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Add overload for non-blocking service calls. #22

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Add overload for non-blocking service calls. #22

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28 changes: 24 additions & 4 deletions src/pybind11/gz/transport/_gz_transport_pybind11.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -264,15 +264,15 @@ void define_transport_node(py::module_ module)
const unsigned int &_timeout,
const std::string &_repType)
{
// see ign-transport/src/cmd/ign.cc L227-240
// see gz-transport/src/cmd/gz.cc L227-240
auto rep = gz::msgs::Factory::New(_repType);
if (!rep)
{
std::cerr << "Unable to create response of type["
<< _repType << "].\n";
return std::make_tuple(false, false);
}

bool result{false};
bool executed = _node.Request(
_service, _request, _timeout, *rep, result);
Expand All @@ -282,8 +282,28 @@ void define_transport_node(py::module_ module)
pybind11::arg("request"),
pybind11::arg("timeout"),
pybind11::arg("rep_type_name"),
"Request a new service without input parameter using"
" a blocking call")
"Request a new service using a blocking call")
// send a service request using the non-blocking interface
// this requires changes to gz-transport Node and ReqHandler.
.def("request", [](
Node &_node,
const std::string &_service,
const google::protobuf::Message &_request,
std::function<void(
const google::protobuf::Message &_reply,
const bool _result)> &_callback,
const std::string &_repType)
{
bool result{false};
bool executed = _node.Request(
_service, _request, _callback, _repType.c_str());
return executed;
},
pybind11::arg("service"),
pybind11::arg("request"),
pybind11::arg("callback"),
pybind11::arg("rep_type_name"),
"Request a new service using a non-blocking call")
.def("service_list", [](
Node &_node)
{
Expand Down