Removed RclFuture and supporting functions

Author: esteve

rclrs/src/future.rs

@@ -112,54 +112,3 @@ pub fn spin(node: &Node) -> Result<(), RclrsError> {
     }
     Ok(())
 }
-
-/// Convenience function for calling [`rclrs::spin_once`] in a loop.
-///
-/// This function additionally checks that the context is still valid.
-pub fn spin_some(node: &Node) -> Result<(), RclrsError> {
-    // The context_is_valid functions exists only to abstract away ROS distro differences
-    #[cfg(ros_distro = "foxy")]
-    // SAFETY: No preconditions for this function.
-    let context_is_valid = || unsafe { rcl_context_is_valid(&mut *node.context.lock()) };
-    #[cfg(not(ros_distro = "foxy"))]
-    // SAFETY: No preconditions for this function.
-    let context_is_valid = || unsafe { rcl_context_is_valid(&*node.context.lock()) };
-
-    if context_is_valid() {
-        if let Some(error) = spin_once(node, Some(std::time::Duration::from_millis(500))).err() {
-            match error.code {
-                RclReturnCode::Timeout => (),
-                _ => return Err(error),
-            }
-        }
-    }
-    Ok(())
-}
-
-pub fn spin_until_future_complete<T: Unpin + Clone>(
-    node: &node::Node,
-    future: Arc<Mutex<Box<crate::future::RclFuture<T>>>>,
-) -> Result<<future::RclFuture<T> as Future>::Output, RclrsError> {
-    let rclwaker = Arc::new(crate::future::RclWaker {});
-    let waker = crate::future::rclwaker_into_waker(Arc::into_raw(rclwaker));
-    let mut cx = std::task::Context::from_waker(&waker);
-
-    loop {
-        let context_valid = unsafe { rcl_context_is_valid(&mut *node.context.lock()) };
-        if context_valid {
-            if let Some(error) = spin_once(node, None).err() {
-                match error {
-                    RclrsError {
-                        code: RclReturnCode::Timeout,
-                        ..
-                    } => continue,
-                    error => return Err(error),
-                };
-            };
-            match Future::poll(Pin::new(&mut *future.lock()), &mut cx) {
-                Poll::Ready(val) => break Ok(val),
-                Poll::Pending => continue,
-            };
-        }
-    }
-}

rclrs/src/lib.rs

@@ -9,7 +9,6 @@ use std::sync::atomic::{AtomicI64, Ordering};
 use std::sync::Arc;
 
 use crate::error::{RclReturnCode, ToResult};
-use crate::future::RclFuture;
 use crate::MessageCow;
 use crate::Node;
 use crate::{rcl_bindings::*, RclrsError};