implement try_join_next
This PR implements the `try_join_next` function on `JoinSet`. It also adds a test to make sure the implementation works.

There is also `join_next_with_id` which is unstable. I could also add `try_join_next_with_id` if this implementation is acceptable. Or, it could be added later on when `join_next_with_id` is stable.

Resolves #6277.
As pointed out in the discussion in https://github.com/tokio-rs/tokio/discussions/6157, `JoinSet` appears to be missing a method equivalent to `try_recv` on `mpsc::Channel`. There is `poll_join_next`, but this appears to be intended for when manually implementing the `Future` trait, as it requires access to a `Context`.

It is possible to maintain a set of `JoinHandle`, and periodically check `is_finished` on each, where there might be more `JoinHandle` added to the set that is being tracked between checks. However, it feels like `JoinSet` is also intended for this use case, and would be a much more ergonomic abstraction over having to manually do this bookkeeping.
try_join_next for JoinSet
diff --git a/tokio/src/task/join_set.rs b/tokio/src/task/join_set.rs
index 4eb15a24d5f..7aace14d850 100644
--- a/tokio/src/task/join_set.rs
+++ b/tokio/src/task/join_set.rs
@@ -12,7 +12,7 @@ use std::task::{Context, Poll};
 use crate::runtime::Handle;
 #[cfg(tokio_unstable)]
 use crate::task::Id;
-use crate::task::{AbortHandle, JoinError, JoinHandle, LocalSet};
+use crate::task::{unconstrained, AbortHandle, JoinError, JoinHandle, LocalSet};
 use crate::util::IdleNotifiedSet;
 
 /// A collection of tasks spawned on a Tokio runtime.
@@ -306,6 +306,59 @@ impl<T: 'static> JoinSet<T> {
         crate::future::poll_fn(|cx| self.poll_join_next_with_id(cx)).await
     }
 
+    /// Tries to join one of the tasks in the set that has completed and return its output.
+    ///
+    /// Returns `None` if the set is empty.    
+    pub fn try_join_next(&mut self) -> Option<Result<T, JoinError>> {
+        // Loop over all notified `JoinHandle`s to find one that's ready, or until none are left.
+        loop {
+            let mut entry = self.inner.try_pop_notified()?;
+
+            let res = entry.with_value_and_context(|jh, ctx| {
+                // Since this function is not async and cannot be forced to yield, we should
+                // disable budgeting when we want to check for the `JoinHandle` readiness.
+                Pin::new(&mut unconstrained(jh)).poll(ctx)
+            });
+
+            if let Poll::Ready(res) = res {
+                let _entry = entry.remove();
+
+                return Some(res);
+            }
+        }
+    }
+
+    /// Tries to join one of the tasks in the set that has completed and return its output,
+    /// along with the [task ID] of the completed task.
+    ///
+    /// Returns `None` if the set is empty.
+    ///
+    /// When this method returns an error, then the id of the task that failed can be accessed
+    /// using the [`JoinError::id`] method.
+    ///
+    /// [task ID]: crate::task::Id
+    /// [`JoinError::id`]: fn@crate::task::JoinError::id
+    #[cfg(tokio_unstable)]
+    #[cfg_attr(docsrs, doc(cfg(tokio_unstable)))]
+    pub fn try_join_next_with_id(&mut self) -> Option<Result<(Id, T), JoinError>> {
+        // Loop over all notified `JoinHandle`s to find one that's ready, or until none are left.
+        loop {
+            let mut entry = self.inner.try_pop_notified()?;
+
+            let res = entry.with_value_and_context(|jh, ctx| {
+                // Since this function is not async and cannot be forced to yield, we should
+                // disable budgeting when we want to check for the `JoinHandle` readiness.
+                Pin::new(&mut unconstrained(jh)).poll(ctx)
+            });
+
+            if let Poll::Ready(res) = res {
+                let entry = entry.remove();
+
+                return Some(res.map(|output| (entry.id(), output)));
+            }
+        }
+    }
+
     /// Aborts all tasks and waits for them to finish shutting down.
     ///
     /// Calling this method is equivalent to calling [`abort_all`] and then calling [`join_next`] in
diff --git a/tokio/src/util/idle_notified_set.rs b/tokio/src/util/idle_notified_set.rs
index 430f2e7568b..bd9c2ef1bbc 100644
--- a/tokio/src/util/idle_notified_set.rs
+++ b/tokio/src/util/idle_notified_set.rs
@@ -203,6 +203,34 @@ impl<T> IdleNotifiedSet<T> {
         Some(EntryInOneOfTheLists { entry, set: self })
     }
 
+    /// Tries to pop an entry from the notified list to poll it. The entry is moved to
+    /// the idle list atomically.
+    pub(crate) fn try_pop_notified(&mut self) -> Option<EntryInOneOfTheLists<'_, T>> {
+        // We don't decrement the length because this call moves the entry to
+        // the idle list rather than removing it.
+        if self.length == 0 {
+            // Fast path.
+            return None;
+        }
+
+        let mut lock = self.lists.lock();
+
+        // Pop the entry, returning None if empty.
+        let entry = lock.notified.pop_back()?;
+
+        lock.idle.push_front(entry.clone());
+
+        // Safety: We are holding the lock.
+        entry.my_list.with_mut(|ptr| unsafe {
+            *ptr = List::Idle;
+        });
+
+        drop(lock);
+
+        // Safety: We just put the entry in the idle list, so it is in one of the lists.
+        Some(EntryInOneOfTheLists { entry, set: self })
+    }
+
     /// Call a function on every element in this list.
     pub(crate) fn for_each<F: FnMut(&mut T)>(&mut self, mut func: F) {
         fn get_ptrs<T>(list: &mut LinkedList<T>, ptrs: &mut Vec<*mut T>) {

diff --git a/tokio/tests/task_join_set.rs b/tokio/tests/task_join_set.rs
index bed9b7dad82..8a42be17b49 100644
--- a/tokio/tests/task_join_set.rs
+++ b/tokio/tests/task_join_set.rs
@@ -227,3 +227,80 @@ async fn join_set_coop() {
     assert!(coop_count >= 1);
     assert_eq!(count, TASK_NUM);
 }
+
+#[tokio::test(flavor = "current_thread")]
+async fn try_join_next() {
+    const TASK_NUM: u32 = 1000;
+
+    let (send, recv) = tokio::sync::watch::channel(());
+
+    let mut set = JoinSet::new();
+
+    for _ in 0..TASK_NUM {
+        let mut recv = recv.clone();
+        set.spawn(async move { recv.changed().await.unwrap() });
+    }
+    drop(recv);
+
+    assert!(set.try_join_next().is_none());
+
+    send.send_replace(());
+    send.closed().await;
+
+    let mut count = 0;
+    loop {
+        match set.try_join_next() {
+            Some(Ok(())) => {
+                count += 1;
+            }
+            Some(Err(err)) => panic!("failed: {}", err),
+            None => {
+                break;
+            }
+        }
+    }
+
+    assert_eq!(count, TASK_NUM);
+}
+
+#[cfg(tokio_unstable)]
+#[tokio::test(flavor = "current_thread")]
+async fn try_join_next_with_id() {
+    const TASK_NUM: u32 = 1000;
+
+    let (send, recv) = tokio::sync::watch::channel(());
+
+    let mut set = JoinSet::new();
+    let mut spawned = std::collections::HashSet::with_capacity(TASK_NUM as usize);
+
+    for _ in 0..TASK_NUM {
+        let mut recv = recv.clone();
+        let handle = set.spawn(async move { recv.changed().await.unwrap() });
+
+        spawned.insert(handle.id());
+    }
+    drop(recv);
+
+    assert!(set.try_join_next_with_id().is_none());
+
+    send.send_replace(());
+    send.closed().await;
+
+    let mut count = 0;
+    let mut joined = std::collections::HashSet::with_capacity(TASK_NUM as usize);
+    loop {
+        match set.try_join_next_with_id() {
+            Some(Ok((id, ()))) => {
+                count += 1;
+                joined.insert(id);
+            }
+            Some(Err(err)) => panic!("failed: {}", err),
+            None => {
+                break;
+            }
+        }
+    }
+
+    assert_eq!(count, TASK_NUM);
+    assert_eq!(joined, spawned);
+}

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