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modify devices to use correct executor (sleep, create_task)

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Xuwznln
2025-11-03 15:49:11 +08:00
parent 5331d7bfba
commit bed453034f
16 changed files with 597 additions and 456 deletions
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9
unilabos/devices/cnc/mock.py
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@@ -2,6 +2,8 @@ import time
import asyncio
from pydantic import BaseModel
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class Point3D(BaseModel):
x: float
@@ -14,9 +16,14 @@ def d(a: Point3D, b: Point3D) -> float:
class MockCNCAsync:
_ros_node: BaseROS2DeviceNode["MockCNCAsync"]
def __init__(self):
self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
self._status = "Idle"
def post_create(self, ros_node):
self._ros_node = ros_node
@property
def position(self) -> Point3D:
@@ -38,5 +45,5 @@ class MockCNCAsync:
self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
await asyncio.sleep(move_time / 20)
await self._ros_node.sleep(move_time / 20)
self._status = "Idle"