fix: running logic

unilabos/app/backend.py

@@ -29,7 +29,9 @@ def start_backend(
     
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, graph, controllers_config, bridges)
+        args=(devices_config, resources_config, graph, controllers_config, bridges),
+        name="backend_thread",
+        daemon=True,
     )
     backend_thread.start()
     logger.info(f"Backend {backend} started.")

unilabos/app/main.py

@@ -1,8 +1,11 @@
 import argparse
+import asyncio
 import os
 import signal
 import sys
 import json
+import time
+
 import yaml
 from copy import deepcopy
 import threading
@@ -125,7 +128,7 @@ def main():
     print_unilab_banner(args_dict)
 
     # 注册表
-    registry_dict = build_registry(args_dict["registry_path"])
+    build_registry(args_dict["registry_path"])
 
 
     if args_dict["graph"] is not None:
@@ -180,14 +183,17 @@ def main():
             enable_rviz=True
         elif args_dict["visual"] == "web":
             enable_rviz=False
-        resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"],registry_dict,enable_rviz=enable_rviz)
+        resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
         devices_config_add = add_resource_mesh_manager_node(resource_visualization.resource_model, args_dict["resources_config"])
         args_dict["devices_config"] = {**args_dict["devices_config"], **devices_config_add}
-    
-        server_thread = threading.Thread(target=start_server)
-        server_thread.start()
         start_backend(**args_dict)
+
+        from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+        while ROS2DeviceNode.get_loop() is None:
+            time.sleep(0.1)
+        asyncio.set_event_loop(ROS2DeviceNode.get_loop())
         resource_visualization.start()
+        start_server()
     else:
         start_backend(**args_dict)
         start_server()

unilabos/app/mq.py

@@ -35,7 +35,8 @@ class MQTTClient:
         self.client.on_disconnect = self._on_disconnect
 
     def _on_log(self, client, userdata, level, buf):
-        logger.info(f"[MQTT] log: {buf}")
+        # logger.info(f"[MQTT] log: {buf}")
+        pass
 
     def _on_connect(self, client, userdata, flags, rc, properties=None):
         logger.info("[MQTT] Connected with result code " + str(rc))