use call_async in all service to avoid deadlock

unilabos/ros/nodes/base_device_node.py

@@ -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

unilabos/ros/nodes/presets/host_node.py

@@ -351,7 +351,7 @@ class HostNode(BaseROS2DeviceNode):
                 except Exception as e:
                     self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
 
-    def create_resource_detailed(
+    async def create_resource_detailed(
         self,
         resources: list[Union[list["Resource"], "Resource"]],
         device_ids: list[str],
@@ -393,11 +393,11 @@ class HostNode(BaseROS2DeviceNode):
                 },
                 ensure_ascii=False,
             )
-            response = sclient.call(request)
+            response = await sclient.call_async(request)
             responses.append(response)
         return responses
 
-    def create_resource(
+    async def create_resource(
         self,
         device_id: str,
         res_id: str,
@@ -451,7 +451,9 @@ class HostNode(BaseROS2DeviceNode):
             )
         ]
 
-        return self.create_resource_detailed(resources, device_ids, bind_parent_id, bind_location, other_calling_param)
+        response = await self.create_resource_detailed(resources, device_ids, bind_parent_id, bind_location, other_calling_param)
+
+        return response
 
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """