thrift-cpp-python-interop

Examples of C++-Python interoperability using Thrift services based on SWIG and YARP.

Requirements

• YARP compiled with Python bindings
• SWIG

Thrift service definition used in this repository

The test case considered in this repository is related to the following Thrift service definition:

thrift-cpp-python-interop/cpp_library/src/thrift/service.thrift

Lines 1 to 22 in 737b10e

	struct YarpMatrix
	{
	}
	(
	yarp.name="yarp::sig::Matrix"
	yarp.includefile="yarp/sig/Matrix.h"
	)
	struct YarpVector
	{
	}
	(
	yarp.name="yarp::sig::Vector"
	yarp.includefile="yarp/sig/Vector.h"
	)
	service Service
	{
	list<YarpMatrix> get_poses();
	YarpVector get_position();
	double get_distance();
	}

where the service Service offers three methods:

• get_poses returns a list of yarp::sig::Matrix 4x4 matrices representing poses
• get_position returns a yarp::sig::Vector vector representing a 3D position
• get_distance return a double representing a distance

Builds the C++ library that exports the Service class

git clone https://github.com/xEnVrE/thrift-cpp-python-interop
cd thrift-cpp-python-interop/cpp-library
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=<your_install_prefix> ../
make install

Builds the Python library that exports the Service class

Note: it is required to build and install the C++ library first.

Warning: It is suggested to build and install the library within a virtual environment.

(env) git clone https://github.com/xEnVrE/thrift-cpp-python-interop
(env) cd thrift-cpp-python-interop/python-library
(env) mkdir build && cd build
(env) cmake ../
(env) make install

Use the service in a C++ CMake-based project

thrift-cpp-python-interop/samples/cpp-client/CMakeLists.txt

Line 17 in d765eb1

find_package(ThriftCppPythonInterop REQUIRED)

thrift-cpp-python-interop/samples/cpp-client/CMakeLists.txt

Line 26 in d765eb1

ThriftCppPythonInterop::ThriftCppPythonInterop

Note: the names of the target can be changed in the following:

thrift-cpp-python-interop/cpp_library/CMakeLists.txt

Line 3 in d765eb1

project(ThriftCppPythonInterop

thrift-cpp-python-interop/cpp_library/src/CMakeLists.txt

Line 1 in d765eb1

set(LIBRARY_TARGET_NAME ThriftCppPythonInterop)

Write a client/server node in C++

• Client: C++ Client CMake project

In order to build and run the client:

git clone https://github.com/xEnVrE/thrift-cpp-python-interop
cd thrift-cpp-python-interop/samples/cpp-client
mkdir build && cd build
make
./tcpi-cpp-client

The client opens an RPC port /tcpi/cpp-client/rpc:o.

• Server: C++ Server CMake project

In order to build and run the server:

git clone https://github.com/xEnVrE/thrift-cpp-python-interop
cd thrift-cpp-python-interop/samples/cpp-server
mkdir build && cd build
make
./tcpi-cpp-server

The server opens an RPC port /tcpi/cpp-server/rpc:i.

Use the service in a Python project

thrift-cpp-python-interop/samples/python-client/client.py

Line 2 in 3baa092

import tcpi

Note: the names of the library can be changed in the following:

thrift-cpp-python-interop/python_library/tcpi-python-types.i

Line 1 in 3baa092

%module(directors="1", package="tcpi") tcpi

thrift-cpp-python-interop/python_library/CMakeLists.txt

Line 6 in 3baa092

set(LIBRARY_TARGET_NAME tcpi)

Write a client/server node in Python

• Client: Python Client project

In order to build and run the client:

git clone https://github.com/xEnVrE/thrift-cpp-python-interop
cd thrift-cpp-python-interop/samples/python-client
python client.py

The client opens an RPC port /tcpi/python-client/rpc:o.

• Server: Python Server project

In order to build and run the server:

git clone https://github.com/xEnVrE/thrift-cpp-python-interop
cd thrift-cpp-python-interop/samples/python-server
python server.py

The server opens an RPC port /tcpi/python-server/rpc:i.

Connection between C++ and Python nodes

It is as easy as connecting the corresponding YARP ports using yarp connect.