Replace output callback function with method implementation

Cargo.lock

@@ -2131,6 +2131,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1e6302e85060011447471887705bb7838f14aba43fcb06957d823739a496b3dc"
 dependencies = [
  "cfg-if",
+ "eyre",
  "indoc",
  "libc",
  "parking_lot",

runtime/Cargo.toml

@@ -20,4 +20,4 @@ zenoh = { git = "https://github.com/eclipse-zenoh/zenoh.git" }
 zenoh-config = { git = "https://github.com/eclipse-zenoh/zenoh.git" }
 log = "0.4.17"
 fern = "0.6.1"
-pyo3 = { version = "0.16.5", features = ["auto-initialize"] }
+pyo3 = { version = "0.16.5", features = ["auto-initialize", "eyre"] }

runtime/src/operator/python.rs

@@ -20,7 +20,10 @@ pub fn spawn(
         .canonicalize()
         .wrap_err_with(|| format!("no file found at `{}`", path.display()))?;
     let path_cloned = path.clone();
-    let events_tx_cloned = events_tx.clone();
+
+    let send_output = SendOutputCallback {
+        events_tx: events_tx.clone(),
+    };
 
     let python_runner = move |py: pyo3::Python| {
         if let Some(parent_path) = path.parent() {
@@ -57,26 +60,10 @@ pub fn spawn(
             .wrap_err("dora_init_operator failed")?;
 
         while let Some(input) = inputs.blocking_recv() {
-            let events_tx = events_tx.clone();
-            let send_output_callback = move |output_id: &str, data: &[u8]| {
-                println!("RUNTIME received python output `{output_id}` with value `{data:?}`");
-                let result = events_tx.blocking_send(OperatorEvent::Output {
-                    id: output_id.to_owned().into(),
-                    value: data.to_owned(),
-                });
-                if result.is_ok() {
-                    0
-                } else {
-                    -1
-                }
-            };
-            let send_output = SendOutputCallback {
-                callback: Box::new(send_output_callback),
-            };
             operator_context
                 .call_method1(
                     "dora_on_input",
-                    (input.id.to_string(), input.value, send_output),
+                    (input.id.to_string(), input.value, send_output.clone()),
                 )
                 .wrap_err("dora_on_input failed")?;
         }
@@ -97,10 +84,10 @@ pub fn spawn(
         match catch_unwind(closure) {
             Ok(Ok(())) => {}
             Ok(Err(err)) => {
-                let _ = events_tx_cloned.blocking_send(OperatorEvent::Error(err));
+                let _ = events_tx.blocking_send(OperatorEvent::Error(err));
             }
             Err(panic) => {
-                let _ = events_tx_cloned.blocking_send(OperatorEvent::Panic(panic));
+                let _ = events_tx.blocking_send(OperatorEvent::Panic(panic));
             }
         }
     });
@@ -109,19 +96,27 @@ pub fn spawn(
 }
 
 #[pyclass]
+#[derive(Clone)]
 struct SendOutputCallback {
-    callback: Box<dyn FnMut(&str, &[u8]) -> isize + Send>,
+    events_tx: Sender<OperatorEvent>,
 }
 
 #[allow(unsafe_op_in_unsafe_fn)]
 mod callback_impl {
     use super::SendOutputCallback;
+    use crate::operator::OperatorEvent;
     use pyo3::{pymethods, PyResult};
 
     #[pymethods]
     impl SendOutputCallback {
-        fn __call__(&mut self, output: &str, data: &[u8]) -> PyResult<isize> {
-            Ok((self.callback)(output, data))
+        fn __call__(&mut self, output: &str, data: &[u8]) -> PyResult<()> {
+            println!("RUNTIME received python output `{output}` with value `{data:?}`");
+            let result = self.events_tx.blocking_send(OperatorEvent::Output {
+                id: output.to_owned().into(),
+                value: data.to_owned(),
+            });
+            result
+                .map_err(|_| eyre::eyre!("channel to dora runtime was closed unexpectedly").into())
         }
     }
 }