return bytes from callService

MRPT · Jan 16, 2025 · 9888216 · 9888216
1 parent dc2adcb
commit 9888216
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Showing 4 changed files with 24 additions and 4 deletions.
diff --git a/modules/CMakeLists.txt b/modules/CMakeLists.txt
@@ -157,6 +157,10 @@ function(mvsim_common_target_settings MODULENAME_)
     target_compile_definitions(${TARGETNAME_} PUBLIC MVSIM_HAS_ZMQ)
   endif()
 
+	if (MVSIM_WITH_PYTHON)
+		target_compile_definitions(${TARGETNAME_} PUBLIC MVSIM_HAS_PYTHON)
+	endif()
+
   # ==== Install & export target ========
   install(TARGETS	${TARGETNAME_}
 		  EXPORT 	${TARGETNAME_}-targets

diff --git a/modules/comms/include/mvsim/Comms/Client.h b/modules/comms/include/mvsim/Comms/Client.h
@@ -14,6 +14,12 @@
 #include <mvsim/Comms/common.h>
 #include <mvsim/Comms/zmq_fwrds.h>
 
+#if defined(MVSIM_HAS_PYTHON)
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+#endif
+
 #include <atomic>
 #include <memory>
 #include <thread>
@@ -96,8 +102,10 @@ class Client : public mrpt::system::COutputLogger
 	void callService(
 		const std::string& serviceName, const INPUT_MSG_T& input, OUTPUT_MSG_T& output);
 
+	#if defined(MVSIM_HAS_PYTHON)
 	/// Overload for python wrapper
-	std::string callService(const std::string& serviceName, const std::string& inputSerializedMsg);
+	py::bytes callService(const std::string& serviceName, const std::string& inputSerializedMsg);
+	#endif
 
 	/// Overload for python wrapper (callback accepts bytes-string)
 	void subscribeTopic(

diff --git a/modules/comms/src/Comms/Client.cpp b/modules/comms/src/Comms/Client.cpp
@@ -681,20 +681,24 @@ void Client::internalTopicUpdatesThread()
 #endif
 }
 
+#if defined(MVSIM_HAS_PYTHON)
 // Overload for python wrapper
-std::string Client::callService(
-	const std::string& serviceName, const std::string& inputSerializedMsg)
+py::bytes Client::callService(const std::string& serviceName, const std::string& inputSerializedMsg)
 {
 	MRPT_START
 #if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
 	mrpt::system::CTimeLoggerEntry tle(profiler_, "callService");
 
 	std::string outMsgData, outMsgType;
 	doCallService(serviceName, inputSerializedMsg, std::nullopt, outMsgData, outMsgType);
-	return outMsgData;
+	// Return as bytes to avoid Pybind11 assuming it is a str and attempting utf-8 encoding
+	// which may fail with certain structures.
+	return py::bytes(outMsgData);
 #endif
 	MRPT_END
 }
+#endif
+
 /// Overload for python wrapper
 void Client::subscribeTopic(
 	const std::string& topicName,

diff --git a/modules/generate-python.sh b/modules/generate-python.sh
@@ -4,6 +4,8 @@
 PYBIND11_VERSION=$(dpkg -s pybind11-dev | grep '^Version:' | cut -d " " -f2)
 SYSTEM_PYBIND11_MM_VERSION=$(echo $PYBIND11_VERSION | cut -d. -f1).$(echo $PYBIND11_VERSION | cut -d. -f2)
 
+PYTHON_INCLUDE_PATH=$(python3 -c "from sysconfig import get_paths; print(get_paths()['include'])")
+
 PYBIND11_MM_VERSION=${PYBIND11_MM_VERSION:-$SYSTEM_PYBIND11_MM_VERSION}
 
 echo "System PYBIND11_VERSION: $PYBIND11_VERSION (Used for wrapper: $PYBIND11_MM_VERSION)"
@@ -24,7 +26,9 @@ $BINDER \
 	-std=c++17 -DNDEBUG \
 	-DMVSIM_HAS_PROTOBUF=1 \
 	-DMVSIM_HAS_ZMQ=1 \
+	-DMVSIM_HAS_PYTHON=1 \
 	-I$1/include \
+	-I$PYTHON_INCLUDE_PATH \
 	-I$MRPT_PATH/build-Release/include/mrpt-configuration/ \
 	-I$MRPT_PATH/libs/system/include/ \
 	-I$MRPT_PATH/libs/core/include/ \