Remove chain_future

Author: nadavelkabets

rclpy/rclpy/executors.py

@@ -275,7 +275,7 @@ async def _execute() -> None:
                     # The request was cancelled
                     pass
                 else:
-                    if not future._executor():
+                    if isinstance(future, Future) and not future._executor():
                         future._set_executor(self)
 
                     future.set_result(response)

rclpy/rclpy/experimental/asyncio_executor.py

@@ -23,36 +23,10 @@
 EntityT = TypeVar("EntityT", bound=Union[Subscription, Service, Client, Timer])
 
 
-def _chain_future(rclpy_future: rclpy.Future, asyncio_future: asyncio.Future) -> None:
-    """Chain two futures so that when one completes, so does the other.
-
-    The result (or exception) of source will be copied to destination.
-    If destination is cancelled, source gets cancelled too.
-    """
-
-    def _call_check_cancel(_: asyncio.Future):
-        if asyncio_future.cancelled():
-            rclpy_future.cancel()
-
-    def _call_set_state(_: rclpy.Future):
-        if asyncio_future.cancelled():
-            return
-        if rclpy_future.cancelled():
-            asyncio_future.cancel()
-        else:
-            exception = rclpy_future.exception()
-            if exception is not None:
-                asyncio_future.set_exception(exception)
-            else:
-                result = rclpy_future.result()
-                asyncio_future.set_result(result)
-
-    asyncio_future.add_done_callback(_call_check_cancel)
-    rclpy_future.add_done_callback(_call_set_state)
-
 def _is_timer_destroyed(timer: Timer):
     return timer.handle.pointer == 0
 
+
 class AsyncioExecutor(BaseExecutor[asyncio.Future, asyncio.Task]):
     def __init__(
         self,
@@ -207,12 +181,9 @@ def remove_node(self, node: Node) -> None:
         self._nodes.remove(node)
         self._update_entities_from_nodes()
 
-    def create_future(self, *, from_future: Optional[rclpy.Future] = None) -> asyncio.Future:
+    def create_future(self) -> asyncio.Future:
         asyncio_future = self._loop.create_future()
 
-        if from_future:
-            _chain_future(from_future, asyncio_future)
-        
         return asyncio_future
 
     # TODO: optimize this function to run less times?

rclpy/test/test_asyncio_executor.py

@@ -73,31 +73,6 @@ async def test_coro():
         asyncio.run(test_coro())
 
 
-def test_wrapped_future_is_done_when_future_is_done(executor):
-    ros_fut = Future()
-
-    async def test_coro():
-        return await executor.create_future(from_future=ros_fut)
-
-    task = executor.create_task(test_coro())
-    executor.loop.call_soon(ros_fut.set_result, "finished")
-
-    executor.spin_until_future_complete(task, timeout=0.3)
-    assert task.result() == "finished"
-
-
-def test_wrapped_future_is_cancelled_when_future_is_cancelled(executor):
-    ros_fut = Future()
-
-    async def test_coro():
-        return await executor.create_future(from_future=ros_fut)
-
-    task = executor.create_task(test_coro())
-    executor.loop.call_soon(ros_fut.cancel)
-    executor.spin_until_future_complete(task, timeout=0.3)
-    assert task.cancelled()
-
-
 def test_spin_once_returns_after_callback(executor, attached_test_node):
     mock = Mock()
     msg = String(data="test")
@@ -163,7 +138,7 @@ def cb(request, response):
     attached_test_node.create_service(BasicTypes, '/test_srv', cb)
     client = attached_test_node.create_client(BasicTypes, '/test_srv')
     fut = client.call_async(BasicTypes.Request(bool_value=True))
-    executor.spin_until_future_complete(executor.create_future(from_future=fut), timeout=0.3)
+    executor.spin_until_future_complete(fut, timeout=0.3)
     assert fut.result().string_value == "True"
 
 
@@ -201,7 +176,7 @@ def service_cb(req, resp):
     with attach_to_executor(test_node, executor):
         req = BasicTypes.Request()
         fut = client.call_async(req)
-        executor.spin_until_future_complete(executor.create_future(from_future=fut), timeout=0.3)
+        executor.spin_until_future_complete(fut, timeout=0.3)
         assert fut.result().bool_value is True
 
     fut2 = client.call_async(BasicTypes.Request())