[ros2学习]-进阶 - 同步与异步服务端和客户端_ros2 client sync

① 介绍

本指南旨在警告用户与Python 同步服务客户端 call()API相关的风险。在同步调用服务时，很容易错误地导致死锁，因此我们不建议使用call()。

官方虽然提供了demo，但是还是不推荐使用，建议避免同步调用，所以本指南还将介绍推荐的替代方法异步调用（call_async()）的功能和用法。

C++服务调用API仅在异步中可用，因此本指南中的比较和示例与Python服务和客户端有关。

② 同步调用

同步客户端会在发送请求直到收到响应这段时间完全阻塞调用call的线程，这个线程基本上在调用时属于独占了。调用儿断时间不确定，但是调用完成立马就返回了。

下面这个例子就是同步调用的，可以参看之前的教程

import sys
from threading import Thread

from example_interfaces.srv import AddTwoInts
import rclpy
from rclpy.node import Node

class MinimalClientSync(Node):

    def __init__(self):
        super().__init__('minimal_client_sync')
        self.cli = self.create_client(AddTwoInts, 'add_two_ints')
        while not self.cli.wait_for_service(timeout_sec=1.0):
            self.get_logger().info('service not available, waiting again...')
        self.req = AddTwoInts.Request()

    def send_request(self):
        self.req.a = int(sys.argv[1])
        self.req.b = int(sys.argv[2])
        return self.cli.call(self.req)
        # This only works because rclpy.spin() is called in a separate thread below.
        # Another configuration, like spinning later in main() or calling this method from a timer callback, would result in a deadlock.

def main():
    rclpy.init()

    minimal_client = MinimalClientSync()

    spin_thread = Thread(target=rclpy.spin, args=(minimal_client,))
    spin_thread.start()

    response = minimal_client.send_request()
    minimal_client.get_logger().info(
        'Result of add_two_ints: for %d + %d = %d' %
        (minimal_client.req.a, minimal_client.req.b, response.sum))

    minimal_client.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()
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这里面spin()函数需要放到单独的线程来执行，因为call()会阻塞主线程。

死锁

产生死锁的方式有下面两种（这么难用还是不要用了，用异步吧）：

• 没有出子线程执行spin()
• send_request()位于回调中
  下面是第二种死锁的例子

def trigger_request(msg):
    response = minimal_client.send_request()  # This will cause deadlock
    minimal_client.get_logger().info(
        'Result of add_two_ints: for %d + %d = %d' %
        (minimal_client.req.a, minimal_client.req.b, response.sum))
subscription = minimal_client.create_subscription(String, 'trigger', trigger_request, 10)

rclpy.spin(minimal_client)
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死锁很难定位，也不报错，很烦，最好就是不用这种方式

③ 异步调用

异步调用就是相当安全了，不会存在阻塞ros进程或者非ros进程的风险，异步调用完成之后，会立马返回future，只需要等待就行，直接看看几种实现吧

import sys

from example_interfaces.srv import AddTwoInts
import rclpy
from rclpy.node import Node


class MinimalClientAsync(Node):

    def __init__(self):
        super().__init__('minimal_client_async')
        self.cli = self.create_client(AddTwoInts, 'add_two_ints')
        while not self.cli.wait_for_service(timeout_sec=1.0):
            self.get_logger().info('service not available, waiting again...')
        self.req = AddTwoInts.Request()

    def send_request(self):
        self.req.a = int(sys.argv[1])
        self.req.b = int(sys.argv[2])
        self.future = self.cli.call_async(self.req)


def main(args=None):
    rclpy.init(args=args)

    minimal_client = MinimalClientAsync()
    minimal_client.send_request()

    while rclpy.ok():
        rclpy.spin_once(minimal_client)
        if minimal_client.future.done():
            try:
                response = minimal_client.future.result()
            except Exception as e:
                minimal_client.get_logger().info(
                    'Service call failed %r' % (e,))
            else:
                minimal_client.get_logger().info(
                    'Result of add_two_ints: for %d + %d = %d' %
                    (minimal_client.req.a, minimal_client.req.b, response.sum))
            break

    minimal_client.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()
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这个是判断future是否done

def main(args=None):
    rclpy.init(args=args)
    node = rclpy.create_node('minimal_client')
    # Node's default callback group is mutually exclusive. This would prevent the client response
    # from being processed until the timer callback finished, but the timer callback in this
    # example is waiting for the client response
    cb_group = ReentrantCallbackGroup()
    cli = node.create_client(AddTwoInts, 'add_two_ints', callback_group=cb_group)
    did_run = False
    did_get_result = False

    async def call_service():
        nonlocal cli, node, did_run, did_get_result
        did_run = True
        try:
            req = AddTwoInts.Request()
            req.a = 41
            req.b = 1
            future = cli.call_async(req)
            try:
                result = await future
            except Exception as e:
                node.get_logger().info('Service call failed %r' % (e,))
            else:
                node.get_logger().info(
                    'Result of add_two_ints: for %d + %d = %d' %
                    (req.a, req.b, result.sum))
        finally:
            did_get_result = True

    while not cli.wait_for_service(timeout_sec=1.0):
        node.get_logger().info('service not available, waiting again...')

    timer = node.create_timer(0.5, call_service, callback_group=cb_group)

    while rclpy.ok() and not did_run:
        rclpy.spin_once(node)

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这种是await，python的语法了

④ 总结

别用同步回调，会死锁了，看看异步多好用