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use call_async in all service to avoid deadlock

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This commit is contained in:
Junhan Chang
2025-08-13 04:25:51 +08:00
parent 0063df4cf3
commit a1538da39e
2 changed files with 8 additions and 6 deletions
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4
unilabos/ros/nodes/base_device_node.py
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@@ -336,7 +336,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
res.response = ""
return res
def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
# 物料传输到对应的node节点
rclient = self.create_client(ResourceAdd, "/resources/add")
rclient.wait_for_service()
@@ -399,7 +399,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
else:
logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")
response = rclient.call(request)
response = await rclient.call_async(request)
# 应该先add_resource了
res.response = "OK"
# 如果driver自己就有assign的方法，那就使用driver自己的assign方法