From 7f0b33b3e303503d0e5b6cc935512fd8a8f47641 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Thu, 23 Oct 2025 01:52:33 +0800 Subject: [PATCH] use same callback group --- unilabos/app/web/client.py | 6 ++++-- unilabos/ros/main_slave_run.py | 2 +- unilabos/ros/nodes/base_device_node.py | 16 ++++++++-------- unilabos/ros/nodes/presets/host_node.py | 18 +++++++++--------- unilabos/ros/nodes/presets/workstation.py | 2 +- 5 files changed, 23 insertions(+), 21 deletions(-) diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index 3c51b349..72c079a1 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -6,6 +6,8 @@ HTTP客户端模块 import json import os +import time +from threading import Thread from typing import List, Dict, Any, Optional import requests @@ -84,14 +86,14 @@ class HTTPClient: f"{self.remote_addr}/edge/material", json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, headers={"Authorization": f"Lab {self.auth}"}, - timeout=100, + timeout=60, ) else: response = requests.put( f"{self.remote_addr}/edge/material", json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, headers={"Authorization": f"Lab {self.auth}"}, - timeout=100, + timeout=10, ) with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_add.json"), "w", encoding="utf-8") as f: diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index b57d30b0..d9ad3682 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -10,7 +10,7 @@ from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher from unilabos_msgs.srv import SerialCommand # type: ignore -from rclpy.executors import MultiThreadedExecutor +from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor from rclpy.node import Node from rclpy.timer import Timer diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 0f3cb270..5f6ad8f0 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -338,12 +338,12 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 创建资源管理客户端 self._resource_clients: Dict[str, Client] = { - "resource_add": self.create_client(ResourceAdd, "/resources/add"), - "resource_get": self.create_client(SerialCommand, "/resources/get"), - "resource_delete": self.create_client(ResourceDelete, "/resources/delete"), - "resource_update": self.create_client(ResourceUpdate, "/resources/update"), - "resource_list": self.create_client(ResourceList, "/resources/list"), - "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree"), + "resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group), + "resource_get": self.create_client(SerialCommand, "/resources/get", callback_group=self.callback_group), + "resource_delete": self.create_client(ResourceDelete, "/resources/delete", callback_group=self.callback_group), + "resource_update": self.create_client(ResourceUpdate, "/resources/update", callback_group=self.callback_group), + "resource_list": self.create_client(ResourceList, "/resources/list", callback_group=self.callback_group), + "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree", callback_group=self.callback_group), } def re_register_device(req, res): @@ -884,7 +884,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): action_type, action_name, execute_callback=self._create_execute_callback(action_name, action_value_mapping), - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ) self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}") @@ -1505,7 +1505,7 @@ class ROS2DeviceNode: asyncio.set_event_loop(loop) loop.run_forever() - ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode") + ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop") ROS2DeviceNode._loop_thread.start() logger.info(f"循环线程已启动") diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 932c4885..43d16e8d 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -285,7 +285,7 @@ class HostNode(BaseROS2DeviceNode): # 创建定时器，定期发现设备 self._discovery_timer = self.create_timer( - discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup() + discovery_interval, self._discovery_devices_callback, callback_group=self.callback_group ) # 添加ping-pong相关属性 @@ -618,7 +618,7 @@ class HostNode(BaseROS2DeviceNode): topic, lambda msg, d=device_id, p=property_name: self.property_callback(msg, d, p), 1, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ) # 标记为已订阅 self._subscribed_topics.add(topic) @@ -829,37 +829,37 @@ class HostNode(BaseROS2DeviceNode): def _init_host_service(self): self._resource_services: Dict[str, Service] = { "resource_add": self.create_service( - ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup() + ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=self.callback_group ), "resource_get": self.create_service( - SerialCommand, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup() + SerialCommand, "/resources/get", self._resource_get_callback, callback_group=self.callback_group ), "resource_delete": self.create_service( ResourceDelete, "/resources/delete", self._resource_delete_callback, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ), "resource_update": self.create_service( ResourceUpdate, "/resources/update", self._resource_update_callback, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ), "resource_list": self.create_service( - ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup() + ResourceList, "/resources/list", self._resource_list_callback, callback_group=self.callback_group ), "node_info_update": self.create_service( SerialCommand, "/node_info_update", self._node_info_update_callback, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ), "c2s_update_resource_tree": self.create_service( SerialCommand, "/c2s_update_resource_tree", self._resource_tree_update_callback, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ), } diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py index dc1175d6..af1afab5 100644 --- a/unilabos/ros/nodes/presets/workstation.py +++ b/unilabos/ros/nodes/presets/workstation.py @@ -194,7 +194,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode): action_type, action_name, execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator), - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ) self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}") return