Fix reconnection bug on Twisted#154
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`AutobahnRosBridgeClientFactory.connect()` registered the connector by calling `connectWS()` directly from the caller's thread, which does not wake the Twisted reactor. On the first connection this is harmless because the reactor is started (and processes the pending connector) right after. But on a later reconnect with the reactor already running, an idle reactor sits blocked in `select()` with no file descriptors and never notices the connector added from another thread, so the connection never completes and `run()` times out. This surfaced when reconnecting after a disconnect: for roughly `closeHandshakeTimeout` (5s) the closing connection keeps the reactor cycling, so a quick reconnect works, but waiting longer leaves the reactor idle and the reconnect hangs until timeout (e.g. toggling a Grasshopper ROS client off, waiting, and back on). Schedule the connection through `reactor.callFromThread()` (as `send_message`/`send_close` already do), which wakes the reactor. It is also safe before the reactor has started, since the call is queued and runs once it does. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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After a disconnect, if you reconnect within 5 seconds, everything works, but after that, the service gives up. Here's a fix for it.
This should address the bugs on #97 (comment), #98 and #121
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