Upgrade to py 3.11.14; ROS2 Humble 0.7; unilabos 0.10.16

Workbench example, adjust log level, and ci check (#220) * TestLatency Return Value Example & gitignore update * Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode & * Add CI Check Fix/workstation yb revision (#217) * Revert log change & update registry * Revert opcua client & move electrolyte node Workstation yb merge dev ready 260113 (#216) * feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数 * feat(bioyond): 添加测量小瓶功能，支持基本参数配置 * feat(bioyond): 添加测量小瓶配置，支持新设备参数 * feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈 * feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积 * feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理 * feat(bioyond): 调整反应器位置配置，统一坐标格式 * feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常 * feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置 * feat(opcua): 增强节点ID解析兼容性和数据类型处理改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符添加数据类型转换处理，确保写入值时类型匹配优化错误提示信息，便于调试节点连接问题 * feat(registry): 新增后处理站的设备配置文件添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述 * 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑 * 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置 * fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property * fix:同步工作流序列 * feat: remove commented workflow synchronization from `reaction_station.py`. * 添加时间约束功能及相关配置 * fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项 * fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存 * fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息 * feat：添加实验报告简化功能，去除冗余信息并保留关键信息 * feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态 * fix: 修复添加物料时数据格式错误 * Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations - Removed redundant action value mappings from bioyond_dispensing_station. - Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters. - Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End). - Simplified descriptions and updated measurement units from μL to mL where applicable. - Removed unused commands from reaction_station_bioyond to streamline the configuration. * fix：Change the material unit from μL to mL * fix：refresh_material_cache * feat: 动态获取工作流步骤ID，优化工作流配置 * feat: 添加清空服务端所有非核心工作流功能 * fix：修复Bottle类的序列化和反序列化方法 * feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息 * Add debug log * feat(workstation): update bioyond config migration and coin cell material search logic - Migrate bioyond_cell config to JSON structure and remove global variable dependencies - Implement material search confirmation dialog auto-handling - Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md * Refactor module paths for Bioyond devices in YAML configuration files - Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure. - Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase. * fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑 * refactor: Move config from module to instance initialization * fix: 修正 reaction_station 目录名拼写错误 * feat: Integrate material search logic and cleanup deprecated files - Update coin_cell_assembly.py with material search dialog handling - Update YB_warehouses.py with latest warehouse configurations - Remove outdated documentation and test data files * Refactor: Use instance attributes for action names and workflow step IDs * refactor: Split tipbox storage into left and right warehouses * refactor: Merge tipbox storage left and right into single warehouse --------- Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> Co-authored-by: Andy6M <xieqiming1132@qq.com> fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑 fix parent_uuid fetch when bind_parent_id == node_name 物料更新也是用父节点进行报送 Add None conversion for tube rack etc. Add set_liquid example. Add create_resource and test_resource example. Add restart. Temp allow action message. Add no_update_feedback option. Create session_id by edge. bump version to 0.10.15 temp cancel update req
2026-02-05 22:15:04 +00:00 · 2026-01-08 15:26:31 +08:00
parent 8580b84167
commit 2a5ddd611d
106 changed files with 17805 additions and 25458 deletions
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -20,6 +20,8 @@ from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
 from unilabos_msgs.action import SendCmd
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
+
+from unilabos.config.config import BasicConfig
 from unilabos.utils.decorator import get_topic_config, get_all_subscriptions

 from unilabos.resources.container import RegularContainer
@@ -47,7 +49,6 @@ from unilabos.resources.resource_tracker import (
    ResourceTreeInstance,
    ResourceDictInstance,
 )
-from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from rclpy.task import Task, Future
 from unilabos.utils.import_manager import default_manager
@@ -183,7 +184,7 @@ class PropertyPublisher:
                f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
            )
        self.timer = node.create_timer(self.timer_period, self.publish_property)
-        self.__loop = get_event_loop()
+        self.__loop = ROS2DeviceNode.get_asyncio_loop()
        str_msg_type = str(msg_type)[8:-2]
        self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")

@@ -390,9 +391,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                parent_resource = self.resource_tracker.figure_resource(
                    {"name": bind_parent_id}
                )
-            for r in rts.root_nodes:
-                # noinspection PyUnresolvedReferences
-                r.res_content.parent_uuid = parent_resource.unilabos_uuid
+                for r in rts.root_nodes:
+                    # noinspection PyUnresolvedReferences
+                    r.res_content.parent_uuid = parent_resource.unilabos_uuid
+            else:
+                for r in rts.root_nodes:
+                    r.res_content.parent_uuid = self.uuid

            if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
                # noinspection PyTypeChecker
@@ -428,11 +432,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            })
            tree_response: SerialCommand.Response = await client.call_async(request)
            uuid_maps = json.loads(tree_response.response)
-            self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
+            plr_instances = rts.to_plr_resources()
+            for plr_instance in plr_instances:
+                self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
+            rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances)
            self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
            final_response = {
-                "created_resources": rts.dump(),
-                "liquid_input_resources": [],
+                "created_resource_tree": rts.dump(),
+                "liquid_input_resource_tree": [],
            }
            res.response = json.dumps(final_response)
            # 如果driver自己就有assign的方法，那就使用driver自己的assign方法
@@ -458,7 +465,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                return res
            try:
                if len(rts.root_nodes) == 1 and parent_resource is not None:
-                    plr_instance = rts.to_plr_resources()[0]
+                    plr_instance = plr_instances[0]
                    if isinstance(plr_instance, Plate):
                        empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
                        if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
@@ -483,7 +490,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                            input_wells = []
                            for r in LIQUID_INPUT_SLOT:
                                input_wells.append(plr_instance.children[r])
-                        final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
+                        final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
                        res.response = json.dumps(final_response)
                    if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
                        other_calling_param["slot"] = int(other_calling_param["slot"])
@@ -617,7 +624,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        )  # type: ignore
        raw_nodes = json.loads(response.response)
        tree_set = ResourceTreeSet.from_raw_dict_list(raw_nodes)
-        self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树")
+        self.lab_logger().trace(f"获取资源结果: {len(tree_set.trees)} 个资源树 {tree_set.root_nodes}")
        return tree_set

    async def get_resource_with_dir(self, resource_id: str, with_children: bool = True) -> "ResourcePLR":
@@ -651,61 +658,71 @@ class BaseROS2DeviceNode(Node, Generic[T]):

    def transfer_to_new_resource(
        self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]
-    ):
+    ) -> Optional["ResourcePLR"]:
        parent_uuid = tree.root_node.res_content.parent_uuid
-        if parent_uuid:
-            parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
-            if parent_resource is None:
+        if not parent_uuid:
+            self.lab_logger().warning(
+                f"物料{plr_resource} parent未知，挂载到当前节点下，额外参数：{additional_add_params}"
+            )
+            return None
+        if parent_uuid == self.uuid:
+            self.lab_logger().warning(
+                f"物料{plr_resource}请求挂载到{self.identifier}，额外参数：{additional_add_params}"
+            )
+            return None
+        parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
+        if parent_resource is None:
+            self.lab_logger().warning(
+                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:
+                # 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 = {}
+                extra = getattr(plr_resource, "unilabos_extra", {})
+                if len(extra):
+                    self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
+                if "update_resource_site" in extra:
+                    additional_add_params["site"] = extra["update_resource_site"]
+                site = additional_add_params.get("site", None)
+                spec = inspect.signature(parent_resource.assign_child_resource)
+                if "spot" in spec.parameters:
+                    ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
+                    if ordering_dict:
+                        site = list(ordering_dict.keys()).index(site)
+                    additional_params["spot"] = site
+                old_parent = plr_resource.parent
+                if old_parent is not None:
+                    # plr并不支持同一个deck的加载和卸载
+                    self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载")
+                    old_parent.unassign_child_resource(plr_resource)
                self.lab_logger().warning(
-                    f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
+                    f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
                )
-            else:
-                try:
-                    # 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 = {}
-                    extra = getattr(plr_resource, "unilabos_extra", {})
-                    if len(extra):
-                        self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
-                    if "update_resource_site" in extra:
-                        additional_add_params["site"] = extra["update_resource_site"]
-                    site = additional_add_params.get("site", None)
-                    spec = inspect.signature(parent_resource.assign_child_resource)
-                    if "spot" in spec.parameters:
-                        ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
-                        if ordering_dict:
-                            site = list(ordering_dict.keys()).index(site)
-                        additional_params["spot"] = site
-                    old_parent = plr_resource.parent
-                    if old_parent is not None:
-                        # plr并不支持同一个deck的加载和卸载
-                        self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载")
-                        old_parent.unassign_child_resource(plr_resource)
-                    self.lab_logger().warning(
-                        f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
-                    )

-                    # ⭐ assign 之前，需要从 resources 列表中移除
-                    # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源
-                    # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children
-                    resource_id = id(plr_resource)
-                    for i, r in enumerate(self.resource_tracker.resources):
-                        if id(r) == resource_id:
-                            self.resource_tracker.resources.pop(i)
-                            self.lab_logger().debug(
-                                f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）"
-                            )
-                            break
+                # ⭐ assign 之前，需要从 resources 列表中移除
+                # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源
+                # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children
+                resource_id = id(plr_resource)
+                for i, r in enumerate(self.resource_tracker.resources):
+                    if id(r) == resource_id:
+                        self.resource_tracker.resources.pop(i)
+                        self.lab_logger().debug(
+                            f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）"
+                        )
+                        break

-                    parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
+                parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)

-                    func = getattr(self.driver_instance, "resource_tree_transfer", None)
-                    if callable(func):
-                        # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
-                        func(old_parent, plr_resource, parent_resource)
-                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()}"
-                    )
+                func = getattr(self.driver_instance, "resource_tree_transfer", None)
+                if callable(func):
+                    # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
+                    func(old_parent, plr_resource, parent_resource)
+                return parent_resource
+            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()}"
+                )

    async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
        """
@@ -720,7 +737,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):

        def _handle_add(
            plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
-        ) -> Dict[str, Any]:
+        ) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
            """
            处理资源添加操作的内部函数

@@ -732,15 +749,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            Returns:
                操作结果字典
            """
+            parents = []  # 放的是被变更的物料 / 被变更的物料父级
            for plr_resource, tree in zip(plr_resources, tree_set.trees):
                self.resource_tracker.add_resource(plr_resource)
-                self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
+                parent = self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
+                if parent is not None:
+                    parents.append(parent)
+                else:
+                    parents.append(plr_resource)

            func = getattr(self.driver_instance, "resource_tree_add", None)
            if callable(func):
                func(plr_resources)

-            return {"success": True, "action": "add"}
+            return {"success": True, "action": "add"}, parents

        def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
            """
@@ -775,11 +797,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                if plr_resource.parent is not None:
                    plr_resource.parent.unassign_child_resource(plr_resource)
                self.resource_tracker.remove_resource(plr_resource)
-                self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
+                self.lab_logger().info(f"[资源同步] 移除物料 {plr_resource} 及其子节点")

            for other_plr_resource in other_plr_resources:
                self.resource_tracker.remove_resource(other_plr_resource)
-                self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
+                self.lab_logger().info(f"[资源同步] 移除物料 {other_plr_resource} 及其子节点")

            return {
                "success": True,
@@ -790,7 +812,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):

        def _handle_update(
            plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
-        ) -> Dict[str, Any]:
+        ) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
            """
            处理资源更新操作的内部函数

@@ -802,6 +824,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            Returns:
                操作结果字典
            """
+            original_instances = []
            for plr_resource, tree in zip(plr_resources, tree_set.trees):
                if isinstance(plr_resource, ResourceDictInstance):
                    self._lab_logger.info(f"跳过 非资源{plr_resource.res_content.name} 的更新")
@@ -810,11 +833,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                original_instance: ResourcePLR = self.resource_tracker.figure_resource(
                    {"uuid": tree.root_node.res_content.uuid}, try_mode=False
                )
+                original_parent_resource = original_instance.parent
+                original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
+                target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
+                not_same_parent = original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None
+                old_name = original_instance.name
+                new_name = plr_resource.name
+                parent_appended = False

-                # Update操作中包含改名：需要先remove再add
-                if original_instance.name != plr_resource.name:
-                    old_name = original_instance.name
-                    new_name = plr_resource.name
+                # Update操作中包含改名：需要先remove再add，这里更新父节点即可
+                if not not_same_parent and old_name != new_name:
                    self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")

                    # 收集所有相关的uuid（包括子节点）
@@ -823,12 +851,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                    _handle_add([original_instance], tree_set, additional_add_params)

                    self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
+                    original_instances.append(original_parent_resource)
+                    parent_appended = True

                # 常规更新：不涉及改名
-                original_parent_resource = original_instance.parent
-                original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
-                target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
-
                self.lab_logger().info(
                    f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
                    f"目标父节点{target_parent_resource_uuid} 更新"
@@ -839,13 +865,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                    original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")  # type: ignore  # noqa: E501

                # 如果父节点变化，需要重新挂载
-                if (
-                    original_parent_resource_uuid != target_parent_resource_uuid
-                    and original_parent_resource is not None
-                ):
-                    self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                if not_same_parent:
+                    parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                    original_instances.append(parent)
+                    parent_appended = True
                else:
-                    # 判断是否变更了resource_site
+                    # 判断是否变更了resource_site，重新登记
                    target_site = original_instance.unilabos_extra.get("update_resource_site")
                    sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
                    site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
@@ -853,7 +878,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                        site_index = sites.index(original_instance)
                        site_name = site_names[site_index]
                        if site_name != target_site:
-                            self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                            parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                            if parent is not None:
+                                original_instances.append(parent)
+                                parent_appended = True

                # 加载状态
                original_instance.load_all_state(states)
@@ -861,13 +889,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                self.lab_logger().info(
                    f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
                )
+                if not parent_appended:
+                    original_instances.append(original_instance)

            # 调用driver的update回调
            func = getattr(self.driver_instance, "resource_tree_update", None)
            if callable(func):
-                func(plr_resources)
+                func(original_instances)

-            return {"success": True, "action": "update"}
+            return {"success": True, "action": "update"}, original_instances

        try:
            data = json.loads(req.command)
@@ -877,8 +907,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                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)}"
+                self.lab_logger().trace(
+                    f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}"
                )
                tree_set = None
                if action in ["add", "update"]:
@@ -890,8 +920,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                        if tree_set is None:
                            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)
+                        result, parents = _handle_add(plr_resources, tree_set, additional_add_params)
+                        parents: List[Optional["ResourcePLR"]] = [i for i in parents if i is not None]
+                        # de_dupe_parents = list(set(parents))
+                        # Fix unhashable type error for WareHouse
+                        de_dupe_parents = []
+                        _seen_ids = set()
+                        for p in parents:
+                            if id(p) not in _seen_ids:
+                                _seen_ids.add(id(p))
+                                de_dupe_parents.append(p)
+                        new_tree_set = ResourceTreeSet.from_plr_resources(de_dupe_parents)  # 去重
+                        for tree in new_tree_set.trees:
+                            if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node":
+                                tree.root_node.res_content.parent_uuid = self.uuid
                        r = SerialCommand.Request()
                        r.command = json.dumps(
                            {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
@@ -908,14 +950,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                plr_resources.append(tree.root_node)
                            else:
                                plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
-                        new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
-                        result = _handle_update(plr_resources, tree_set, additional_add_params)
-                        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 Update 结果: {response.response}")
+                        result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
+                        if not BasicConfig.no_update_feedback:
+                            new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)  # 去重
+                            for tree in new_tree_set.trees:
+                                if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node":
+                                    tree.root_node.res_content.parent_uuid = self.uuid
+                            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 Update 结果: {response.response}")
                        results.append(result)
                    elif action == "remove":
                        result = _handle_remove(resources_uuid)
@@ -929,15 +975,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            # 返回处理结果
            result_json = {"results": results, "total": len(data)}
            res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
-            self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
+            # self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")

        except json.JSONDecodeError as e:
            error_msg = f"Invalid JSON format: {str(e)}"
-            self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+            self.lab_logger().error(f"[资源同步] {error_msg}")
            res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
        except Exception as e:
            error_msg = f"Unexpected error: {str(e)}"
-            self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+            self.lab_logger().error(f"[资源同步] {error_msg}")
            self.lab_logger().error(traceback.format_exc())
            res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)

@@ -1258,7 +1304,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)

            action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
-            self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
+            self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {str(action_kwargs)[:1000]}")
+            self.lab_logger().trace(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
            error_skip = False
            # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
            if action_name not in ["create_resource_detailed", "create_resource"]:
@@ -1274,9 +1321,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                            # 批量查询资源
                            queried_resources = []
                            for resource_data in resource_inputs:
-                                plr_resource = await self.get_resource_with_dir(
-                                    resource_id=resource_data["id"], with_children=True
-                                )
+                                unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
+                                if unilabos_uuid is None:
+                                    plr_resource = await self.get_resource_with_dir(
+                                        resource_id=resource_data["id"], with_children=True
+                                    )
+                                else:
+                                    resource_tree = await self.get_resource([unilabos_uuid])
+                                    plr_resource = resource_tree.to_plr_resources()[0]
                                if "sample_id" in resource_data:
                                    plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
                                queried_resources.append(plr_resource)
@@ -1325,9 +1377,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                execution_success = True
                            except Exception as _:
                                execution_error = traceback.format_exc()
-                                error(
-                                    f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
-                                )
+                                error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
+                                trace(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")

                        future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
                        future.add_done_callback(_handle_future_exception)
@@ -1347,8 +1398,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                        except Exception as _:
                            execution_error = traceback.format_exc()
                            error(
-                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
-                            )
+                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
+                            trace(
+                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")

                    future.add_done_callback(_handle_future_exception)

@@ -1416,7 +1468,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                for r in rs:
                                    res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
                            else:
-                                res = self.resource_tracker.parent_resource(r)
+                                res = self.resource_tracker.parent_resource(rs)
                            if id(res) not in seen:
                                seen.add(id(res))
                                unique_resources.append(res)
@@ -1492,8 +1544,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                    resource_data = function_args[arg_name]
                    if isinstance(resource_data, dict) and "id" in resource_data:
                        try:
-                            converted_resource = self._convert_resource_sync(resource_data)
-                            function_args[arg_name] = converted_resource
+                            function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
                        except Exception as e:
                            self.lab_logger().error(
                                f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
@@ -1507,12 +1558,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                        resource_list = function_args[arg_name]
                        if isinstance(resource_list, list):
                            try:
-                                converted_resources = []
-                                for resource_data in resource_list:
-                                    if isinstance(resource_data, dict) and "id" in resource_data:
-                                        converted_resource = self._convert_resource_sync(resource_data)
-                                        converted_resources.append(converted_resource)
-                                function_args[arg_name] = converted_resources
+                                uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
+                                function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
                            except Exception as e:
                                self.lab_logger().error(
                                    f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
@@ -1525,20 +1572,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
            )

-    def _convert_resource_sync(self, resource_data: Dict[str, Any]):
-        """同步转换资源数据为实例"""
-        # 创建资源查询请求
-        r = SerialCommand.Request()
-        r.command = json.dumps(
-            {
-                "id": resource_data.get("id", None),
-                "uuid": resource_data.get("uuid", None),
-                "with_children": True,
-            }
-        )
+    def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]:
+        """同步转换资源 UUID 为实例

-        # 同步调用资源查询服务
-        future = self._resource_clients["resource_get"].call_async(r)
+        Args:
+            *uuids: 一个或多个资源 UUID
+
+        Returns:
+            单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表
+        """
+        if not uuids:
+            raise ValueError("至少需要提供一个 UUID")
+
+        uuids_list = list(uuids)
+        future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request(
+            command=json.dumps(
+                {
+                    "data": {"data": uuids_list, "with_children": True},
+                    "action": "get",
+                }
+            )
+        ))

        # 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
        timeout = 30.0
@@ -1548,27 +1602,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            elapsed += 0.05

        if not future.done():
-            raise Exception(f"资源查询超时: {resource_data}")
+            raise Exception(f"资源查询超时: {uuids_list}")

        response = future.result()
        if response is None:
-            raise Exception(f"资源查询返回空结果: {resource_data}")
+            raise Exception(f"资源查询返回空结果: {uuids_list}")

        raw_data = json.loads(response.response)

        # 转换为 PLR 资源
        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
-        plr_resource = tree_set.to_plr_resources()[0]
+        if not len(tree_set.trees):
+            raise Exception(f"资源查询返回空树: {raw_data}")
+        plr_resources = tree_set.to_plr_resources()

        # 通过资源跟踪器获取本地实例
-        res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
-        if len(res) == 0:
-            self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
-            return plr_resource
-        elif len(res) == 1:
-            return res[0]
-        else:
-            raise ValueError(f"资源转换得到多个实例: {res}")
+        figured_resources: List[ResourcePLR] = []
+        for plr_resource, tree in zip(plr_resources, tree_set.trees):
+            res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
+            if len(res) == 0:
+                self.lab_logger().warning(f"资源转换未能索引到实例: {tree.root_node.res_content}，返回新建实例")
+                figured_resources.append(plr_resource)
+            elif len(res) == 1:
+                figured_resources.append(res[0])
+            else:
+                raise ValueError(f"资源转换得到多个实例: {res}")
+
+        mapped_plr_resources = []
+        for uuid in uuids_list:
+            for plr_resource in figured_resources:
+                r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
+                mapped_plr_resources.append(r)
+                break
+
+        return mapped_plr_resources

    async def _execute_driver_command_async(self, string: str):
        try:
@@ -1689,6 +1756,15 @@ class ROS2DeviceNode:
    它不继承设备类，而是通过代理模式访问设备类的属性和方法。
    """

+    # 类变量，用于循环管理
+    _asyncio_loop = None
+    _asyncio_loop_running = False
+    _asyncio_loop_thread = None
+
+    @classmethod
+    def get_asyncio_loop(cls):
+        return cls._asyncio_loop
+
    @staticmethod
    async def safe_task_wrapper(trace_callback, func, **kwargs):
        try:
@@ -1765,6 +1841,11 @@ class ROS2DeviceNode:
            print_publish: 是否打印发布信息
            driver_is_ros:
        """
+        # 在初始化时检查循环状态
+        if ROS2DeviceNode._asyncio_loop_running and ROS2DeviceNode._asyncio_loop_thread is not None:
+            pass
+        elif ROS2DeviceNode._asyncio_loop_thread is None:
+            self._start_loop()

        # 保存设备类是否支持异步上下文
        self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1856,6 +1937,17 @@ class ROS2DeviceNode:
            except Exception as e:
                self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")

+    def _start_loop(self):
+        def run_event_loop():
+            loop = asyncio.new_event_loop()
+            ROS2DeviceNode._asyncio_loop = loop
+            asyncio.set_event_loop(loop)
+            loop.run_forever()
+
+        ROS2DeviceNode._asyncio_loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
+        ROS2DeviceNode._asyncio_loop_thread.start()
+        logger.info(f"循环线程已启动")
+

 class DeviceInfoType(TypedDict):
    id: str