build: Upgrades version of pybind11 from v2.5.0 to v2.9.0.

The public constructor of `pybind11::module` is now deprecated. This
patch replaces its only use by a call to `PYBIND11_EMBEDDED_MODULE`
followed by a `pybind11::import(...)`.

The constructor of a `pybind11::object` subclass from a
`pybind11::object` from the wrong type now throws an exception. See
pybind/pybind11#2349.

We had one case of this happening where we tried constructing a `bytes`
from a `None`. We now first construct an `object`, then test if it's
`None` before trying to convert it to `bytes`.

Change-Id: I4aa2a1b4a49d3024f203bdd5c6f9c4ee86bfc9c4
Reviewed-on: http://gerrit2.aldebaran.lan/1760
Reviewed-by: philippe.martin <philippe.martin@softbankrobotics.com>
Reviewed-by: jmonnon <jmonnon@aldebaran.com>
Tested-by: vincent.palancher <vincent.palancher@softbankrobotics.com>

cmake/set_dependencies.cmake

@@ -48,7 +48,7 @@ include_guard(GLOBAL)
 overridable_variable(BOOST_VERSION 1.77)
 
 # Version of pybind11 to use.
-overridable_variable(PYBIND11_VERSION 2.5.0)
+overridable_variable(PYBIND11_VERSION 2.9.0)
 
 # URL of the git repository from which to download pybind11. For more details, see CMake
 # `ExternalProject` module documentation of the `GIT_REPOSITORY` argument.

src/pyobject.cpp

@@ -270,10 +270,11 @@ namespace detail
 boost::optional<ObjectUid> readObjectUid(const ::py::object& obj)
 {
   GILAcquire lock;
-  const ::py::bytes qiObjectUid = ::py::getattr(obj, qiObjectUidAttributeName, ::py::none());
-  if (!qiObjectUid.is_none())
-    return deserializeObjectUid(static_cast<std::string>(qiObjectUid));
-  return {};
+  const auto qiObjectUidObj = ::py::getattr(obj, qiObjectUidAttributeName, ::py::none());
+  if (qiObjectUidObj.is_none())
+    return {};
+  const auto qiObjectUid = qiObjectUidObj.cast<std::string>();
+  return deserializeObjectUid(qiObjectUid);
 }
 
 void writeObjectUid(const pybind11::object& obj, const ObjectUid& uid)

tests/test_qipython.cpp

@@ -15,6 +15,10 @@ qiLogCategory("TestQiPython");
 
 namespace py = pybind11;
 
+PYBIND11_EMBEDDED_MODULE(qi, m) {
+  qi::py::exportAll(m);
+}
+
 int main(int argc, char **argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
@@ -24,9 +28,8 @@ int main(int argc, char **argv)
   boost::optional<qi::Application> app;
   app.emplace(argc, argv);
 
-  py::module m("qi");
-  qi::py::exportAll(m);
-  py::globals()["qi"] = m;
+  py::globals()["qi"] = py::module::import("qi");
+
 
   int ret = EXIT_FAILURE;
   {