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use same callback group

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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
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@@ -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")