Replace deprecated spin_until_future_complete with `spin_until_comp…

…lete`

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

ros2action/ros2action/verb/send_goal.py

@@ -106,7 +106,7 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):
 
         print('Sending goal:\n     {}'.format(message_to_yaml(goal)))
         goal_future = action_client.send_goal_async(goal, feedback_callback)
-        rclpy.spin_until_future_complete(node, goal_future)
+        rclpy.spin_until_complete(node, goal_future)
 
         goal_handle = goal_future.result()
 
@@ -123,7 +123,7 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):
         print('Goal accepted with ID: {}\n'.format(bytes(goal_handle.goal_id.uuid).hex()))
 
         result_future = goal_handle.get_result_async()
-        rclpy.spin_until_future_complete(node, result_future)
+        rclpy.spin_until_complete(node, result_future)
 
         result = result_future.result()
 
@@ -143,7 +143,7 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):
              GoalStatus.STATUS_EXECUTING == goal_handle.status)):
             print('Canceling goal...')
             cancel_future = goal_handle.cancel_goal_async()
-            rclpy.spin_until_future_complete(node, cancel_future)
+            rclpy.spin_until_complete(node, cancel_future)
 
             cancel_response = cancel_future.result()
 

ros2component/ros2component/api/__init__.py

@@ -174,7 +174,7 @@ def _resume(to_completion=False):
 
     timer = node.create_timer(timer_period_sec=0.1, callback=resume)
     try:
-        rclpy.spin_until_future_complete(node, future, timeout_sec=5.0)
+        rclpy.spin_until_complete(node, future, timeout_sec=5.0)
         if not future.done():
             resume(to_completion=True)
         return dict(future.result())
@@ -244,7 +244,7 @@ def load_component_into_container(
                 arg_msg.name = name
                 request.extra_arguments.append(arg_msg)
         future = load_node_client.call_async(request)
-        rclpy.spin_until_future_complete(node, future)
+        rclpy.spin_until_complete(node, future)
         response = future.result()
         if not response.success:
             raise RuntimeError('Failed to load component: ' + response.error_message.capitalize())
@@ -274,7 +274,7 @@ def unload_component_from_container(*, node, remote_container_node_name, compone
             request = composition_interfaces.srv.UnloadNode.Request()
             request.unique_id = uid
             future = unload_node_client.call_async(request)
-            rclpy.spin_until_future_complete(node, future)
+            rclpy.spin_until_complete(node, future)
             response = future.result()
             yield uid, not response.success, response.error_message
     finally:

ros2lifecycle/ros2lifecycle/api/__init__.py

@@ -67,7 +67,7 @@ def call_get_states(*, node, node_names):
 
     # wait for all responses
     for future in futures.values():
-        rclpy.spin_until_future_complete(node, future)
+        rclpy.spin_until_complete(node, future)
 
     # return current state or exception for each node
     states = {}
@@ -112,7 +112,7 @@ def _call_get_transitions(node, states, service_name):
 
     # wait for all responses
     for future in futures.values():
-        rclpy.spin_until_future_complete(node, future)
+        rclpy.spin_until_complete(node, future)
 
     # return transitions from current state or exception for each node
     transitions = {}
@@ -157,7 +157,7 @@ def call_change_states(*, node, transitions):
 
     # wait for all responses
     for future in futures.values():
-        rclpy.spin_until_future_complete(node, future)
+        rclpy.spin_until_complete(node, future)
 
     # return success flag or exception for each node
     results = {}

ros2param/ros2param/api/__init__.py

@@ -102,8 +102,8 @@ def parse_parameter_dict(*, namespace, parameter_dict):
         # Unroll nested parameters
         if type(param_value) == dict:
             parameters += parse_parameter_dict(
-                    namespace=full_param_name + PARAMETER_SEPARATOR_STRING,
-                    parameter_dict=param_value)
+                namespace=full_param_name + PARAMETER_SEPARATOR_STRING,
+                parameter_dict=param_value)
         else:
             parameter = Parameter()
             parameter.name = full_param_name
@@ -173,7 +173,7 @@ def call_describe_parameters(*, node, node_name, parameter_names=None):
     if parameter_names:
         request.names = parameter_names
     future = client.call_async(request)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
 
     # handle response
     response = future.result()
@@ -192,7 +192,7 @@ def call_get_parameters(*, node, node_name, parameter_names):
     request = GetParameters.Request()
     request.names = parameter_names
     future = client.call_async(request)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
 
     # handle response
     response = future.result()
@@ -211,7 +211,7 @@ def call_set_parameters(*, node, node_name, parameters):
     request = SetParameters.Request()
     request.parameters = parameters
     future = client.call_async(request)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
 
     # handle response
     response = future.result()
@@ -229,7 +229,7 @@ def call_list_parameters(*, node, node_name, prefix=None):
 
     request = ListParameters.Request()
     future = client.call_async(request)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
 
     # handle response
     response = future.result()

ros2param/ros2param/verb/dump.py

@@ -107,7 +107,7 @@ def main(self, *, args):  # noqa: D102
             future = client.call_async(request)
 
             # wait for response
-            rclpy.spin_until_future_complete(node, future)
+            rclpy.spin_until_complete(node, future)
 
             yaml_output = {node_name.full_name: {'ros__parameters': {}}}
 

ros2param/ros2param/verb/list.py

@@ -103,7 +103,7 @@ def main(self, *, args):  # noqa: D102
 
             # wait for all responses
             for future in futures.values():
-                rclpy.spin_until_future_complete(node, future, timeout_sec=1.0)
+                rclpy.spin_until_complete(node, future, timeout_sec=1.0)
 
             # print responses
             for node_name in sorted(futures.keys()):

ros2service/ros2service/verb/call.py

@@ -100,7 +100,7 @@ def requester(service_type, service_name, values, period):
         print('requester: making request: %r\n' % request)
         last_call = time.time()
         future = cli.call_async(request)
-        rclpy.spin_until_future_complete(node, future)
+        rclpy.spin_until_complete(node, future)
         if future.result() is not None:
             print('response:\n%r\n' % future.result())
         else:

ros2topic/ros2topic/verb/echo.py

@@ -273,7 +273,7 @@ def subscribe_and_spin(
                 raw=raw)
 
         if self.future is not None:
-            rclpy.spin_until_future_complete(node, self.future)
+            rclpy.spin_until_complete(node, self.future)
         else:
             rclpy.spin(node)
 

ros2topic/test/test_echo_pub.py

@@ -42,8 +42,8 @@
 # https://github.com/ros2/build_farmer/issues/248
 if sys.platform.startswith('win'):
     pytest.skip(
-            'CLI tests can block for a pathological amount of time on Windows.',
-            allow_module_level=True)
+        'CLI tests can block for a pathological amount of time on Windows.',
+        allow_module_level=True)
 
 
 TEST_NODE = 'cli_echo_pub_test_node'
@@ -160,7 +160,7 @@ def message_callback(msg):
                             filtered_rmw_implementation=get_rmw_implementation_identifier()
                         )
                     ) as command:
-                        self.executor.spin_until_future_complete(future, timeout_sec=10)
+                        self.executor.spin_until_complete(future, timeout_sec=10)
                     command.wait_for_shutdown(timeout=10)
 
                     # Check results
@@ -275,7 +275,7 @@ def publish_message():
                         )
                     ) as command:
                         # The future won't complete - we will hit the timeout
-                        self.executor.spin_until_future_complete(
+                        self.executor.spin_until_complete(
                             rclpy.task.Future(), timeout_sec=5
                         )
                     command.wait_for_shutdown(timeout=10)
@@ -333,7 +333,7 @@ def publish_message():
                         )
                     ) as command:
                         # The future won't complete - we will hit the timeout
-                        self.executor.spin_until_future_complete(
+                        self.executor.spin_until_complete(
                             rclpy.task.Future(), timeout_sec=5
                         )
                     command.wait_for_shutdown(timeout=10)
@@ -374,7 +374,7 @@ def publish_message():
                 )
             ) as command:
                 # The future won't complete - we will hit the timeout
-                self.executor.spin_until_future_complete(
+                self.executor.spin_until_complete(
                     rclpy.task.Future(), timeout_sec=5
                 )
                 assert command.wait_for_output(functools.partial(
@@ -416,7 +416,7 @@ def publish_message():
                 )
             ) as command:
                 # The future won't complete - we will hit the timeout
-                self.executor.spin_until_future_complete(
+                self.executor.spin_until_complete(
                     rclpy.task.Future(), timeout_sec=3
                 )
                 assert command.wait_for_shutdown(timeout=5)