From 1c312772ae0a1863563ecdb3678122c0cca64ef8 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Thu, 8 Jan 2026 03:05:17 +0800
Subject: [PATCH] Force update resource when adding new resource / transfer to
 another resource

---
 unilabos/ros/nodes/base_device_node.py | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py
index 954a653..66a48c4 100644
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -881,6 +881,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             raise ValueError("tree_set不能为None")
                         plr_resources = tree_set.to_plr_resources()
                         result = _handle_add(plr_resources, tree_set, additional_add_params)
+                        new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
+                        r = SerialCommand.Request()
+                        r.command = json.dumps(
+                            {"data": {"data": new_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
+                        self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
                         results.append(result)
                     elif action == "update":
                         if tree_set is None:
@@ -1758,6 +1765,7 @@ class ROS2DeviceNode:
             or driver_class.__name__ == "LiquidHandlerBiomek"
             or driver_class.__name__ == "PRCXI9300Handler"
             or driver_class.__name__ == "TransformXYZHandler"
+            or driver_class.__name__ == "OpcUaClient"
         )
 
         # 创建设备类实例