ROS2 （python）构造服务端和客户端

要注意：服务端和客户端的名字要统一

什么是线程死锁

A需要等B把装满水的桶放下 才能把水桶提走
B需要等A把水桶提走才能把自己的装满

假设A和B都要站在位置C工作
A：站在工位C将小桶水倒进大桶里
B：从C位置将装满水的大桶拎走
那么假设时刻D
B发现大桶里没有装满水 因此在位置C等待水满
A发现B在位置C等待 于是扛着自己的小水桶等B离开
造成死锁

客户端

import rclpy
from rclpy.node import Node
from std_msgs.msg import String
from village_interface.srv import BorrowMoney

class BaiPiaoNode(Node):

    def __init__(self, name):
        super().__init__(name)
        self.get_logger().info("大家好，我是李三，李四他哥，我可以白嫖李四的小说！")
        self.sub_ = self.create_subscription(String,"sexy_gril",self.recv_callback,10)

        self.borrow_client = self.create_client(BorrowMoney,"borrow_money")

    def recv_callback(self, novel):
        self.get_logger().info("李三：我已经收到了：%s" % novel.data)

    def borrow_response_callback(self, response):
        """
        借钱回调函数
        """

        if response.success:
            self.get_logger().info("借到%d钱了，去吃麻辣烫" % response.money)
        else:
            self.get_logger().info("真抠门，连几块钱都不借")



def main(args=None):

    rclpy.init(args=args)
    node = BaiPiaoNode("li3")
    rclpy.spin(node=node)
    rclpy.shutdown()

服务端

import rclpy
from rclpy.node import Node
from std_msgs.msg import String,UInt32
from village_interface.srv import BorrowMoney

class WriterNode(Node):

    def __init__(self,name):
        super().__init__(name)
        self.get_logger().info('大家好，我是%s.' % name)
        # String 话题消息类型
        # "sexy_gril" 话题名
        # 10 话题发布类型
        # self.create_publisher(消息类型, 话题名, 发布频率)
        # 创建发布者
        self.pub_novel = self.create_publisher(String, "sexy_gril", 10)

        # self.create_subscription(消息类型,话题名,回调函数,队列长度)
        # 创建订阅者
        self.sub_money = self.create_subscription(UInt32,"sexy_gril_money",self.rev_money_callback,10)

        # 创建客户端
        self.borrow_server = self.create_service(BorrowMoney,"borrow_money",self.borrowmoney_callback)


        self.timer_period = 5
        self.timer = self.create_timer(self.timer_period,self.timer_callback)
        self.counter = 0

        self.count = 80

  

        # 创建服务端回调函数
    def borrowmoney_callback(self, request, response):
        """
        request: 来自客户端的请求数据
        response：来自服务端的响应数据
        """
        self.get_logger().info("收到来自：%s的请求，目前账户里有%d元"%(request.name,self.count))

        if request.money <= self.count * 0.1: 
            response.success = True
            response.money = request.money
            self.count -= request.money
            self.get_logger().info("借钱成功，借出%d元，目前账户结余%d"%(request.money,self.count))
        else:
            response.success = False
            response.money = 0
            self.get_logger().info("借钱失败！！")
        
        return response

    def timer_callback(self):
        msg = String()
        msg.data = '第%d回:潋滟湖 %d 次偶遇胡艳娘' %(self.counter,self.counter)
        self.pub_novel.publish(msg=msg)
        self.get_logger().info("发布消息: %s" % msg.data)
        self.counter = self.counter + 1

    def rev_money_callback(self,money):
        self.count = self.count + money.data
        self.get_logger().info("收到了%d的钱"%money.data)


def hello(args=None):

    rclpy.init(args=args)

    li3_node = WriterNode("li4")
    rclpy.spin(li3_node)
    rclpy.shutdown()