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fix: slave mode spin not working

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This commit is contained in:
wznln
2025-04-30 15:21:29 +08:00
parent 8ab108c489
commit 2d034f728a
2 changed files with 7 additions and 23 deletions
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28
unilabos/ros/main_slave_run.py
View File

@@ -1,10 +1,12 @@
import copy import copy
import json import json
import os import os
import threading
import traceback import traceback
from typing import Optional, Dict, Any, List from typing import Optional, Dict, Any, List
import rclpy import rclpy
from rclpy.callback_groups import ReentrantCallbackGroup
from unilabos_msgs.msg import Resource # type: ignore from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor from rclpy.executors import MultiThreadedExecutor
@@ -17,7 +19,6 @@ from unilabos.ros.msgs.message_converter import (
convert_to_ros_msg, convert_to_ros_msg,
) )
from unilabos.ros.nodes.presets.host_node import HostNode from unilabos.ros.nodes.presets.host_node import HostNode
from unilabos.ros.x.rclpyx import run_event_loop_in_thread
from unilabos.utils import logger from unilabos.utils import logger
from unilabos.config.config import BasicConfig from unilabos.config.config import BasicConfig
from unilabos.utils.type_check import TypeEncoder from unilabos.utils.type_check import TypeEncoder
@@ -63,16 +64,8 @@ def main(
discovery_interval, discovery_interval,
) )
executor.add_node(host_node) thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
# run_event_loop_in_thread() thread.start()
try:
executor.spin()
except Exception as e:
logger.error(traceback.format_exc())
print(f"Exception caught: {e}")
finally:
exit()
def slave( def slave(
@@ -102,6 +95,9 @@ def slave(
n = Node(f"slaveMachine_{machine_name}", parameter_overrides=[]) n = Node(f"slaveMachine_{machine_name}", parameter_overrides=[])
executor.add_node(n) executor.add_node(n)
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
thread.start()
if not BasicConfig.slave_no_host: if not BasicConfig.slave_no_host:
sclient = n.create_client(SerialCommand, "/node_info_update") sclient = n.create_client(SerialCommand, "/node_info_update")
sclient.wait_for_service() sclient.wait_for_service()
@@ -125,15 +121,5 @@ def slave(
logger.info(f"Slave resource added.") logger.info(f"Slave resource added.")
run_event_loop_in_thread()
try:
executor.spin()
except Exception as e:
print(f"Exception caught: {e}")
finally:
exit()
if __name__ == "__main__": if __name__ == "__main__":
main() main()

2
unilabos/ros/utils/driver_creator.py
View File

@@ -224,8 +224,6 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")): if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")):
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")) ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成"))
# 2486229810384
#2486232539792
class ProtocolNodeCreator(DeviceClassCreator[T]): class ProtocolNodeCreator(DeviceClassCreator[T]):
""" """