| """ROS2 运行时辅助：SendRobot 节点需要先 rclpy.init() 并后台 spin。""" |
|
|
| from __future__ import annotations |
|
|
| import threading |
| from typing import Any |
|
|
| import rclpy |
| from rclpy.executors import MultiThreadedExecutor |
| from rclpy.node import Node |
|
|
| from .config import RobotConfig |
| from .robot import Robot |
|
|
|
|
| class RosSpinContext: |
| def __init__(self, robot: Robot): |
| self.robot = robot |
| self.executor: MultiThreadedExecutor | None = None |
| self.spin_thread: threading.Thread | None = None |
|
|
| def start(self) -> None: |
| if not isinstance(self.robot, Node): |
| return |
| self.executor = MultiThreadedExecutor() |
| self.executor.add_node(self.robot) |
| self.spin_thread = threading.Thread(target=self.executor.spin, daemon=True) |
| self.spin_thread.start() |
|
|
| def stop(self) -> None: |
| if isinstance(self.robot, Node): |
| self.robot.destroy_node() |
| if rclpy.ok(): |
| rclpy.shutdown() |
|
|
|
|
| def is_ros_robot_config(config: RobotConfig) -> bool: |
| return config.type in ("send_robot", "send_robot_end_effector") |
|
|
|
|
| def make_ros_robot(config: RobotConfig) -> tuple[Robot, RosSpinContext | None]: |
| from .utils import make_robot_from_config |
|
|
| if not is_ros_robot_config(config): |
| return make_robot_from_config(config), None |
|
|
| if not rclpy.ok(): |
| rclpy.init() |
|
|
| robot = make_robot_from_config(config) |
| ctx = RosSpinContext(robot) |
| ctx.start() |
| return robot, ctx |
|
|
