synchros2.futures module

class synchros2.futures.FutureConvertible

Bases: Awaitable[T], Protocol[T]

An awaitable that is convertible to a future-like object.

__init__(*args, **kwargs)

as_future() → FutureLike[T]

Get future-like view.

class synchros2.futures.FutureLike

Bases: Awaitable[T], Protocol[T]

A future-like awaitable object.

Matches rclpy.task.Future and concurrent.futures.Future protocols.

__init__(*args, **kwargs)

add_done_callback(func: Callable[[FutureLike[T]], None]) → None

Add a callback to be scheduled as soon as the future is ready.

cancel() → None

Cancel future.

cancelled() → bool

Check if future was cancelled.

done() → bool

Check if future is ready.

exception() → Exception | None

Get future exception, if any.

result() → T

Get future result (may block).

synchros2.futures.as_proper_future(instance: FutureLike | FutureConvertible) → FutureLike

Return instance as a proper future-like object.

synchros2.futures.unwrap_future(future: FutureLike | FutureConvertible, timeout_sec: float | None = None, *, clock: rclpy.clock.Clock | None = None, context: rclpy.context.Context | None = None) → Any

Fetch future result when it is done.

Note this function may block and may raise if the future does or it times out waiting for it. See wait_for_future() documentation for further reference on arguments taken.

synchros2.futures.wait_and_return_result(future: FutureLike | FutureConvertible, timeout_sec: float | None = None, *, clock: rclpy.clock.Clock | None = None, context: rclpy.context.Context | None = None) → Any

Fetch future result when it is done.

Alias for unwrap_future().

synchros2.futures.wait_for_future(future: FutureLike | FutureConvertible, timeout_sec: float | None = None, *, clock: rclpy.clock.Clock | None = None, context: rclpy.context.Context | None = None) → bool

Block while waiting for a future to become done

Parameters:

• future (Future) – The future to be waited on

• timeout_sec (Optional[float]) – An optional timeout for how long to wait

• clock (otherwise the system) – An optional clock to use for timeout waits,

• any (defaults to the clock of the current scope if)

• clock

• context (Optional[Context]) – Current context (will use the default if none is given)

Returns:

True if successful, False if the timeout was triggered

Return type:

bool