1

server/robotserver/coroutine.cc

@@ -56,14 +56,18 @@ void Coroutine::CoYield()
     (*sink_)();
 }
 
-void Coroutine::CoAwait(Awaiter& awaiter)
+std::shared_ptr<a8::Results> Coroutine::CoAwait(Awaiter& awaiter)
 {
-
+    return CoAwait(&awaiter);
 }
 
-void Coroutine::CoAwait(Awaiter* awaiter)
+std::shared_ptr<a8::Results> Coroutine::CoAwait(Awaiter* awaiter)
 {
-
+    CoSuspend();
+    while (!awaiter->Done()) {
+        CoYield();
+    }
+    return awaiter->GetResult();
 }
 
 void Coroutine::Attach()

server/robotserver/coroutine.h

@@ -2,9 +2,40 @@
 
 #include <boost/coroutine2/all.hpp>
 
+namespace a8
+{
+    class Results
+    {
+    public:
+
+        Results(std::vector<std::any> results):results_(std::move(results)) {};
+
+        template <typename T>
+        T Get(size_t index) const { return std::any_cast<T>(results_.at(index));};
+
+    private:
+        std::vector<std::any> results_;
+    };
+}
+
 class Awaiter
 {
+ public:
 
+    virtual std::shared_ptr<a8::Results> GetResult()
+    {
+        return results_;
+    }
+
+    virtual bool Done()
+    {
+        return done_;
+    }
+
+ private:
+    bool done_ = false;
+    std::shared_ptr<a8::Results> results_;
+    std::function<void()> cb_;
 };
 
 class Promise : public Awaiter
@@ -20,8 +51,8 @@ class Coroutine : public Awaiter, public std::enable_shared_from_this<Coroutine>
     void CoSuspend();
     void CoResume();
     void CoYield();
-    void CoAwait(Awaiter& awaiter);
-    void CoAwait(Awaiter* awaiter);
+    std::shared_ptr<a8::Results> CoAwait(Awaiter& awaiter);
+    std::shared_ptr<a8::Results> CoAwait(Awaiter* awaiter);
 
  private:
     Coroutine(std::function<void(Coroutine*)> cb);