更新transfer_resource_to_another参数，支持spot入参

unilabos/app/main.py

@@ -45,7 +45,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
     for i, arg in enumerate(sys.argv):
         for option_string in option_strings:
             if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
+                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
                 sys.argv[i] = new_arg
                 break
 
@@ -335,12 +335,11 @@ def main():
             resource_edge_info.pop(edge_info - ind - 1)
             continue
 
-    # 如果从远端获取了物料信息，则与本地物料进行同步
+    tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
-    if request_startup_json and "nodes" in request_startup_json:
+    for root_node in tree_set.root_nodes:  希望和本地的resources_config进行同步，根节点device
-        print_status("开始同步远端物料到本地...", "info")
+    id能对上的且是resource的，则自动添加进来，根节点上不是device的，也包含进来
-        remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
+    device_id = root_node.
-        resource_tree_set.merge_remote_resources(remote_tree_set)
+    # tree_set.all_nodes
-        print_status("远端物料同步完成", "info")
 
     # 使用 ResourceTreeSet 代替 list
     args_dict["resources_config"] = resource_tree_set

unilabos/devices/workstation/bioyond_studio/station.py

@@ -155,11 +155,12 @@ class BioyondWorkstation(WorkstationBase):
             "resources": [self.deck]
         })
 
-    def transfer_resource_to_another(self, resource: ResourceSlot, mount_device_id: DeviceSlot, mount_resource: ResourceSlot):
+    def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
         ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
-            "plr_resources": [resource],
+            "plr_resources": resource,
             "target_device_id": mount_device_id,
-            "target_resource_uuid": getattr(mount_resource, "unilabos_uuid", None),
+            "target_resources": mount_resource,
+            "sites": sites,
         })
 
     def _configure_station_type(self, station_config: Optional[Dict[str, Any]] = None) -> None:

unilabos/registry/devices/dispensing_station_bioyond.yaml

@@ -889,6 +889,7 @@ dispensing_station.bioyond:
           mount_device_id: null
           mount_resource: null
           resource: null
+          sites: null
         handles: {}
         placeholder_keys:
           mount_device_id: unilabos_devices
@@ -904,6 +905,7 @@ dispensing_station.bioyond:
                 mount_device_id:
                   type: object
                 mount_resource:
+                  items:
                     properties:
                       category:
                         type: string
@@ -976,7 +978,9 @@ dispensing_station.bioyond:
                     - data
                     title: mount_resource
                     type: object
+                  type: array
                 resource:
+                  items:
                     properties:
                       category:
                         type: string
@@ -1049,10 +1053,16 @@ dispensing_station.bioyond:
                     - data
                     title: resource
                     type: object
+                  type: array
+                sites:
+                  items:
+                    type: string
+                  type: array
               required:
               - resource
-              - mount_device_id
               - mount_resource
+              - sites
+              - mount_device_id
               type: object
             result: {}
           required:

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -883,6 +883,7 @@ reaction_station.bioyond:
           mount_device_id: null
           mount_resource: null
           resource: null
+          sites: null
         handles: {}
         placeholder_keys:
           mount_device_id: unilabos_devices
@@ -898,6 +899,7 @@ reaction_station.bioyond:
                 mount_device_id:
                   type: object
                 mount_resource:
+                  items:
                     properties:
                       category:
                         type: string
@@ -970,7 +972,9 @@ reaction_station.bioyond:
                     - data
                     title: mount_resource
                     type: object
+                  type: array
                 resource:
+                  items:
                     properties:
                       category:
                         type: string
@@ -1043,10 +1047,16 @@ reaction_station.bioyond:
                     - data
                     title: resource
                     type: object
+                  type: array
+                sites:
+                  items:
+                    type: string
+                  type: array
               required:
               - resource
-              - mount_device_id
               - mount_resource
+              - sites
+              - mount_device_id
               type: object
             result: {}
           required:

unilabos/registry/devices/work_station.yaml

@@ -7134,6 +7134,7 @@ workstation.bioyond:
           mount_device_id: null
           mount_resource: null
           resource: null
+          sites: null
         handles: {}
         placeholder_keys:
           mount_device_id: unilabos_devices
@@ -7149,6 +7150,7 @@ workstation.bioyond:
                 mount_device_id:
                   type: object
                 mount_resource:
+                  items:
                     properties:
                       category:
                         type: string
@@ -7221,7 +7223,9 @@ workstation.bioyond:
                     - data
                     title: mount_resource
                     type: object
+                  type: array
                 resource:
+                  items:
                     properties:
                       category:
                         type: string
@@ -7294,10 +7298,16 @@ workstation.bioyond:
                     - data
                     title: resource
                     type: object
+                  type: array
+                sites:
+                  items:
+                    type: string
+                  type: array
               required:
               - resource
-              - mount_device_id
               - mount_resource
+              - sites
+              - mount_device_id
               type: object
             result: {}
           required:

unilabos/registry/registry.py

@@ -9,6 +9,8 @@ from typing import Any, Dict, List, Union, Tuple
 
 import msgcenterpy
 import yaml
+from rosidl_parser.definition import UnboundedSequence
+from unilabos_msgs.action import LiquidHandlerTransfer
 from unilabos_msgs.msg import Resource
 
 from unilabos.config.config import BasicConfig
@@ -431,6 +433,11 @@ class Registry:
             param_required = arg_info.get("required", True)
             if param_type == "unilabos.registry.placeholder_type:ResourceSlot":
                 schema["properties"][param_name] = ros_message_to_json_schema(Resource, param_name)
+            elif param_type == ("list", "unilabos.registry.placeholder_type:ResourceSlot"):
+                schema["properties"][param_name] = {
+                    "items": ros_message_to_json_schema(Resource, param_name),
+                    "type": "array"
+                }
             else:
                 schema["properties"][param_name] = self._generate_schema_from_info(param_name, param_type, param_default)
             if param_required:
@@ -543,9 +550,9 @@ class Registry:
                                         "goal_default": {i["name"]: i["default"] for i in v["args"]},
                                         "handles": [],
                                         "placeholder_keys": {
-                                            i["name"]: "unilabos_resources" if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot" else "unilabos_devices"
+                                            i["name"]: "unilabos_resources" if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot" or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot") else "unilabos_devices"
                                             for i in v["args"]
-                                            if i.get("type", "") in ["unilabos.registry.placeholder_type:ResourceSlot", "unilabos.registry.placeholder_type:DeviceSlot"]
+                                            if i.get("type", "") in ["unilabos.registry.placeholder_type:ResourceSlot", "unilabos.registry.placeholder_type:DeviceSlot", ("list", "unilabos.registry.placeholder_type:ResourceSlot"), ("list", "unilabos.registry.placeholder_type:DeviceSlot")]
                                         }
                                     }
                                     # 不生成已配置action的动作

unilabos/resources/graphio.py

@@ -9,7 +9,10 @@ from unilabos_msgs.msg import Resource
 
 from unilabos.resources.container import RegularContainer
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.ros.nodes.resource_tracker import (
+    ResourceDictInstance,
+    ResourceTreeSet,
+)
 from unilabos.utils.banner_print import print_status
 
 try:
@@ -51,20 +54,51 @@ def canonicalize_nodes_data(
                 if child in id2idx:
                     nodes[id2idx[child]]["parent"] = parent
 
-    # 第三步：打印节点信息（用于调试）
+    # 第三步：使用 ResourceInstanceDictFlatten 标准化每个节点
+    standardized_instances = []
+    known_nodes: Dict[str, ResourceDictInstance] = {}  # {node_id: ResourceDictInstance}
+    uuid_to_instance: Dict[str, ResourceDictInstance] = {}  # {uuid: ResourceDictInstance}
+
     for node in nodes:
         try:
             print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
+            # 使用标准化方法
+            resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
+            known_nodes[node["id"]] = resource_instance
+            uuid_to_instance[resource_instance.res_content.uuid] = resource_instance
+            standardized_instances.append(resource_instance)
         except Exception as e:
-            print_status(f"Failed to read node {node.get('id', 'unknown')}: {e}", "error")
+            print_status(f"Failed to standardize node {node.get('id', 'unknown')}:\n{traceback.format_exc()}", "error")
+            continue
 
-    # 第四步：使用 from_raw_list 创建 ResourceTreeSet（自动处理标准化、parent-children关系）
+    # 第四步：建立 parent 和 children 关系
-    try:
+    for node in nodes:
-        resource_tree_set = ResourceTreeSet.from_raw_list(nodes)
+        node_id = node["id"]
-    except Exception as e:
+        if node_id not in known_nodes:
-        print_status(f"Failed to create ResourceTreeSet:\n{traceback.format_exc()}", "error")
+            continue
-        raise
 
+        current_instance = known_nodes[node_id]
+
+        # 优先使用 parent_uuid 进行匹配，如果不存在则使用 parent
+        parent_uuid = node.get("parent_uuid")
+        parent_id = node.get("parent")
+        parent_instance = None
+
+        # 优先用 parent_uuid 匹配
+        if parent_uuid and parent_uuid in uuid_to_instance:
+            parent_instance = uuid_to_instance[parent_uuid]
+        # 否则用 parent_id 匹配
+        elif parent_id and parent_id in known_nodes:
+            parent_instance = known_nodes[parent_id]
+
+        # 设置 parent 引用
+        if parent_instance:
+            current_instance.res_content.parent = parent_instance.res_content
+            # 将当前节点添加到父节点的 children 列表
+            parent_instance.children.append(current_instance)
+
+    # 第五步：创建 ResourceTreeSet
+    resource_tree_set = ResourceTreeSet.from_nested_list(standardized_instances)
     return resource_tree_set
 
 

unilabos/ros/nodes/base_device_node.py

@@ -1,4 +1,5 @@
 import copy
+import inspect
 import io
 import json
 import threading
@@ -332,7 +333,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
             "resource_add": self.create_client(ResourceAdd, "/resources/add"),
-            "resource_get": self.create_client(ResourceGet, "/resources/get"),
+            "resource_get": self.create_client(SerialCommand, "/resources/get"),
             "resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
             "resource_update": self.create_client(ResourceUpdate, "/resources/update"),
             "resource_list": self.create_client(ResourceList, "/resources/list"),
@@ -578,6 +579,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             for i in data:
                 action = i.get("action")  # remove, add, update
                 resources_uuid: List[str] = i.get("data")  # 资源数据
+                additional_add_params = i.get("additional_add_params", {})  # 额外参数
                 self.lab_logger().info(
                     f"[Resource Tree Update] Processing {action} operation, "
                     f"resources count: {len(resources_uuid)}"
@@ -609,7 +611,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                         f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在")
                                 else:
                                     try:
-                                        parent_resource.assign_child_resource(plr_resource, location=None)
+                                        # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
+                                        additional_params = {}
+                                        site = additional_add_params.get("site", None)
+                                        spec = inspect.signature(parent_resource.assign_child_resource)
+                                        if "spot" in spec.parameters:
+                                            additional_params["spot"] = site
+                                        parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
                                     except Exception as e:
                                         self.lab_logger().warning(
                                             f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}")
@@ -666,14 +674,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         return res
 
-    async def transfer_resource_to_another(self, plr_resources: List["ResourcePLR"], target_device_id, target_resource_uuid: str):
+    async def transfer_resource_to_another(self, plr_resources: List["ResourcePLR"], target_device_id: str, target_resources: List["ResourcePLR"], sites: List[str]):
         # 准备工作
         uids = []
+        target_uids = []
         for plr_resource in plr_resources:
             uid = getattr(plr_resource, "unilabos_uuid", None)
             if uid is None:
-                raise ValueError(f"物料{plr_resource}没有unilabos_uuid属性，无法转运")
+                raise ValueError(f"来源物料{plr_resource}没有unilabos_uuid属性，无法转运")
             uids.append(uid)
+        for target_resource in target_resources:
+            uid = getattr(target_resource, "unilabos_uuid", None)
+            if uid is None:
+                raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
+            target_uids.append(uid)
         srv_address = f"/srv{target_device_id}/s2c_resource_tree"
         sclient = self.create_client(SerialCommand, srv_address)
         # 等待服务可用（设置超时）
@@ -688,10 +702,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         }], ensure_ascii=False)), SerialCommand_Response())
 
         # 通知云端转运资源
-        tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
+        for plr_resource, target_uid, site in zip(plr_resources, target_uids, sites):
+            tree_set = ResourceTreeSet.from_plr_resources([plr_resource])
             for root_node in tree_set.root_nodes:
                 root_node.res_content.parent = None
-            root_node.res_content.parent_uuid = target_resource_uuid
+                root_node.res_content.parent_uuid = target_uid
             r = SerialCommand.Request()
             r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})  # 和Update Resource一致
             response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
@@ -701,7 +716,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             request = SerialCommand.Request()
             request.command = json.dumps([{
                 "action": "add",
-            "data": tree_set.all_nodes_uuid  # 只添加父节点，子节点会自动添加
+                "data": tree_set.all_nodes_uuid,  # 只添加父节点，子节点会自动添加
+                "additional_add_params": {"site": site}
             }], ensure_ascii=False)
 
             future = sclient.call_async(request)
@@ -872,7 +888,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 for k, v in goal.get_fields_and_field_types().items():
                     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         self.lab_logger().info(f"{action_name} 查询资源状态: Key: {k} Type: {v}")
-                        current_resources: Union[List[Resource], List[List[Resource]]] = []
+                        current_resources: List[List[Dict[str, Any]]] = []
                         # TODO: resource后面需要分组
                         only_one_resource = False
                         try:
@@ -881,8 +897,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     r = ResourceGet.Request()
                                     r.id = i["id"]  # splash optional
                                     r.with_children = True
-                                    response = await self._resource_clients["resource_get"].call_async(r)
+                                    response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
-                                    current_resources.append(response.resources)
+                                    current_resources.append(json.loads(response.response))
                             else:
                                 only_one_resource = True
                                 r = ResourceGet.Request()
@@ -893,23 +909,21 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 )
                                 r.with_children = True
                                 response = await self._resource_clients["resource_get"].call_async(r)
-                                current_resources.extend(response.resources)
+                                current_resources.append(json.loads(response.response))
                         except Exception:
                             logger.error(f"资源查询失败，默认使用本地资源")
                         # 删除对response.resources的检查，因为它总是存在
                         type_hint = action_paramtypes[k]
                         final_type = get_type_class(type_hint)
                         if only_one_resource:
-                            resources_list: List[Dict[str, Any]] = [convert_from_ros_msg(rs) for rs in current_resources]  # type: ignore
+                            tree_set = ResourceTreeSet.from_raw_list(current_resources[0])
-                            self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
+                            self.lab_logger().debug(f"资源查询结果: {len(tree_set.all_nodes)} 个资源")
-                            final_resource = convert_resources_to_type(resources_list, final_type)
+                            final_resource: List[ResourcePLR] | ResourcePLR = tree_set.to_plr_resources()[0]
                         # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
                         else:
-                            resources_list: List[List[Dict[str, Any]]] = [[convert_from_ros_msg(rs) for rs in sub_res_list] for sub_res_list in current_resources]  # type: ignore
+                            final_resource: List[ResourcePLR] | ResourcePLR = []
-                            final_resource = [
+                            for entry in current_resources:
-                                convert_resources_to_type(sub_res_list, final_type)[0]
+                                final_resource.append(ResourceTreeSet.from_raw_list(entry)[0])  # type: ignore
-                                for sub_res_list in resources_list
-                            ]
                         try:
                             action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=False)
                         except Exception as e:

unilabos/ros/nodes/presets/workstation.py

@@ -29,9 +29,11 @@ from unilabos.utils.type_check import serialize_result_info, get_result_info_str
 if TYPE_CHECKING:
     from unilabos.devices.workstation.workstation_base import WorkstationBase
 
+
 class ROS2WorkstationNodeTempError(Exception):
     pass
 
+
 class ROS2WorkstationNode(BaseROS2DeviceNode):
     """
     ROS2WorkstationNode代表管理ROS2环境中设备通信和动作的协议节点。
@@ -63,10 +65,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
             driver_instance=driver_instance,
             device_id=device_id,
             status_types=status_types,
-            action_value_mappings={
+            action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
-                **action_value_mappings,
-                **self.protocol_action_mappings
-            },
             hardware_interface=hardware_interface,
             print_publish=print_publish,
             resource_tracker=resource_tracker,
@@ -89,7 +88,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                 d = self.initialize_device(device_id, device_config)
             except Exception as ex:
                 self.lab_logger().error(
-                    f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}")
+                    f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}"
+                )
                 d = None
             if d is None:
                 continue
@@ -111,8 +111,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                 if (
                     hasattr(d.driver_instance, hardware_interface["name"])
                     and hasattr(d.driver_instance, hardware_interface["write"])
-                        and (
+                    and (hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
-                        hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
                 ):
 
                     name = getattr(d.driver_instance, hardware_interface["name"])
@@ -160,7 +159,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
             node.resource_tracker = self.resource_tracker  # 站内应当共享资源跟踪器
             for action_name, action_mapping in node._action_value_mappings.items():
                 if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith(
-                        "UniLabJsonCommand"):
+                    "UniLabJsonCommand"
+                ):
                     continue
                 action_id = f"/devices/{device_id_abs}/{action_name}"
                 if action_id not in self._action_clients:
@@ -245,8 +245,10 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                         logs.append(step)
                     elif isinstance(step, list):
                         logs.append(step)
-                self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
+                self.lab_logger().info(
-                                       f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
+                    f"Goal received: {protocol_kwargs}, running steps: "
+                    f"{json.dumps(logs, indent=4, ensure_ascii=False)}"
+                )
 
                 time_start = time.time()
                 time_overall = 100
@@ -268,7 +270,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                                 if not ret_info.get("suc", False):
                                     raise RuntimeError(f"Step {i + 1} failed.")
                             except ROS2WorkstationNodeTempError as ex:
-                                step_results.append({"step": i + 1, "action": action["action_name"], "result": ex.args[0]})
+                                step_results.append(
+                                    {"step": i + 1, "action": action["action_name"], "result": ex.args[0]}
+                                )
                     elif isinstance(action, list):
                         # 如果是并行动作，同时执行
                         actions = action
@@ -307,8 +311,12 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
             except Exception as e:
                 # 捕获并记录错误信息
                 str_step_results = [
-                    {k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v for k, v in
+                    {
-                     i.items()} for i in step_results]
+                        k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v
+                        for k, v in i.items()
+                    }
+                    for i in step_results
+                ]
                 execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
                 execution_success = False
                 self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")
@@ -405,17 +413,3 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         if write_method:
             # bound_write = MethodType(_write, device.driver_instance)
             setattr(device.driver_instance, write_method, _write)
-
-    async def _update_resources(self, goal, protocol_kwargs):
-        """更新资源状态"""
-        for k, v in goal.get_fields_and_field_types().items():
-            if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                if protocol_kwargs[k] is not None:
-                    try:
-                        r = ResourceUpdate.Request()
-                        r.resources = [
-                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                        ]
-                        await self._resource_clients["resource_update"].call_async(r)
-                    except Exception as e:
-                        self.lab_logger().error(f"更新资源失败: {e}")