moveit_pro::behaviors::ThreadedFuture< T > Class Template Reference

A future backed by an explicitly-owned std::jthread, for Behaviors that offload work to a background thread and poll for completion (e.g. in onRunning()). More...

#include <threaded_future.hpp>

Public Member Functions
	ThreadedFuture ()=default
	Constructs an empty, invalid future. Matches default-constructed std::future<T>.
	ThreadedFuture (ThreadedFuture &&) noexcept=default
ThreadedFuture &	operator= (ThreadedFuture &&) noexcept=default
	ThreadedFuture (const ThreadedFuture &)=delete
ThreadedFuture &	operator= (const ThreadedFuture &)=delete
template<typename F , typename = std::enable_if_t<!std::is_same_v<std::remove_cvref_t<F>, ThreadedFuture>>>
	ThreadedFuture (F &&task)
	Runs task on a newly-created thread and captures its result.
bool	valid () const noexcept
template<typename Rep , typename Period >
std::future_status	wait_for (const std::chrono::duration< Rep, Period > &timeout_duration) const
void	wait () const
T	get ()

Detailed Description

template<typename T>
class moveit_pro::behaviors::ThreadedFuture< T >

A future backed by an explicitly-owned std::jthread, for Behaviors that offload work to a background thread and poll for completion (e.g. in onRunning()).

Deliberately mirrors the subset of std::future's interface (valid(), wait_for(), wait(), get()) that this pattern uses, so it is a drop-in replacement for the std::future<T> member that std::async returns.

Unlike std::async(std::launch::async, ...), whose thread is owned by an implementation-defined pool, the background thread here is a std::jthread owned directly by this object. Like the future returned by std::async, destroying (or reassigning) a ThreadedFuture while its task is still running blocks until the task finishes: the owned std::jthread joins in its own destructor and move-assignment.

Warning

That guarantee is scoped to this object only. When a ThreadedFuture is a class member and its task captures this (or references to sibling members), members declared after the ThreadedFuture are destroyed before it joins — declare the ThreadedFuture as the last member so the join runs before anything the task dereferences is torn down.

Template Parameters

T	The type returned by the task.

Constructor & Destructor Documentation

ThreadedFuture() [1/4]

template<typename T >

moveit_pro::behaviors::ThreadedFuture< T >::ThreadedFuture ( )

default

Constructs an empty, invalid future. Matches default-constructed std::future<T>.

ThreadedFuture() [2/4]

template<typename T >

moveit_pro::behaviors::ThreadedFuture< T >::ThreadedFuture ( ThreadedFuture< T > &&  )

defaultnoexcept

ThreadedFuture() [3/4]

template<typename T >

moveit_pro::behaviors::ThreadedFuture< T >::ThreadedFuture ( const ThreadedFuture< T > &  )

delete

ThreadedFuture() [4/4]

template<typename T >

template<typename F , typename = std::enable_if_t<!std::is_same_v<std::remove_cvref_t<F>, ThreadedFuture>>>

moveit_pro::behaviors::ThreadedFuture< T >::ThreadedFuture ( F &&  task )

inlineexplicit

Runs task on a newly-created thread and captures its result.

Member Function Documentation

get()

template<typename T >

T moveit_pro::behaviors::ThreadedFuture< T >::get ( )

inline

operator=() [1/2]

template<typename T >

ThreadedFuture & moveit_pro::behaviors::ThreadedFuture< T >::operator= ( const ThreadedFuture< T > &  )

delete

operator=() [2/2]

template<typename T >

ThreadedFuture & moveit_pro::behaviors::ThreadedFuture< T >::operator= ( ThreadedFuture< T > &&  )

defaultnoexcept

valid()

template<typename T >

bool moveit_pro::behaviors::ThreadedFuture< T >::valid ( ) const

inlinenoexcept

wait()

template<typename T >

void moveit_pro::behaviors::ThreadedFuture< T >::wait ( ) const

inline

wait_for()

template<typename T >

template<typename Rep , typename Period >

std::future_status moveit_pro::behaviors::ThreadedFuture< T >::wait_for ( const std::chrono::duration< Rep, Period > &  timeout_duration ) const

inline

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The documentation for this class was generated from the following file:

• threaded_future.hpp