support sleep and create_task in node

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 rclpy.task import Task
+from rclpy.task import Task, Future
 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
@@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         rclpy.get_global_executor().add_node(self)
         self.lab_logger().debug(f"ROS节点初始化完成")
 
+    async def sleep(self, rel_time: float, callback_group=None):
+        if callback_group is None:
+            callback_group = self.callback_group
+        await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group)
+
+    @classmethod
+    async def create_task(cls, func, trace_error=True, **kwargs) -> Task:
+        return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs)
+
     async def update_resource(self, resources: List["ResourcePLR"]):
         r = SerialCommand.Request()
         tree_set = ResourceTreeSet.from_plr_resources(resources)
@@ -1399,6 +1408,14 @@ class ROS2DeviceNode:
             future.add_done_callback(_handle_future_exception)
         return future
 
+    @classmethod
+    async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None):
+        future = Future()
+        timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock())
+        await future
+        timer.cancel()
+        node.destroy_timer(timer)
+
     @property
     def driver_instance(self):
         return self._driver_instance

unilabos/ros/nodes/presets/host_node.py

@@ -18,7 +18,8 @@ from unilabos_msgs.srv import (
     ResourceDelete,
     ResourceUpdate,
     ResourceList,
-    SerialCommand, ResourceGet,
+    SerialCommand,
+    ResourceGet,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID