Use new wrapper instead of pybind's

Signed-off-by: Miguel Company <[email protected]>

Author: MiguelCompany

rclpy/src/rclpy/clock_event.cpp

@@ -23,6 +23,7 @@
 #include <mutex>
 
 #include "clock_event.hpp"
+#include "gil_utils.hpp"
 
 namespace py = pybind11;
 
@@ -48,7 +49,7 @@ void ClockEvent::wait_until(std::shared_ptr<Clock> clock, rcl_time_point_t until
     std::chrono::nanoseconds(delta_t.nanoseconds));
 
   // Could be a long wait, release the gil
-  py::gil_scoped_release release;
+  gil_scoped_release release;
   std::unique_lock<std::mutex> lock(mutex_);
   cv_.wait_until(lock, chrono_until, [this]() {return state_;});
 }
@@ -58,7 +59,7 @@ void ClockEvent::wait_until_ros(std::shared_ptr<Clock> clock, rcl_time_point_t u
   // Check if ROS time is enabled in C++ to avoid TOCTTOU with TimeSource by holding GIL
   if (clock->get_ros_time_override_is_enabled()) {
     // Could be a long wait, release the gil
-    py::gil_scoped_release release;
+    gil_scoped_release release;
     std::unique_lock<std::mutex> lock(mutex_);
     // Caller must have setup a time jump callback to wake this event
     cv_.wait(lock, [this]() {return state_;});

rclpy/src/rclpy/events_executor/events_executor.cpp

@@ -36,6 +36,7 @@
 
 #include "client.hpp"
 #include "context.hpp"
+#include "gil_utils.hpp"
 #include "service.hpp"
 #include "subscription.hpp"
 
@@ -95,7 +96,7 @@ bool EventsExecutor::shutdown(std::optional<double> timeout)
 
   // Block until spinning is done, or timeout.  Release the GIL while we block though.
   {
-    py::gil_scoped_release gil_release;
+    gil_scoped_release gil_release;
     std::unique_lock<std::timed_mutex> spin_lock(spinning_mutex_, std::defer_lock);
     if (timeout) {
       if (!spin_lock.try_lock_for(std::chrono::duration<double>(*timeout))) {
@@ -168,7 +169,7 @@ void EventsExecutor::spin(std::optional<double> timeout_sec, bool stop_after_use
     PostOutstandingTasks();
     // Release the GIL while we block.  Any callbacks on the events queue that want to touch Python
     // will need to reacquire it though.
-    py::gil_scoped_release gil_release;
+    gil_scoped_release gil_release;
     if (timeout_sec) {
       const auto timeout_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
         std::chrono::duration<double>(*timeout_sec));

rclpy/src/rclpy/wait_set.cpp

@@ -24,6 +24,7 @@
 #include <string>
 
 #include "exceptions.hpp"
+#include "gil_utils.hpp"
 #include "wait_set.hpp"
 
 namespace rclpy
@@ -243,7 +244,7 @@ WaitSet::wait(int64_t timeout)
 
   // Could be a long wait, release the GIL
   {
-    py::gil_scoped_release gil_release;
+    gil_scoped_release gil_release;
     ret = rcl_wait(rcl_wait_set_.get(), timeout);
   }