From 60be2a043f2f68548c1c0ced8c2e6d764fbf232d Mon Sep 17 00:00:00 2001
From: Josh Langsfeld <jdlangs@gmail.com>
Date: Mon, 19 Mar 2018 09:54:25 -0500
Subject: [PATCH] Fix incompatibility of callback notify func with
 precompilation

---
 src/RobotOS.jl   | 4 ++++
 src/callbacks.jl | 4 +++-
 src/pubsub.jl    | 2 +-
 src/services.jl  | 2 +-
 4 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/RobotOS.jl b/src/RobotOS.jl
index 1891c96..05c3c2b 100644
--- a/src/RobotOS.jl
+++ b/src/RobotOS.jl
@@ -14,6 +14,7 @@ function __init__()
     copy!(_py_sys, pyimport("sys"))
     _py_sys["argv"] = ARGS
 
+    #Fill in empty PyObjects
     if ! (dirname(@__FILE__) in _py_sys["path"])
         unshift!(_py_sys["path"], dirname(@__FILE__))
     end
@@ -29,6 +30,9 @@ function __init__()
             rethrow(ex)
         end
     end
+
+    #Compile the callback notify function, see callbacks.jl
+    CB_NOTIFY_PTR[] = cfunction(_callback_notify, Cint, Tuple{Ptr{Void}})
 end
 
 include("debug.jl")
diff --git a/src/callbacks.jl b/src/callbacks.jl
index ddbb3b9..517d8ac 100644
--- a/src/callbacks.jl
+++ b/src/callbacks.jl
@@ -4,7 +4,9 @@ function _callback_notify(handle::Ptr{Void})
     ccall(:uv_async_send, Cint, (Ptr{Void},), handle)
 end
 
-const CB_NOTIFY_PTR = cfunction(_callback_notify, Cint, Tuple{Ptr{Void}})
+#The pointer to the compiled notify function. This can't be precompiled so it gets initialized in
+#the module __init__ function.
+const CB_NOTIFY_PTR = Ref{Ptr{Void}}()
 
 function _callback_async_loop(rosobj, cond)
     @debug("Spinning up callback loop...")
diff --git a/src/pubsub.jl b/src/pubsub.jl
index 35214d5..3e11e07 100644
--- a/src/pubsub.jl
+++ b/src/pubsub.jl
@@ -52,7 +52,7 @@ mutable struct Subscriber{MsgType<:AbstractMsg}
         rospycls = _get_rospy_class(MT)
 
         cond = Base.AsyncCondition()
-        mqueue = _py_ros_callbacks["MessageQueue"](CB_NOTIFY_PTR, cond.handle)
+        mqueue = _py_ros_callbacks["MessageQueue"](CB_NOTIFY_PTR[], cond.handle)
         subobj = __rospy__[:Subscriber](ascii(topic), rospycls, mqueue["storemsg"]; kwargs...)
 
         rosobj = new{MT}(cb, cb_args, subobj, mqueue)
diff --git a/src/services.jl b/src/services.jl
index 045a9ee..1aab115 100644
--- a/src/services.jl
+++ b/src/services.jl
@@ -51,7 +51,7 @@ mutable struct Service{SrvType <: AbstractService}
         rospycls = _get_rospy_class(ST)
 
         cond = Base.AsyncCondition()
-        pysrv = _py_ros_callbacks["ServiceCallback"](CB_NOTIFY_PTR, cond.handle)
+        pysrv = _py_ros_callbacks["ServiceCallback"](CB_NOTIFY_PTR[], cond.handle)
 
         srvobj = try
             __rospy__[:Service](ascii(name), rospycls, pysrv["srv_cb"]; kwargs...)