 @@ rclcpp::executor::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::executor::Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  std::shared_future<ResponseT> & future,
+  const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
@@ -87,7 +87,7 @@ rclcpp::executor::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::executor::Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
-  std::shared_future<ResponseT> & future,
+  const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::executors::spin_node_until_future_complete(
@@ -103,7 +103,7 @@ template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::mi
 rclcpp::executor::FutureReturnCode
 spin_until_future_complete(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  std::shared_future<FutureT> & future,
+  const std::shared_future<FutureT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   rclcpp::executors::SingleThreadedExecutor executor;
@@ -115,7 +115,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
 rclcpp::executor::FutureReturnCode
 spin_until_future_complete(
   std::shared_ptr<NodeT> node_ptr,
-  std::shared_future<FutureT> & future,
+  const std::shared_future<FutureT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::spin_until_future_complete(node_ptr->get_node_base_interface(), future, timeout);