From 6d3794d154a4f5de81a8a0bd4451f3de2b49ce41 Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+pimpest@users.noreply.github.com>
Date: Mon, 13 Apr 2026 14:28:08 +0200
Subject: [PATCH] Made interaction node use multitreaded executor

---
 toid_interaction/package.xml                       |  1 +
 .../toid_interaction/interaction_node.py           | 14 ++++++++------
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/toid_interaction/package.xml b/toid_interaction/package.xml
index 6fde46c..d48ec2b 100644
--- a/toid_interaction/package.xml
+++ b/toid_interaction/package.xml
@@ -14,6 +14,7 @@
 
   <depend>python3-serial</depend>
   <depend>python3-gpiozero</depend>
+  <depend>toid_msgs</depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/toid_interaction/toid_interaction/interaction_node.py b/toid_interaction/toid_interaction/interaction_node.py
index b887c9a..842736e 100644
--- a/toid_interaction/toid_interaction/interaction_node.py
+++ b/toid_interaction/toid_interaction/interaction_node.py
@@ -1,4 +1,6 @@
 import rclpy
+import rclpy.callback_groups
+import rclpy.executors
 from rclpy.node import Node
 from std_srvs.srv import Empty
 
@@ -14,7 +16,6 @@ from toid_msgs.srv import SendString
 
 from rclpy.action.server import ServerGoalHandle
 from rclpy.action.server import ActionServer
-import asyncio
 
 
 class InteracitionNode(Node):
@@ -41,8 +42,10 @@ class InteracitionNode(Node):
         self.output_pin_ = OutputDevice(27)
 
         self.start_pin_action_ = ActionServer(
-            self, EmptyAction, "/start_plug", execute_callback=self.start_plug_action_cb
+            self, EmptyAction, "/start_plug", execute_callback=self.start_plug_action_cb,
+            callback_group=rclpy.callback_groups.ReentrantCallbackGroup()
         )
+
         self.get_logger().info("Action 'start_plug' ready.")
 
 
@@ -93,9 +96,9 @@ class InteracitionNode(Node):
 
     async def start_plug_action_cb(self, goal_handle: ServerGoalHandle):
         while not self.btn_.is_active:
-            await asyncio.sleep(0.1)
+            pass
         while self.btn_.is_active:
-            await asyncio.sleep(0.1)
+            pass
         goal_handle.succeed()
         return EmptyAction.Result()
 
@@ -104,8 +107,7 @@ def main(args=None):
     rclpy.init(args=args)
 
     node = InteracitionNode()
-    rclpy.spin(node)
-
+    rclpy.executors.MultiThreadedExecutor().spin(node)
     rclpy.shutdown()