Function Ros2RpcHandleRefInvoke

src/runtime/python_runtime/export_ros2_rpc.h:100–141

}

inline std::tuple<aimrt::rpc::Status, pybind11::object> Ros2RpcHandleRefInvoke(
    aimrt::rpc::RpcHandleRef& rpc_handle_ref,
    std::string_view func_name,
    aimrt::rpc::ContextRef ctx_ref,
    pybind11::object req,
    pybind11::object rsp_type) {
  auto req_ptr = convert_from_py(req);
  if (!req_ptr) {
    throw py::error_already_set();
  }

  auto rsp_create = get_create_ros_message_function(rsp_type);
  auto* rsp_ptr = rsp_create();

  pybind11::gil_scoped_release release;

  std::promise<uint32_t> status_promise;
  aimrt::rpc::ClientCallback callback([&status_promise](uint32_t status) {
    status_promise.set_value(status);
  });

  rpc_handle_ref.Invoke(
      func_name,
      ctx_ref,
      static_cast<const void*>(req_ptr.get()),
      rsp_ptr,
      std::move(callback));

  auto fu = status_promise.get_future();
  fu.wait();

  pybind11::gil_scoped_acquire acquire;

  auto rsp_convert_to_py = get_convert_to_py_function(rsp_type);

  auto rsp_obj = pybind11::reinterpret_steal<pybind11::object>(rsp_convert_to_py(rsp_ptr));
  if (!rsp_obj) {
    throw py::error_already_set();
  }

  return {aimrt::rpc::Status(fu.get()), rsp_obj};
}

inline void ExportRos2RpcServiceFunc(pybind11::module& m) {
  m.def("Ros2RegisterServiceFunc", &Ros2RpcServiceBaseRegisterServiceFunc);