FutureUtils.kt

FutureUtils.kt

package io.robotsdk.model.coroutines.utils

import com.aldebaran.qi.Future
import java.util.concurrent.CancellationException
import kotlin.coroutines.Continuation
import kotlin.coroutines.resume
import kotlin.coroutines.resumeWithException
import kotlin.coroutines.suspendCoroutine

suspend fun <T> Future<T>.await(): T {
    if (isDone) return get()

    val e = Exception()
    e.stackTrace = Thread.currentThread().stackTrace

    return suspendCoroutine { continuation: Continuation<T> ->
        thenConsume {
            when {
                it.isSuccess -> continuation.resume(it.value)
                it.isCancelled -> {
                    e.printStackTrace()
                    continuation.resumeWithException(CancellationException())
                }
                it.hasError() -> {
                    e.printStackTrace()
                    continuation.resumeWithException(it.error)
                }
                else -> continuation.resumeWithException(RuntimeException("invalid future"))
            }
        }
    }
}