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Remove pybind11 dependency from cpp library #40

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Feb 23, 2022
Merged

Remove pybind11 dependency from cpp library #40

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8a1a452
Remove pybind11 dependency from cpp library
liambenson Feb 18, 2022
a3db12a
Rework pointers + buffer access
liambenson Feb 22, 2022
dc57c4f
Remove Attorney:Client stuff
liambenson Feb 23, 2022
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21 changes: 0 additions & 21 deletions lib/ros_value.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -97,27 +97,6 @@ std::vector<RosValue::Pointer> RosValue::getValues() const {
return ros_value_pointers;
}

pybind11::buffer_info RosValue::getPrimitiveArrayBufferInfo() {
if (type_ != Embag::RosValue::Type::primitive_array) {
throw std::runtime_error("Only primitive arrays can be represented as buffers!");
}

if (primitive_array_info_.element_type == Embag::RosValue::Type::string) {
throw std::runtime_error("In order to be represented as a buffer, an array's elements must not be strings!");
}

const size_t size_of_elements = Embag::RosValue::primitiveTypeToSize(primitive_array_info_.element_type);
return pybind11::buffer_info(
(void*) &at(0)->getPrimitive<uint8_t>(),
size_of_elements,
Embag::RosValue::primitiveTypeToFormat(primitive_array_info_.element_type),
1,
{ size() },
{ size_of_elements },
true
);
}

std::string RosValue::toString(const std::string &path) const {
switch (type_) {
case Type::ros_bool: {
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5 changes: 4 additions & 1 deletion lib/ros_value.h
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Expand Up @@ -4,14 +4,17 @@
#include <cstdint>
#include <cstring>
#include <memory>
#include <pybind11/buffer_info.h>
#include <string>
#include <unordered_map>
#include <vector>

#include "span.hpp"
#include "util.h"

namespace pybind11 {
struct buffer_info;
}

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@jaredjxyz jaredjxyz Feb 18, 2022 •
edited
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Hmm forward declarations can be a dangerous hole to go down - Our style guide says to avoid them whenever possible https://google.github.io/styleguide/cppguide.html#Forward_Declarations

Why do you need the forward declaration here? Can you structure this in a way that doesn't need it?

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@kashish-jain kashish-jain Feb 18, 2022 •
edited
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Agreed! Since this is a 3rd party library, it might just be better to not have a forward declaration. Do you need RosValue::getPrimitiveArrayBufferInfo() declaration in this file @liamembark? If not, then we can delete this forward declaration, I think.

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Ya so the underlying need for this is that the buffer_info object needs access to the underlying memory buffer, but this is a private member.
As a result, whatever is going to access this memory buffer needs to be declared along with the RosValue.
AFAIK this is always going to require forward declaration (if not let me know), but one alternative to forward declaring a piece of a third party library, I could instead forward declare a friend function that will be defined in the python library to provide access!

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Liam I'll DM you to discuss this a bit, I think I understand the problem but want to dig in just a little more

namespace Embag {

class RosValue {
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22 changes: 22 additions & 0 deletions python/adapters.h
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Expand Up @@ -248,4 +248,26 @@ template<>
const py::object RosValue::const_iterator<py::object, size_t>::operator*() const {
return castValue(value_.at(index_));
}

pybind11::buffer_info RosValue::getPrimitiveArrayBufferInfo() {
if (type_ != Embag::RosValue::Type::primitive_array) {
throw std::runtime_error("Only primitive arrays can be represented as buffers!");
}

if (primitive_array_info_.element_type == Embag::RosValue::Type::string) {
throw std::runtime_error("In order to be represented as a buffer, an array's elements must not be strings!");
}

const size_t size_of_elements = Embag::RosValue::primitiveTypeToSize(primitive_array_info_.element_type);
return pybind11::buffer_info(
(void*) &at(0)->getPrimitive<uint8_t>(),
size_of_elements,
Embag::RosValue::primitiveTypeToFormat(primitive_array_info_.element_type),
1,
{ size() },
{ size_of_elements },
true
);
}

}