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modify devices to use correct executor (sleep, create_task)

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This commit is contained in:
Xuwznln
2025-11-03 15:49:11 +08:00
parent 6e3eacd2f0
commit 0fda155f55
16 changed files with 597 additions and 456 deletions
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11
unilabos/devices/cnc/grbl_async.py
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@@ -12,6 +12,7 @@ from serial import Serial
from serial.serialutil import SerialException
from unilabos.messages import Point3D
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class GrblCNCConnectionError(Exception):
@@ -32,6 +33,7 @@ class GrblCNCInfo:
class GrblCNCAsync:
_status: str = "Offline"
_position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
_ros_node: BaseROS2DeviceNode
def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
self.port = port
@@ -58,6 +60,9 @@ class GrblCNCAsync:
self._run_future: Optional[Future[Any]] = None
self._run_lock = Lock()
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def _read_all(self):
data = self._serial.read_until(b"\n")
data_decoded = data.decode()
@@ -148,7 +153,7 @@ class GrblCNCAsync:
try:
await self._query(command)
while True:
await asyncio.sleep(0.2) # Wait for 0.5 seconds before polling again
await self._ros_node.sleep(0.2) # Wait for 0.5 seconds before polling again
status = await self.get_status()
if "Idle" in status:
@@ -214,7 +219,7 @@ class GrblCNCAsync:
self._pose_number = i
self.pose_number_remaining = len(points) - i
await self.set_position(point)
await asyncio.sleep(0.5)
await self._ros_node.sleep(0.5)
self._step_number = -1
async def stop_operation(self):
@@ -235,7 +240,7 @@ class GrblCNCAsync:
async def open(self):
if self._read_task:
raise GrblCNCConnectionError
self._read_task = asyncio.create_task(self._read_loop())
self._read_task = self._ros_node.create_task(self._read_loop())
try:
await self.get_status()

9
unilabos/devices/cnc/mock.py
View File

@@ -2,6 +2,8 @@ import time
import asyncio
from pydantic import BaseModel
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class Point3D(BaseModel):
x: float
@@ -14,9 +16,14 @@ def d(a: Point3D, b: Point3D) -> float:
class MockCNCAsync:
_ros_node: BaseROS2DeviceNode["MockCNCAsync"]
def __init__(self):
self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
self._status = "Idle"
def post_create(self, ros_node):
self._ros_node = ros_node
@property
def position(self) -> Point3D:
@@ -38,5 +45,5 @@ class MockCNCAsync:
self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
await asyncio.sleep(move_time / 20)
await self._ros_node.sleep(move_time / 20)
self._status = "Idle"