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use same callback group

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This commit is contained in:
Xuwznln
2025-10-23 01:52:33 +08:00
parent 2006406a24
commit 7f0b33b3e3
5 changed files with 23 additions and 21 deletions
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16
unilabos/ros/nodes/base_device_node.py
View File

@@ -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")

18
unilabos/ros/nodes/presets/host_node.py
View File

@@ -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,
),
}

2
unilabos/ros/nodes/presets/workstation.py
View File

@@ -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