fix run async execution error

unilabos/ros/nodes/base_device_node.py

@@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import (
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
-from unilabos.utils.async_util import run_async_func
+from rclpy.task import Task
 from unilabos.utils.import_manager import default_manager
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
@@ -1385,18 +1385,19 @@ class ROS2DeviceNode:
     它不继承设备类，而是通过代理模式访问设备类的属性和方法。
     """
 
-    # 类变量，用于循环管理
-    _loop = None
-    _loop_running = False
-    _loop_thread = None
-
     @classmethod
-    def get_loop(cls):
+    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
-        return cls._loop
+        def _handle_future_exception(fut):
+            try:
+                fut.result()
+            except Exception as e:
+                error(f"异步任务 {func.__name__} 报错了")
+                error(traceback.format_exc())
 
-    @classmethod
+        future = rclpy.get_global_executor().create_task(func(**kwargs))
-    def run_async_func(cls, func, trace_error=True, **kwargs):
+        if trace_error:
-        return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
+            future.add_done_callback(_handle_future_exception)
+        return future
 
     @property
     def driver_instance(self):
@@ -1436,11 +1437,6 @@ class ROS2DeviceNode:
             print_publish: 是否打印发布信息
             driver_is_ros:
         """
-        # 在初始化时检查循环状态
-        if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
-            pass
-        elif ROS2DeviceNode._loop_thread is None:
-            self._start_loop()
 
         # 保存设备类是否支持异步上下文
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1529,17 +1525,6 @@ class ROS2DeviceNode:
             except Exception as e:
                 self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
 
-    def _start_loop(self):
-        def run_event_loop():
-            loop = asyncio.new_event_loop()
-            ROS2DeviceNode._loop = loop
-            asyncio.set_event_loop(loop)
-            loop.run_forever()
-
-        ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop")
-        ROS2DeviceNode._loop_thread.start()
-        logger.info(f"循环线程已启动")
-
 
 class DeviceInfoType(TypedDict):
     id: str

unilabos/utils/async_util.py

@@ -1,22 +0,0 @@
-import asyncio
-import traceback
-from asyncio import get_event_loop
-
-from unilabos.utils.log import error
-
-
-def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
-    if loop is None:
-        loop = get_event_loop()
-
-    def _handle_future_exception(fut):
-        try:
-            fut.result()
-        except Exception as e:
-            error(f"异步任务 {func.__name__} 报错了")
-            error(traceback.format_exc())
-
-    future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
-    if trace_error:
-        future.add_done_callback(_handle_future_exception)
-    return future