1

server/robotserver/coroutine.cc

@@ -64,9 +64,17 @@ std::shared_ptr<a8::Results> Coroutine::CoAwait(Awaiter& awaiter)
 std::shared_ptr<a8::Results> Coroutine::CoAwait(Awaiter* awaiter)
 {
     CoSuspend();
+    awaiter->Await
+        (
+         [] ()
+         {
+
+         });
+    CoYield();
     while (!awaiter->Done()) {
         CoYield();
     }
+    CoResume();
     return awaiter->GetResult();
 }
 
@@ -91,3 +99,8 @@ void Coroutine::CallExit(boost::coroutines2::coroutine<void>::push_type& sink)
 {
     sink_ = nullptr;
 }
+
+void Coroutine::Await(std::function<void()> cb)
+{
+
+}

server/robotserver/coroutine.h

@@ -32,10 +32,18 @@ class Awaiter
         return done_;
     }
 
+protected:
+
+    virtual void Await(std::function<void()> cb)
+    {
+
+    }
+
  private:
     bool done_ = false;
     std::shared_ptr<a8::Results> results_;
     std::function<void()> cb_;
+    friend class Coroutine;
 };
 
 class Promise : public Awaiter
@@ -63,6 +71,8 @@ class Coroutine : public Awaiter, public std::enable_shared_from_this<Coroutine>
     void CallEnter(boost::coroutines2::coroutine<void>::push_type& sink);
     void CallExit(boost::coroutines2::coroutine<void>::push_type& sink);
 
+    virtual void Await(std::function<void()> cb) override;
+
  private:
     list_head co_entry_;
     list_head exec_entry_;