From 1b43c53015fab3cedeebf2b5ca2c224707e008d0 Mon Sep 17 00:00:00 2001
From: Junhan Chang <changjh@dp.tech>
Date: Fri, 17 Oct 2025 11:18:47 +0800
Subject: [PATCH] fix resource_get in action

---
 unilabos/ros/nodes/base_device_node.py    | 2 +-
 unilabos/ros/nodes/presets/host_node.py   | 7 ++++++-
 unilabos/ros/nodes/presets/workstation.py | 3 ++-
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py
index 8523a66f..289fe513 100644
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -943,7 +943,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             queried_resources = []
                             for resource_data in resource_inputs:
                                 r = SerialCommand.Request()
-                                r.command = json.dumps({"id": resource_data["id"], "with_children": True})
+                                r.command = json.dumps({"id": resource_data["id"], "uuid": resource_data.get("uuid", None), "with_children": True})
                                 # 发送请求并等待响应
                                 response: SerialCommand_Response = await self._resource_clients[
                                     "resource_get"
diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py
index d265e13a..f40e0cbb 100644
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -1070,7 +1070,12 @@ class HostNode(BaseROS2DeviceNode):
         """
         try:
             data = json.loads(request.command)
-            http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+            if "uuid" in data and data["uuid"] is not None:
+                http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
+            elif "id" in data and data["id"].startswith("/"):
+                http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+            else:
+                raise ValueError("没有使用正确的物料 id 或 uuid")
             response.response = json.dumps(http_req["data"])
             return response
         except Exception as e:
diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py
index 745ec196..dc1175d6 100644
--- a/unilabos/ros/nodes/presets/workstation.py
+++ b/unilabos/ros/nodes/presets/workstation.py
@@ -232,8 +232,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                             resource_id = (
                                 protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
                             )
+                            resource_uuid = protocol_kwargs[k].get("uuid", None)
                             r = SerialCommand_Request()
-                            r.command = json.dumps({"id": resource_id, "with_children": True})
+                            r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
                             # 发送请求并等待响应
                             response: SerialCommand_Response = await self._resource_clients[
                                 "resource_get"