From 7a51b2adc1bf6ca810f2bf39aba91150f474f612 Mon Sep 17 00:00:00 2001
From: wznln <18435084+Xuwznln@users.noreply.github.com>
Date: Wed, 30 Apr 2025 15:48:33 +0800
Subject: [PATCH] fix: slave mode spin not working

---
 unilabos/ros/main_slave_run.py       | 7 +++++--
 unilabos/ros/utils/driver_creator.py | 1 +
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py
index 60dc189e..15265c4d 100644
--- a/unilabos/ros/main_slave_run.py
+++ b/unilabos/ros/main_slave_run.py
@@ -2,11 +2,9 @@ import copy
 import json
 import os
 import threading
-import traceback
 from typing import Optional, Dict, Any, List
 
 import rclpy
-from rclpy.callback_groups import ReentrantCallbackGroup
 from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos_msgs.srv import ResourceAdd, SerialCommand  # type: ignore
 from rclpy.executors import MultiThreadedExecutor
@@ -67,6 +65,9 @@ def main(
     thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
     thread.start()
 
+    while True:
+        input()
+
 
 def slave(
     devices_config: Dict[str, Any] = {},
@@ -120,6 +121,8 @@ def slave(
         response = rclient.call_async(request).result()
         logger.info(f"Slave resource added.")
 
+    while True:
+        input()
 
 if __name__ == "__main__":
     main()
diff --git a/unilabos/ros/utils/driver_creator.py b/unilabos/ros/utils/driver_creator.py
index 24c98b21..2ea30856 100644
--- a/unilabos/ros/utils/driver_creator.py
+++ b/unilabos/ros/utils/driver_creator.py
@@ -225,6 +225,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             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"))
 
+
 class ProtocolNodeCreator(DeviceClassCreator[T]):
     """
     ProtocolNode设备类创建器