From 1d3a07a7366addee889597c2365a5a600e840783 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Fri, 7 Nov 2025 14:52:09 +0800
Subject: [PATCH] correct remove_resource stats

---
 unilabos/ros/nodes/resource_tracker.py | 41 ++++++++++++++++++++------
 1 file changed, 32 insertions(+), 9 deletions(-)

diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py
index 020e966b..9433063b 100644
--- a/unilabos/ros/nodes/resource_tracker.py
+++ b/unilabos/ros/nodes/resource_tracker.py
@@ -2,7 +2,7 @@ import traceback
 import uuid
 from pydantic import BaseModel, field_serializer, field_validator
 from pydantic import Field
-from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING
+from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
 from unilabos.utils.log import logger
 
@@ -933,7 +933,7 @@ class DeviceNodeResourceTracker(object):
         """
         递归遍历资源树，更新所有节点的uuid
 
-        Args:0
+        Args:
             resource: 资源对象（可以是dict或实例）
             uuid_map: uuid映射字典，{old_uuid: new_uuid}
 
@@ -958,6 +958,27 @@ class DeviceNodeResourceTracker(object):
 
         return self._traverse_and_process(resource, process)
 
+    def loop_gather_uuid(self, resource) -> List[str]:
+        """
+        递归遍历资源树，收集所有节点的uuid
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+
+        Returns:
+            收集到的uuid列表
+        """
+        uuid_list = []
+
+        def process(res):
+            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
+            if current_uuid:
+                uuid_list.append(current_uuid)
+            return 0
+
+        self._traverse_and_process(resource, process)
+        return uuid_list
+
     def _collect_uuid_mapping(self, resource):
         """
         递归收集资源的 uuid 映射到 uuid_to_resources
@@ -978,7 +999,7 @@ class DeviceNodeResourceTracker(object):
 
         self._traverse_and_process(resource, process)
 
-    def _remove_uuid_mapping(self, resource):
+    def _remove_uuid_mapping(self, resource) -> int:
         """
         递归清除资源的 uuid 映射
 
@@ -991,9 +1012,10 @@ class DeviceNodeResourceTracker(object):
             if current_uuid and current_uuid in self.uuid_to_resources:
                 self.uuid_to_resources.pop(current_uuid)
                 logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}")
+                return 1
             return 0
 
-        self._traverse_and_process(resource, process)
+        return self._traverse_and_process(resource, process)
 
     def parent_resource(self, resource):
         if id(resource) in self.resource2parent_resource:
@@ -1048,13 +1070,12 @@ class DeviceNodeResourceTracker(object):
                 removed = True
                 break
 
-        if not removed:
+        # 递归清除uuid映射
+        count = self._remove_uuid_mapping(resource)
+        if not count:
             logger.warning(f"尝试移除不存在的资源: {resource}")
             return False
 
-        # 递归清除uuid映射
-        self._remove_uuid_mapping(resource)
-
         # 清除 resource2parent_resource 中与该资源相关的映射
         # 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射
         keys_to_remove = []
@@ -1077,7 +1098,9 @@ class DeviceNodeResourceTracker(object):
         self.uuid_to_resources.clear()
         self.resource2parent_resource.clear()
 
-    def figure_resource(self, query_resource, try_mode=False):
+    def figure_resource(
+        self, query_resource: Union[List[Union[dict, "PLRResource"]], dict, "PLRResource"], try_mode=False
+    ) -> Union[List[Union[dict, "PLRResource", List[Union[dict, "PLRResource"]]]], dict, "PLRResource"]:
         if isinstance(query_resource, list):
             return [self.figure_resource(r, try_mode) for r in query_resource]
         elif (