From 4d98e1c46c8149cb28e616295e10377b85d757ad Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Thu, 24 Jul 2025 12:10:37 +0800
Subject: [PATCH] =?UTF-8?q?=E7=89=A9=E6=96=99=E6=B7=BB=E5=8A=A0=E5=A4=B1?=
 =?UTF-8?q?=E8=B4=A5=E5=BA=94=E8=AF=A5=E7=9B=B4=E6=8E=A5raise=20ValueError?=
 =?UTF-8?q?=EF=BC=8C=E4=B8=8D=E8=A6=81=E7=AD=89=E5=BE=85?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 unilabos/registry/devices/liquid_handler.yaml |  2 +-
 unilabos/registry/registry.py                 |  2 +-
 unilabos/ros/nodes/presets/host_node.py       | 11 ++++++++++-
 unilabos/ros/nodes/presets/protocol_node.py   |  2 ++
 4 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index 7e6e781..a901959 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -4388,11 +4388,11 @@ liquid_handler:
         deck:
           type: string
         simulator:
+          default: false
           type: boolean
       required:
       - backend
       - deck
-      - simulator
       type: object
     data:
       properties: {}
diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py
index d7b292c..18916a2 100644
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -110,7 +110,7 @@ class Registry:
                                 "placeholder_keys": {
                                     "res_id": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
                                     "device_id": "unilabos_devices",  # 将当前实验室的全部设备id作为下拉框可选择
-                                    "parent": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
+                                    "parent": "unilabos_nodes",  # 将当前实验室的设备/物料作为下拉框可选择
                                 },
                             },
                             "test_latency": {
diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py
index 8356563..eb5c2bb 100644
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -364,7 +364,16 @@ class HostNode(BaseROS2DeviceNode):
             resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
         ):
             # 这里要求device_id传入必须是edge_device_id
-            namespace = "/devices/" + device_id
+            if device_id not in self.devices_names:
+                self.lab_logger().error(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
+                raise ValueError(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
+
+            device_key = f"{self.devices_names[device_id]}/{device_id}"
+            if device_key not in self._online_devices:
+                self.lab_logger().error(f"[Host Node] Device {device_key} is offline. Create resource failed.")
+                raise ValueError(f"[Host Node] Device {device_key} is offline. Create resource failed.")
+
+            namespace = self.devices_names[device_id]
             srv_address = f"/srv{namespace}/append_resource"
             sclient = self.create_client(SerialCommand, srv_address)
             sclient.wait_for_service()
diff --git a/unilabos/ros/nodes/presets/protocol_node.py b/unilabos/ros/nodes/presets/protocol_node.py
index 33fa0d7..6f491c7 100644
--- a/unilabos/ros/nodes/presets/protocol_node.py
+++ b/unilabos/ros/nodes/presets/protocol_node.py
@@ -112,6 +112,8 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                             f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
                         )
 
+        self.lab_logger().info(f"ROS2ProtocolNode {device_id} initialized with protocols: {self.protocol_names}")
+
     def _setup_protocol_names(self, protocol_type):
         # 处理协议类型
         if isinstance(protocol_type, str):