You are correct that for a continuous random variable, $X$, with probability density function $f_X$, the expected value is:
$$\mathbb{E}[X]=\int_{-\infty}^{+\infty} x\cdot f_X(x)\operatorname{d}x$$
This can be extended. Let $g$ be a function of the continuous random variable $X$. The expected value of this function is:
$$\mathbb{E}[g(X)]=\int_{-\infty}^{+\infty} g(x)\cdot f_X(x)\operatorname{d}x$$
So, for example, $\mathbb{E}[X^2]=\int\limits_{-\infty}^{+\infty} x^2\cdot f_X(x)\operatorname{d}x$.
Thus the expected value of the cumulative distribution function, $F_X$, is:
$$\mathbb{E}[F_X(X)]=\int_{-\infty}^{+\infty} F_X(x)\cdot f_X(x)\operatorname{d}x$$
However, by definition the probability density function is the derivative of the cumulative distribution function. $f_X(x) =\frac{\operatorname{d} F_X(x)}{\operatorname{d}x }$
$$\begin{align}\therefore
\mathbb{E}[F_X(X)] & =\int_{0}^{1} F_X(x)\operatorname{d}F_X(x)
\\ & = \left[\tfrac 1 2F_X(x)^2\right]_{F_X(x)=0}^{F_X(x)=1}
\\ & = \tfrac 12
\end{align}$$