/*

** Copyright (C) 2020 SoftBank Robotics Europe

** See COPYING for the license

*/

#include <qipython/pysession.hpp>

#include <qipython/common.hpp>

#include <qipython/pyguard.hpp>

#include <qipython/pytypes.hpp>

#include <qipython/pyobject.hpp>

#include <boost/smart_ptr/shared_ptr.hpp>

#include <pybind11/operators.h>

#include <thread>

#include <future>

namespace py = pybind11;

namespace qi

{

namespace py

{

namespace

{

::py::object makeSession()

{

// Ensures that the Session is deleted after the shared_pointer on it is deleted.

// This is to mimic the behavior of qiApplication.

// This is a fix for #38167.

struct Deleter

{

boost::weak_ptr<Session> wptr;

void operator()(Session* p) const

{

constexpr const auto category = "qi.python.session.deleter";

constexpr const auto msg = "Waiting for the shared pointer destruction...";

GILRelease x;

auto fut = std::async(std::launch::async, [=](std::unique_ptr<Session>) {

while (!wptr.expired())

{

qiLogDebug(category) << msg;

constexpr const std::chrono::milliseconds delay(100);

std::this_thread::sleep_for(delay);

}

qiLogDebug(category) << msg << " done.";

}, std::unique_ptr<Session>(p));

QI_IGNORE_UNUSED(fut);

}

};

auto ptr = SessionPtr(new qi::Session{}, Deleter{});

boost::get_deleter<Deleter>(ptr)->wptr = ka::weak_ptr(ptr);

GILAcquire lock;

return py::makeSession(ptr);

}

} // namespace

::py::object makeSession(SessionPtr sess)

{

GILAcquire lock;

return toPyObject(sess);

}

void exportSession(::py::module& m)

{

using namespace ::py;

GILAcquire lock;

m.def("Session", []{ return makeSession(); });

}

} // namespace py

} // namespace qi