Add option to call services in a separate thread (#847)

* Register call_service operation to run in its own thread * Configure call_service behavior with node parameter
RobotWebTools · Mar 8, 2023 · a5c395f · a5c395f
1 parent f9f8d21
commit a5c395f
Show file tree

Hide file tree

Showing 3 changed files with 21 additions and 1 deletion.
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/call_service.py b/rosbridge_library/src/rosbridge_library/capabilities/call_service.py
@@ -32,6 +32,7 @@
 
 import fnmatch
 from functools import partial
+from threading import Thread
 
 from rosbridge_library.capability import Capability
 from rosbridge_library.internal.services import ServiceCaller
@@ -52,7 +53,19 @@ def __init__(self, protocol):
         Capability.__init__(self, protocol)
 
         # Register the operations that this capability provides
-        protocol.register_operation("call_service", self.call_service)
+        call_services_in_new_thread = protocol.node_handle.get_parameter(
+            "call_services_in_new_thread"
+        ).get_parameter_value()
+        if call_services_in_new_thread:
+            # Calls the service in a separate thread so multiple services can be processed simultaneously.
+            protocol.node_handle.get_logger().info("Calling services in new thread")
+            protocol.register_operation(
+                "call_service", lambda msg: Thread(target=self.call_service, args=(msg,)).start()
+            )
+        else:
+            # Calls the service in this thread, so services block and must be processed sequentially.
+            protocol.node_handle.get_logger().info("Calling services in existing thread")
+            protocol.register_operation("call_service", self.call_service)
 
     def call_service(self, message):
         # Pull out the ID

diff --git a/rosbridge_server/launch/rosbridge_websocket_launch.xml b/rosbridge_server/launch/rosbridge_websocket_launch.xml
@@ -13,6 +13,7 @@
   <arg name="unregister_timeout" default="10.0" />
 
   <arg name="use_compression" default="false" />
+  <arg name="call_services_in_new_thread" default="false" />
 
   <arg name="topics_glob" default="" />
   <arg name="services_glob" default="" />
@@ -33,6 +34,7 @@
       <param name="max_message_size" value="$(var max_message_size)"/>
       <param name="unregister_timeout" value="$(var unregister_timeout)"/>
       <param name="use_compression" value="$(var use_compression)"/>
+      <param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
 
       <param name="topics_glob" value="$(var topics_glob)"/>
       <param name="services_glob" value="$(var services_glob)"/>
@@ -49,6 +51,7 @@
       <param name="max_message_size" value="$(var max_message_size)"/>
       <param name="unregister_timeout" value="$(var unregister_timeout)"/>
       <param name="use_compression" value="$(var use_compression)"/>
+      <param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
 
       <param name="topics_glob" value="$(var topics_glob)"/>
       <param name="services_glob" value="$(var services_glob)"/>

diff --git a/rosbridge_server/scripts/rosbridge_websocket.py b/rosbridge_server/scripts/rosbridge_websocket.py
@@ -174,6 +174,10 @@ def __init__(self):
     def protocol_parameter_handling(self):
         RosbridgeWebSocket.use_compression = self.declare_parameter("use_compression", False).value
 
+        RosbridgeWebSocket.call_services_in_new_thread = self.declare_parameter(
+            "call_services_in_new_thread", False
+        ).value
+
         # get RosbridgeProtocol parameters
         RosbridgeWebSocket.fragment_timeout = self.declare_parameter(
             "fragment_timeout", RosbridgeWebSocket.fragment_timeout