更新物料接口

.gitignore

@@ -2,6 +2,7 @@ configs/
 temp/
 output/
 unilabos_data/
+pyrightconfig.json
 ## Python
 
 # Byte-compiled / optimized / DLL files

test/experiments/prcxi_9300.json

@@ -21,7 +21,7 @@
                 "timeout": 10.0,
                 "axis": "Left",
                 "channel_num": 8,
-                "setup": true,
+                "setup": false,
                 "debug": true,
                 "simulator": true,
                 "matrix_id": "71593"

unilabos/app/backend.py

@@ -1,14 +1,15 @@
 import threading
 
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.utils import logger
 
 
 # 根据选择的 backend 启动相应的功能
 def start_backend(
     backend: str,
-    devices_config: dict = {},
+    devices_config: ResourceTreeSet,
-    resources_config: list = [],
+    resources_config: ResourceTreeSet,
-    resources_edge_config: list = [],
+    resources_edge_config: list[dict] = [],
     graph=None,
     controllers_config: dict = {},
     bridges=[],

unilabos/app/main.py

@@ -7,9 +7,12 @@ import sys
 import threading
 import time
 from copy import deepcopy
+from typing import Dict, Any, List
 
+import networkx as nx
 import yaml
 
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -225,6 +228,15 @@ def main():
     else:
         HTTPConfig.remote_addr = args_dict.get("addr", "")
 
+    # 设置BasicConfig参数
+    if args_dict.get("ak", ""):
+        BasicConfig.ak = args_dict.get("ak", "")
+        print_status("传入了ak参数，优先采用传入参数！", "info")
+    if args_dict.get("sk", ""):
+        BasicConfig.sk = args_dict.get("sk", "")
+        print_status("传入了sk参数，优先采用传入参数！", "info")
+
+    # 使用远程资源启动
     if args_dict["use_remote_resource"]:
         print_status("使用远程资源启动", "info")
         from unilabos.app.web import http_client
@@ -236,13 +248,6 @@ def main():
         else:
             print_status("远程资源不存在，本地将进行首次上报！", "info")
 
-    # 设置BasicConfig参数
-    if args_dict.get("ak", ""):
-        BasicConfig.ak = args_dict.get("ak", "")
-        print_status("传入了ak参数，优先采用传入参数！", "info")
-    if args_dict.get("sk", ""):
-        BasicConfig.sk = args_dict.get("sk", "")
-        print_status("传入了sk参数，优先采用传入参数！", "info")
     BasicConfig.working_dir = working_dir
     BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
@@ -278,6 +283,10 @@ def main():
     if not BasicConfig.ak or not BasicConfig.sk:
         print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
         os._exit(1)
+    graph: nx.Graph
+    resource_tree_set: ResourceTreeSet
+    resource_links: List[Dict[str, Any]]
+
     if args_dict["graph"] is None:
         request_startup_json = http_client.request_startup_json()
         if not request_startup_json:
@@ -287,58 +296,54 @@ def main():
             os._exit(1)
         else:
             print_status("联网获取设备加载文件成功", "info")
-        graph, data = read_node_link_json(request_startup_json)
+        graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
     else:
         file_path = args_dict["graph"]
         if file_path.endswith(".json"):
-            graph, data = read_node_link_json(file_path)
+            graph, resource_tree_set, resource_links = read_node_link_json(file_path)
         else:
-            graph, data = read_graphml(file_path)
+            graph, resource_tree_set, resource_links = read_graphml(file_path)
     import unilabos.resources.graphio as graph_res
 
     graph_res.physical_setup_graph = graph
-    resource_edge_info = modify_to_backend_format(data["links"])
+    resource_edge_info = modify_to_backend_format(resource_links)
     materials = lab_registry.obtain_registry_resource_info()
     materials.extend(lab_registry.obtain_registry_device_info())
     materials = {k["id"]: k for k in materials}
-    nodes = {k["id"]: k for k in data["nodes"]}
+    # 从 ResourceTreeSet 中获取节点信息
+    nodes = {node.res_content.id: node.res_content for node in resource_tree_set.all_nodes}
     edge_info = len(resource_edge_info)
     for ind, i in enumerate(resource_edge_info[::-1]):
-        source_node = nodes[i["source"]]
+        source_node: ResourceDict = nodes[i["source"]]
-        target_node = nodes[i["target"]]
+        target_node: ResourceDict = nodes[i["target"]]
         source_handle = i["sourceHandle"]
         target_handle = i["targetHandle"]
         source_handler_keys = [
-            h["handler_key"] for h in materials[source_node["class"]]["handles"] if h["io_type"] == "source"
+            h["handler_key"] for h in materials[source_node.klass]["handles"] if h["io_type"] == "source"
         ]
         target_handler_keys = [
-            h["handler_key"] for h in materials[target_node["class"]]["handles"] if h["io_type"] == "target"
+            h["handler_key"] for h in materials[target_node.klass]["handles"] if h["io_type"] == "target"
         ]
         if source_handle not in source_handler_keys:
             print_status(
-                f"节点 {source_node['id']} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
+                f"节点 {source_node.id} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
                 "error",
             )
             resource_edge_info.pop(edge_info - ind - 1)
             continue
         if target_handle not in target_handler_keys:
             print_status(
-                f"节点 {target_node['id']} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
+                f"节点 {target_node.id} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
                 "error",
             )
             resource_edge_info.pop(edge_info - ind - 1)
             continue
 
-    devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
+    # 使用 ResourceTreeSet 代替 list
-    # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
+    args_dict["resources_config"] = resource_tree_set
-    args_dict["resources_config"] = list(devices_and_resources.values())
+    args_dict["devices_config"] = resource_tree_set
-    args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
     args_dict["graph"] = graph_res.physical_setup_graph
 
-    print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
-    for i in args_dict["resources_config"]:
-        print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
-
     if BasicConfig.upload_registry:
         # 设备注册到服务端 - 需要 ak 和 sk
         if args_dict.get("ak") and args_dict.get("sk"):
@@ -351,9 +356,7 @@ def main():
         else:
             print_status("未提供 ak 和 sk，跳过设备注册", "info")
     else:
-        print_status(
+        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
-            "本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning"
-        )
 
     if args_dict["controllers"] is not None:
         args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
@@ -383,13 +386,16 @@ def main():
     # web visiualize 2D
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
+        devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
         if devices_and_resources is not None:
             from unilabos.device_mesh.resource_visalization import (
                 ResourceVisualization,
             )  # 此处开启后，logger会变更为INFO，有需要请调整
 
             resource_visualization = ResourceVisualization(
-                devices_and_resources, args_dict["resources_config"], enable_rviz=enable_rviz
+                devices_and_resources,
+                [n.res_content for n in args_dict["resources_config"].all_nodes],  # type: ignore  # FIXME
+                enable_rviz=enable_rviz,
             )
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)

unilabos/app/register.py

@@ -1,11 +1,6 @@
-import argparse
 import json
 import time
 
-from unilabos.config.config import BasicConfig
-from unilabos.registry.registry import build_registry
-
-from unilabos.app.main import load_config_from_file
 from unilabos.utils.log import logger
 from unilabos.utils.type_check import TypeEncoder
 

unilabos/app/web/client.py

@@ -9,6 +9,7 @@ import os
 from typing import List, Dict, Any, Optional
 
 import requests
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
 from unilabos.config.config import HTTPConfig, BasicConfig
 from unilabos.utils import logger
@@ -46,7 +47,7 @@ class HTTPClient:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/lab/material/edge",
+            f"{self.remote_addr}/edge/material/edge",
             json={
                 "edges": resources,
             },
@@ -61,6 +62,81 @@ class HTTPClient:
             logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
         return response
 
+    def resource_tree_add(self, resources: ResourceTreeSet, mount_uuid: str, first_add: bool) -> Dict[str, str]:
+        """
+        添加资源
+
+        Args:
+            resources: 要添加的资源树集合（ResourceTreeSet）
+            mount_uuid: 要挂载的资源的uuid
+            first_add: 是否为首次添加资源，可以是host也可以是slave来的
+        Returns:
+            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
+        """
+        # 从序列化数据中提取所有节点的UUID（保存旧UUID）
+        old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
+        if not self.initialized or first_add:
+            self.initialized = True
+            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
+            response = requests.post(
+                f"{self.remote_addr}/edge/material",
+                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+        else:
+            response = requests.put(
+                f"{self.remote_addr}/edge/material",
+                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+
+        # 处理响应，构建UUID映射
+        uuid_mapping = {}
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"添加物料失败: {response.text}")
+            else:
+                data = res["data"]
+                for i in data:
+                    uuid_mapping[i["uuid"]] = i["cloud_uuid"]
+        else:
+            logger.error(f"添加物料失败: {response.text}")
+        for u, n in old_uuids.items():
+            if u in uuid_mapping:
+                n.res_content.uuid = uuid_mapping[u]
+            else:
+                logger.warning(f"资源UUID未更新: {u}")
+        return uuid_mapping
+
+    def resource_tree_get(self, uuid_list: List[str], with_children: bool) -> List[Dict[str, Any]]:
+        """
+        添加资源
+
+        Args:
+            uuid_list: List[str]
+        Returns:
+            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
+        """
+        response = requests.post(
+            f"{self.remote_addr}/edge/material/query",
+            json={"uuids": uuid_list, "with_children": with_children},
+            headers={"Authorization": f"Lab {self.auth}"},
+            timeout=100,
+        )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"查询物料失败: {response.text}")
+            else:
+                data = res["data"]["nodes"]
+                return data
+        else:
+            logger.error(f"查询物料失败: {response.text}")
+        return []
+
     def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
         """
         添加资源

unilabos/app/ws_client.py

@@ -19,9 +19,12 @@ import websockets
 import ssl as ssl_module
 from queue import Queue, Empty
 from dataclasses import dataclass, field
-from typing import Optional, Dict, Any, Callable, List, Set
+from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum
+
+from jedi.inference.gradual.typing import TypedDict
+
 from unilabos.app.model import JobAddReq
 from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.utils.type_check import serialize_result_info
@@ -96,6 +99,14 @@ class WebSocketMessage:
     timestamp: float = field(default_factory=time.time)
 
 
+class WSResourceChatData(TypedDict):
+    uuid: str
+    device_uuid: str
+    device_id: str
+    device_old_uuid: str
+    device_old_id: str
+
+
 class DeviceActionManager:
     """设备动作管理器 - 管理每个device_action_key的任务队列"""
 
@@ -543,7 +554,7 @@ class MessageProcessor:
     async def _process_message(self, data: Dict[str, Any]):
         """处理收到的消息"""
         message_type = data.get("action", "")
-        message_data = data.get("data", {})
+        message_data = data.get("data")
 
         logger.debug(f"[MessageProcessor] Processing message: {message_type}")
 
@@ -556,8 +567,12 @@ class MessageProcessor:
                 await self._handle_job_start(message_data)
             elif message_type == "cancel_action" or message_type == "cancel_task":
                 await self._handle_cancel_action(message_data)
-            elif message_type == "":
+            elif message_type == "add_material":
-                return
+                await self._handle_resource_tree_update(message_data, "add")
+            elif message_type == "update_material":
+                await self._handle_resource_tree_update(message_data, "update")
+            elif message_type == "remove_material":
+                await self._handle_resource_tree_update(message_data, "remove")
             else:
                 logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
 
@@ -574,6 +589,7 @@ class MessageProcessor:
     async def _handle_query_action_state(self, data: Dict[str, Any]):
         """处理query_action_state消息"""
         device_id = data.get("device_id", "")
+        device_uuid = data.get("device_uuid", "")
         action_name = data.get("action_name", "")
         task_id = data.get("task_id", "")
         job_id = data.get("job_id", "")
@@ -760,6 +776,92 @@ class MessageProcessor:
         else:
             logger.warning("[MessageProcessor] Cancel request missing both task_id and job_id")
 
+    async def _handle_resource_tree_update(self, resource_uuid_list: List[WSResourceChatData], action: str):
+        """处理资源树更新消息（add_material/update_material/remove_material）"""
+        if not resource_uuid_list:
+            return
+
+        # 按device_id和action分组
+        # device_action_groups: {(device_id, action): [uuid_list]}
+        device_action_groups = {}
+
+        for item in resource_uuid_list:
+            device_id = item["device_id"]
+            if not device_id:
+                device_id = "host_node"
+
+            # 特殊处理update action: 检查是否设备迁移
+            if action == "update":
+                device_old_id = item.get("device_old_id", "")
+                if not device_old_id:
+                    device_old_id = "host_node"
+
+                # 设备迁移：device_id != device_old_id
+                if device_id != device_old_id:
+                    # 给旧设备发送remove
+                    key_remove = (device_old_id, "remove")
+                    if key_remove not in device_action_groups:
+                        device_action_groups[key_remove] = []
+                    device_action_groups[key_remove].append(item["uuid"])
+
+                    # 给新设备发送add
+                    key_add = (device_id, "add")
+                    if key_add not in device_action_groups:
+                        device_action_groups[key_add] = []
+                    device_action_groups[key_add].append(item["uuid"])
+
+                    logger.info(
+                        f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
+                    )
+                else:
+                    # 正常update
+                    key = (device_id, "update")
+                    if key not in device_action_groups:
+                        device_action_groups[key] = []
+                    device_action_groups[key].append(item["uuid"])
+            else:
+                # add或remove action，直接分组
+                key = (device_id, action)
+                if key not in device_action_groups:
+                    device_action_groups[key] = []
+                device_action_groups[key].append(item["uuid"])
+
+        logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
+
+        # 为每个(device_id, action)创建独立的更新线程
+        for (device_id, actual_action), items in device_action_groups.items():
+            logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
+
+            def _notify_resource_tree(dev_id, act, item_list):
+                try:
+                    host_node = HostNode.get_instance(timeout=5)
+                    if not host_node:
+                        logger.error(f"[MessageProcessor] HostNode instance not available for {act}")
+                        return
+
+                    success = host_node.notify_resource_tree_update(dev_id, act, item_list)
+
+                    if success:
+                        logger.info(
+                            f"[MessageProcessor] Resource tree {act} completed for device {dev_id}, "
+                            f"items: {len(item_list)}"
+                        )
+                    else:
+                        logger.warning(f"[MessageProcessor] Resource tree {act} failed for device {dev_id}")
+
+                except Exception as e:
+                    logger.error(f"[MessageProcessor] Error in resource tree {act} for device {dev_id}: {str(e)}")
+                    logger.error(traceback.format_exc())
+
+            # 在新线程中执行通知
+            thread = threading.Thread(
+                target=_notify_resource_tree,
+                args=(device_id, actual_action, items),
+                daemon=True,
+                name=f"ResourceTreeUpdate-{actual_action}-{device_id}",
+            )
+            thread.start()
+
     async def _send_action_state_response(
         self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
     ):
@@ -1008,6 +1110,8 @@ class WebSocketClient(BaseCommunicationClient):
 
         # 构建WebSocket URL
         self.websocket_url = self._build_websocket_url()
+        if not self.websocket_url:
+            self.websocket_url = ""  # 默认空字符串，避免None
 
         # 两个核心线程
         self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)

unilabos/resources/graphio.py

@@ -1,89 +1,127 @@
 import importlib
 import inspect
 import json
-from typing import Union, Any, Dict
+import traceback
-import numpy as np
+from typing import Union, Any, Dict, List
 import networkx as nx
 from pylabrobot.resources import ResourceHolder
 from unilabos_msgs.msg import Resource
 
 from unilabos.resources.container import RegularContainer
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg
+from unilabos.ros.nodes.resource_tracker import (
+    ResourceDictInstance,
+    ResourceTreeSet,
+)
+from unilabos.utils.banner_print import print_status
 
 try:
     from pylabrobot.resources.resource import Resource as ResourcePLR
 except ImportError:
     pass
-from typing import Union, get_origin
+from typing import get_origin
 
 physical_setup_graph: nx.Graph = None
 
 
-def canonicalize_nodes_data(data: dict, parent_relation: dict = {}) -> dict:
+def canonicalize_nodes_data(
-    for node in data.get("nodes", []):
+    nodes: List[Dict[str, Any]], parent_relation: Dict[str, List[str]] = {}
+) -> ResourceTreeSet:
+    """
+    标准化节点数据，使用 ResourceInstanceDictFlatten 进行规范化并创建 ResourceTreeSet
+
+    Args:
+        nodes: 原始节点列表
+        parent_relation: 父子关系映射 {parent_id: [child_id1, child_id2, ...]}
+
+    Returns:
+        ResourceTreeSet: 标准化后的资源树集合
+    """
+    print_status(f"{len(nodes)} Resources loaded:", "info")
+
+    # 第一步：基本预处理（处理graphml的label字段）
+    for node in nodes:
         if node.get("label") is not None:
-            id = node.pop("label")
+            node_id = node.pop("label")
-            node["id"] = node["name"] = id
+            node["id"] = node["name"] = node_id
-        if "id" not in node:
-            node["id"] = node.get("name", "NaN")
-        if "name" not in node:
-            node["name"] = node["id"]
-        if node.get("position") is None:
-            node["position"] = {
-                "x": node.pop("x", 0.0),
-                "y": node.pop("y", 0.0),
-                "z": node.pop("z", 0.0),
-            }
-        if node.get("config") is None:
-            node["config"] = {}
-            node["data"] = {}
-            for k in list(node.keys()):
-                if k not in [
-                    "id",
-                    "name",
-                    "class",
-                    "type",
-                    "position",
-                    "children",
-                    "parent",
-                    "config",
-                    "data",
-                ]:
-                    if k in ["chemical", "current_volume"]:
-                        if node["data"].get("liquids") is None:
-                            node["data"]["liquids"] = [{}]
-                    if k == "chemical":
-                        node["data"]["liquids"][0]["liquid_name"] = node.pop(k)
-                    elif k == "current_volume":
-                        node["data"]["liquids"][0]["liquid_volume"] = node.pop(k)
-                    elif k == "max_volume":
-                        node["data"]["max_volume"] = node.pop(k)
-                    elif k == "url":
-                        node.pop(k)
-                    else:
-                        node["config"][k] = node.pop(k)
-        if "class" not in node:
-            node["class"] = None
-        if "type" not in node:
-            node["type"] = (
-                "container"
-                if node["class"] is None
-                else "device" if node["class"] not in ["container", "plate"] else node["class"]
-            )
-        if "children" not in node:
-            node["children"] = []
 
-    id2idx = {node_data["id"]: idx for idx, node_data in enumerate(data["nodes"])}
+    # 第二步：处理parent_relation
+    id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
     for parent, children in parent_relation.items():
-        data["nodes"][id2idx[parent]]["children"] = children
+        if parent in id2idx:
-        for child in children:
+            nodes[id2idx[parent]]["children"] = children
-            data["nodes"][id2idx[child]]["parent"] = parent
+            for child in children:
-    return data
+                if child in id2idx:
+                    nodes[id2idx[child]]["parent"] = parent
+
+    # 第三步：使用 ResourceInstanceDictFlatten 标准化每个节点
+    standardized_instances = []
+    known_nodes: Dict[str, ResourceDictInstance] = {}  # {node_id: ResourceDictInstance}
+    uuid_to_instance: Dict[str, ResourceDictInstance] = {}  # {uuid: ResourceDictInstance}
+
+    for node in nodes:
+        try:
+            print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
+            # 使用标准化方法
+            resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
+            known_nodes[node["id"]] = resource_instance
+            uuid_to_instance[resource_instance.res_content.uuid] = resource_instance
+            standardized_instances.append(resource_instance)
+        except Exception as e:
+            print_status(f"Failed to standardize node {node.get('id', 'unknown')}:\n{traceback.format_exc()}", "error")
+            continue
+
+    # 第四步：建立 parent 和 children 关系
+    for node in nodes:
+        node_id = node["id"]
+        if node_id not in known_nodes:
+            continue
+
+        current_instance = known_nodes[node_id]
+
+        # 优先使用 parent_uuid 进行匹配，如果不存在则使用 parent
+        parent_uuid = node.get("parent_uuid")
+        parent_id = node.get("parent")
+        parent_instance = None
+
+        # 优先用 parent_uuid 匹配
+        if parent_uuid and parent_uuid in uuid_to_instance:
+            parent_instance = uuid_to_instance[parent_uuid]
+        # 否则用 parent_id 匹配
+        elif parent_id and parent_id in known_nodes:
+            parent_instance = known_nodes[parent_id]
+
+        # 设置 parent 引用
+        if parent_instance:
+            current_instance.res_content.parent = parent_instance.res_content
+            # 将当前节点添加到父节点的 children 列表
+            parent_instance.children.append(current_instance)
+
+    # 第五步：创建 ResourceTreeSet
+    resource_tree_set = ResourceTreeSet.from_nested_list(standardized_instances)
+    return resource_tree_set
 
 
-def canonicalize_links_ports(data: dict) -> dict:
+def canonicalize_links_ports(
+    links: List[Dict[str, Any]], resource_tree_set: ResourceTreeSet
+) -> List[Dict[str, Any]]:
+    """
+    标准化边/连接的端口信息
+
+    Args:
+        links: 原始连接列表
+        resource_tree_set: 资源树集合，用于获取节点的UUID信息
+
+    Returns:
+        标准化后的连接列表
+    """
+    # 构建 id 到 uuid 的映射
+    id_to_uuid: Dict[str, str] = {}
+    for node in resource_tree_set.all_nodes:
+        id_to_uuid[node.res_content.id] = node.res_content.uuid
+
     # 第一遍处理：将字符串类型的port转换为字典格式
-    for link in data.get("links", []):
+    for link in links:
         port = link.get("port")
         if link.get("type", "physical") == "physical":
             link["type"] = "fluid"
@@ -107,11 +145,11 @@ def canonicalize_links_ports(data: dict) -> dict:
             link["port"] = {link["source"]: None, link["target"]: None}
 
     # 构建边字典，键为(source节点, target节点)，值为对应的port信息
-    edges = {(link["source"], link["target"]): link["port"] for link in data.get("links", [])}
+    edges = {(link["source"], link["target"]): link["port"] for link in links}
 
     # 第二遍处理：填充反向边的dest信息
     delete_reverses = []
-    for i, link in enumerate(data.get("links", [])):
+    for i, link in enumerate(links):
         s, t = link["source"], link["target"]
         current_port = link["port"]
         if current_port.get(t) is None:
@@ -127,9 +165,22 @@ def canonicalize_links_ports(data: dict) -> dict:
                 # 若不存在反向边，初始化为空结构
                 current_port[t] = current_port[s]
     # 删除已被使用反向端口信息的反向边
-    data["links"] = [link for i, link in enumerate(data.get("links", [])) if i not in delete_reverses]
+    standardized_links = [link for i, link in enumerate(links) if i not in delete_reverses]
 
-    return data
+    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
+    for link in standardized_links:
+        source_id = link.get("source")
+        target_id = link.get("target")
+
+        # 添加 source_uuid
+        if source_id and source_id in id_to_uuid:
+            link["source_uuid"] = id_to_uuid[source_id]
+
+        # 添加 target_uuid
+        if target_id and target_id in id_to_uuid:
+            link["target_uuid"] = id_to_uuid[target_id]
+
+    return standardized_links
 
 
 def handle_communications(G: nx.Graph):
@@ -151,18 +202,43 @@ def handle_communications(G: nx.Graph):
             G.nodes[device]["config"]["io_device_port"] = int(edata["port"][device_comm])
 
 
-def read_node_link_json(json_info: Union[str, Dict[str, Any]]) -> tuple[nx.Graph, dict]:
+def read_node_link_json(
+    json_info: Union[str, Dict[str, Any]],
+) -> tuple[nx.Graph, ResourceTreeSet, List[Dict[str, Any]]]:
+    """
+    读取节点-边的JSON数据并构建图
+
+    Args:
+        json_info: JSON文件路径或字典数据
+
+    Returns:
+        tuple[nx.Graph, ResourceTreeSet, List[Dict[str, Any]]]:
+            返回NetworkX图对象、资源树集合和标准化后的连接列表
+    """
     global physical_setup_graph
     if isinstance(json_info, str):
         data = json.load(open(json_info, encoding="utf-8"))
     else:
         data = json_info
-    data = canonicalize_nodes_data(data)
-    data = canonicalize_links_ports(data)
 
-    physical_setup_graph = nx.node_link_graph(data, multigraph=False)  # edges="links" 3.6 warning
+    # 标准化节点数据并创建 ResourceTreeSet
+    nodes = data.get("nodes", [])
+    resource_tree_set = canonicalize_nodes_data(nodes)
+
+    # 标准化边数据
+    links = data.get("links", [])
+    standardized_links = canonicalize_links_ports(links, resource_tree_set)
+
+    # 构建 NetworkX 图（需要转换回 dict 格式）
+    # 从 ResourceTreeSet 获取所有节点
+    graph_data = {
+        "nodes": [node.res_content.model_dump(by_alias=True) for node in resource_tree_set.all_nodes],
+        "links": standardized_links,
+    }
+    physical_setup_graph = nx.node_link_graph(graph_data, edges="links", multigraph=False)
     handle_communications(physical_setup_graph)
-    return physical_setup_graph, data
+
+    return physical_setup_graph, resource_tree_set, standardized_links
 
 
 def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]:
@@ -185,7 +261,17 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
     return data
 
 
-def read_graphml(graphml_file):
+def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dict[str, Any]]]:
+    """
+    读取GraphML文件并构建图
+
+    Args:
+        graphml_file: GraphML文件路径
+
+    Returns:
+        tuple[nx.Graph, ResourceTreeSet, List[Dict[str, Any]]]:
+            返回NetworkX图对象、资源树集合和标准化后的连接列表
+    """
     global physical_setup_graph
 
     G = nx.read_graphml(graphml_file)
@@ -202,12 +288,25 @@ def read_graphml(graphml_file):
 
     G2 = nx.relabel_nodes(G, mapping)
     data = nx.node_link_data(G2)
-    data = canonicalize_nodes_data(data, parent_relation=parent_relation)
-    data = canonicalize_links_ports(data)
 
-    physical_setup_graph = nx.node_link_graph(data, edges="links", multigraph=False)  # edges="links" 3.6 warning
+    # 标准化节点数据并创建 ResourceTreeSet
+    nodes = data.get("nodes", [])
+    resource_tree_set = canonicalize_nodes_data(nodes, parent_relation=parent_relation)
+
+    # 标准化边数据
+    links = data.get("links", [])
+    standardized_links = canonicalize_links_ports(links, resource_tree_set)
+
+    # 构建 NetworkX 图（需要转换回 dict 格式）
+    # 从 ResourceTreeSet 获取所有节点
+    graph_data = {
+        "nodes": [node.res_content.model_dump(by_alias=True) for node in resource_tree_set.all_nodes],
+        "links": standardized_links,
+    }
+    physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False)
     handle_communications(physical_setup_graph)
-    return physical_setup_graph, data
+
+    return physical_setup_graph, resource_tree_set, standardized_links
 
 
 def dict_from_graph(graph: nx.Graph) -> dict:
@@ -229,11 +328,7 @@ def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
                 is_root[child_id] = False
 
     # 找到根节点并返回
-    root_nodes = [
+    root_nodes = [node for node in nodes_list if is_root.get(node["id"], False) or len(nodes_list) == 1]
-        node
-        for node in nodes_list
-        if is_root.get(node["id"], False) or len(nodes_list) == 1
-    ]
 
     # 如果存在多个根节点，返回所有根节点
     return root_nodes
@@ -258,11 +353,7 @@ def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
             node["config"]["children"] = node["children"]
 
     # 找到根节点并返回
-    root_nodes = {
+    root_nodes = {node["id"]: node for node in nodes_list if is_root.get(node["id"], False) or len(nodes_list) == 1}
-        node["id"]: node
-        for node in nodes_list
-        if is_root.get(node["id"], False) or len(nodes_list) == 1
-    }
 
     # 如果存在多个根节点，返回所有根节点
     return root_nodes
@@ -337,6 +428,7 @@ def nested_dict_to_list(nested_dict: dict) -> list[dict]:  # FIXME 是tree？
 
     return result
 
+
 def convert_resources_to_type(
     resources_list: list[dict], resource_type: Union[type, list[type]], *, plr_model: bool = False
 ) -> Union[list[dict], dict, None, "ResourcePLR"]:
@@ -369,7 +461,9 @@ def convert_resources_to_type(
         return None
 
 
-def convert_resources_from_type(resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False) -> Union[list[dict], dict, None, "ResourcePLR"]:
+def convert_resources_from_type(
+    resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False
+) -> Union[list[dict], dict, None, "ResourcePLR"]:
     """
     Convert resources from a given type (PyLabRobot or NestedDict) to flattened list of dictionaries.
 
@@ -432,6 +526,7 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
     d = resource_ulab_to_plr_inner(resource)
     """无法通过Resource进行反序列化，例如TipSpot必须内部序列化好，直接用TipSpot序列化会多参数，导致出错"""
     from pylabrobot.utils.object_parsing import find_subclass
+
     sub_cls = find_subclass(d["type"], ResourcePLR)
     spect = inspect.signature(sub_cls)
     if "category" not in spect.parameters:
@@ -456,6 +551,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
         else:
             print("转换pylabrobot的时候，出现未知类型", source)
             return "container"
+
     def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:
         r = {
             "id": d["name"],
@@ -474,6 +570,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "data": all_states[d["name"]],
         }
         return r
+
     d = resource_plr.serialize()
     all_states = resource_plr.serialize_all_state()
     r = resource_plr_to_ulab_inner(d, all_states, with_children)
@@ -510,7 +607,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =
                          (detail.get("y", 0) - 1)
                 bottle = plr_material[number]
                 bottle.code = detail.get("code", "")
-                bottle.tracker.liquids = [(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)]
+                bottle.tracker.liquids = [
+                    (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
+                ]
 
         plr_materials.append(plr_material)
 
@@ -541,6 +640,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
         None
     """
     from unilabos.registry.registry import lab_registry
+
     resource_class_config = resource_config.get("class", None)
     if resource_class_config is None:
         return [resource_config]
@@ -570,7 +670,9 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
                 r = resource_plr
         elif resource_class_config["type"] == "unilabos":
             res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
-            res_instance.ulr_resource = convert_to_ros_msg(Resource, {k:v for k,v in resource_config.items() if k != "class"})
+            res_instance.ulr_resource = convert_to_ros_msg(
+                Resource, {k: v for k, v in resource_config.items() if k != "class"}
+            )
             r = [res_instance.get_ulr_resource_as_dict()]
         elif isinstance(RESOURCE, dict):
             r = [RESOURCE.copy()]

unilabos/ros/main_slave_run.py

@@ -1,25 +1,22 @@
 import copy
 import json
-import os
 import threading
 import time
 from typing import Optional, Dict, Any, List
 
 import rclpy
+from unilabos_msgs.srv._serial_command import SerialCommand_Response
+
 from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
 from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
-from unilabos_msgs.msg import Resource  # type: ignore
+from unilabos_msgs.srv import SerialCommand  # type: ignore
-from unilabos_msgs.srv import ResourceAdd, SerialCommand  # type: ignore
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.timer import Timer
 
 from unilabos.registry.registry import lab_registry
 from unilabos.ros.initialize_device import initialize_device_from_dict
-from unilabos.ros.msgs.message_converter import (
-    convert_to_ros_msg,
-)
 from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.utils import logger
 from unilabos.config.config import BasicConfig
@@ -43,9 +40,9 @@ def exit() -> None:
 
 
 def main(
-    devices_config: Dict[str, Any] = {},
+    devices_config: ResourceTreeSet,
-    resources_config: list=[],
+    resources_config: ResourceTreeSet,
-    resources_edge_config: list=[],
+    resources_edge_config: list[dict] = [],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
@@ -73,18 +70,22 @@ def main(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
+        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
+        resources_list = (
+            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
+            if resources_config
+            else []
+        )
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
-            resources_config,
+            resources_list,
-            resource_tracker = host_node.resource_tracker,
+            resource_tracker=host_node.resource_tracker,
-            device_id = 'resource_mesh_manager',
+            device_id="resource_mesh_manager",
         )
-        joint_republisher = JointRepublisher(
+        joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
-            'joint_republisher',
+        lh_joint_pub = LiquidHandlerJointPublisher(
-            host_node.resource_tracker
+            resources_config=resources_list, resource_tracker=host_node.resource_tracker
         )
-        lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config,
-                                                   resource_tracker=host_node.resource_tracker)
         executor.add_node(resource_mesh_manager)
         executor.add_node(joint_republisher)
         executor.add_node(lh_joint_pub)
@@ -97,9 +98,9 @@ def main(
 
 
 def slave(
-    devices_config: Dict[str, Any] = {},
+    devices_config: ResourceTreeSet,
-    resources_config=[],
+    resources_config: ResourceTreeSet,
-    resources_edge_config=[],
+    resources_edge_config: list = [],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
@@ -113,11 +114,12 @@ def slave(
     executor = rclpy.__executor
     if not executor:
         executor = rclpy.__executor = MultiThreadedExecutor()
-    devices_config_copy = copy.deepcopy(devices_config)
+    devices_instances = {}
-    for device_id, device_config in devices_config.items():
+    for device_config in devices_config.root_nodes:
-        d = initialize_device_from_dict(device_id, device_config)
+        device_id = device_config.res_content.id
-        if d is None:
+        if device_config.res_content.type != "device":
-            continue
+            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
+            devices_instances[device_id] = d
         # 默认初始化
         # if d is not None and isinstance(d, Node):
         #     executor.add_node(d)
@@ -129,20 +131,17 @@ def slave(
 
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
+
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
-            resources_config,
+            resources_config,  # type: ignore FIXME
-            resource_tracker= DeviceNodeResourceTracker(),
+            resource_tracker=DeviceNodeResourceTracker(),
-            device_id = 'resource_mesh_manager',
+            device_id="resource_mesh_manager",
-        )
-        joint_republisher = JointRepublisher(
-            'joint_republisher',
-            DeviceNodeResourceTracker()
         )
+        joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
 
         executor.add_node(resource_mesh_manager)
         executor.add_node(joint_republisher)
-        
     thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
     thread.start()
 
@@ -151,25 +150,61 @@ def slave(
         sclient.wait_for_service()
 
         request = SerialCommand.Request()
-        request.command = json.dumps({
+        request.command = json.dumps(
-            "machine_name": BasicConfig.machine_name,
+            {
-            "type": "slave",
+                "machine_name": BasicConfig.machine_name,
-            "devices_config": devices_config_copy,
+                "type": "slave",
-            "registry_config": lab_registry.obtain_registry_device_info()
+                "devices_config": devices_config.dump(),
-        }, ensure_ascii=False, cls=TypeEncoder)
+                "registry_config": lab_registry.obtain_registry_device_info(),
+            },
+            ensure_ascii=False,
+            cls=TypeEncoder,
+        )
         response = sclient.call_async(request).result()
         logger.info(f"Slave node info updated.")
 
-        rclient = n.create_client(ResourceAdd, "/resources/add")
+        # 使用新的 c2s_update_resource_tree 服务
+        rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
         rclient.wait_for_service()
 
-        request = ResourceAdd.Request()
+        # 序列化 ResourceTreeSet 为 JSON
-        request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
+        if resources_config:
-        response = rclient.call_async(request).result()
+            request = SerialCommand.Request()
-        logger.info(f"Slave resource added.")
+            request.command = json.dumps(
+                {
+                    "data": {
+                        "data": resources_config.dump(),
+                        "mount_uuid": "",
+                        "first_add": True,
+                    },
+                    "action": "add",
+                },
+                ensure_ascii=False,
+            )
+            tree_response: SerialCommand_Response = rclient.call_async(request).result()
+            uuid_mapping = json.loads(tree_response.response)
+            for node in resources_config.root_nodes:
+                if node.res_content.type == "device":
+                    for sub_node in node.children:
+                        # 只有二级子设备
+                        if sub_node.res_content.type != "device":
+                            device_tracker = devices_instances[node.res_content.id].resource_tracker
+                            resource_instance = device_tracker.figure_resource(  # todo: 要换成uuid进行figure
+                                {"name": sub_node.res_content.name})
+                            device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+                else:
+                    logger.error("Slave模式不允许新增非设备节点下的物料")
+                    continue
+            if tree_response:
+                logger.info(f"Slave resource tree added. Response: {tree_response.response}")
+            else:
+                logger.warning("Slave resource tree add response is None")
+        else:
+            logger.info("No resources to add.")
 
     while True:
         time.sleep(1)
 
+
 if __name__ == "__main__":
     main()

unilabos/ros/nodes/base_device_node.py

@@ -5,7 +5,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, Union
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, Union, TYPE_CHECKING
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -25,7 +25,6 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialComma
 from unilabos.resources.container import RegularContainer
 from unilabos.resources.graphio import (
     convert_resources_to_type,
-    convert_resources_from_type,
     resource_ulab_to_plr,
     initialize_resources,
     dict_to_tree,
@@ -49,12 +48,16 @@ from unilabos_msgs.srv import (
 )  # type: ignore
 from unilabos_msgs.msg import Resource  # type: ignore
 
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDict, \
+    ResourceDictInstance
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
-from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info, get_result_info_str
+from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
+
+if TYPE_CHECKING:
+    from pylabrobot.resources import Resource as ResourcePLR
 
 T = TypeVar("T")
 
@@ -178,7 +181,9 @@ class PropertyPublisher:
         try:
             self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
         except AttributeError as ex:
-            self.node.lab_logger().error(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.node.lab_logger().error(
+                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()
         str_msg_type = str(msg_type)[8:-2]
@@ -187,48 +192,48 @@ class PropertyPublisher:
     def get_property(self):
         if asyncio.iscoroutinefunction(self.get_method):
             # 如果是异步函数，运行事件循环并等待结果
-            self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
+            self.node.lab_logger().trace(f"【.get_property】获取异步属性: {self.name}")
             loop = self.__loop
             if loop:
                 future = asyncio.run_coroutine_threadsafe(self.get_method(), loop)
                 self._value = future.result()
                 return self._value
             else:
-                self.node.lab_logger().error(f"【PropertyPublisher.get_property】事件循环未初始化")
+                self.node.lab_logger().error(f"【.get_property】事件循环未初始化")
                 return None
         else:
             # 如果是同步函数，直接调用并返回结果
-            self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
+            self.node.lab_logger().trace(f"【.get_property】获取同步属性: {self.name}")
             self._value = self.get_method()
             return self._value
 
     async def get_property_async(self):
         try:
             # 获取异步属性值
-            self.node.lab_logger().trace(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
+            self.node.lab_logger().trace(f"【.get_property_async】异步获取属性: {self.name}")
             self._value = await self.get_method()
         except Exception as e:
-            self.node.lab_logger().error(f"【PropertyPublisher.get_property_async】获取异步属性出错: {str(e)}")
+            self.node.lab_logger().error(f"【.get_property_async】获取异步属性出错: {str(e)}")
 
     def publish_property(self):
         try:
-            self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
+            self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
             value = self.get_property()
             if self.print_publish:
-                self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
+                self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
             if value is not None:
                 msg = convert_to_ros_msg(self.msg_type, value)
                 self.publisher_.publish(msg)
-                self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
+                self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
         except Exception as e:
-            self.node.lab_logger().error(f"【PropertyPublisher.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}")
+            self.node.lab_logger().error(
+                f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
+            )
 
     def change_frequency(self, period):
         # 动态改变定时器频率
         self.timer_period = period
-        self.node.get_logger().info(
+        self.node.get_logger().info(f"【.change_frequency】修改 {self.name} 定时器周期为: {self.timer_period} 秒")
-            f"【PropertyPublisher.change_frequency】修改 {self.name} 定时器周期为: {self.timer_period} 秒"
-        )
 
         # 重置定时器
         self.timer.cancel()
@@ -262,7 +267,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         action_value_mappings: Dict[str, Any],
         hardware_interface: Dict[str, Any],
         print_publish=True,
-        resource_tracker: Optional["DeviceNodeResourceTracker"] = None,
+        resource_tracker: "DeviceNodeResourceTracker" = None,  # type: ignore
     ):
         """
         初始化ROS2设备节点
@@ -313,7 +318,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         # 创建动作服务
         if self.create_action_server:
             for action_name, action_value_mapping in self._action_value_mappings.items():
-                if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith("UniLabJsonCommand"):
+                if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith(
+                    "UniLabJsonCommand"
+                ):
                     continue
                 self.create_ros_action_server(action_name, action_value_mapping)
 
@@ -329,14 +336,99 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             "resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
             "resource_update": self.create_client(ResourceUpdate, "/resources/update"),
             "resource_list": self.create_client(ResourceList, "/resources/list"),
+            "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree"),
         }
 
-        def query_host_name_cb(req, res):
+        def re_register_device(req, res):
             self.register_device()
             self.lab_logger().info("Host要求重新注册当前节点")
             res.response = ""
             return res
 
+        async def s2c_resource_tree(req: SerialCommand_Request, res: SerialCommand_Response):
+            """
+            处理资源树更新请求
+
+            支持三种操作：
+            - add: 添加新资源到资源树
+            - update: 更新现有资源
+            - remove: 从资源树中移除资源
+            """
+            try:
+                data = json.loads(req.command)
+                results = []
+
+                for i in data:
+                    action = i.get("action")  # remove, add, update
+                    resources_uuid: List[str] = i.get("data")  # 资源数据
+                    self.lab_logger().info(
+                        f"[Resource Tree Update] Processing {action} operation, "
+                        f"resources count: {len(resources_uuid)}"
+                    )
+                    tree_set = None
+                    if action in ["add", "update"]:
+                        response: SerialCommand.Response = await self._resource_clients[
+                            "c2s_update_resource_tree"
+                        ].call_async(
+                            SerialCommand.Request(
+                                command=json.dumps(
+                                    {"data": {"data": resources_uuid, "with_children": False}, "action": "get"}
+                                )
+                            )
+                        )  # type: ignore
+                        raw_nodes = json.loads(response.response)
+                        nodes = [ResourceDictInstance.get_resource_instance_from_dict(n) for n in raw_nodes]
+                        uuids_to_nodes = {u["uuid"]: n for u, n in zip(raw_nodes, nodes)}
+                        for u, n in zip(raw_nodes, nodes):
+                            n.res_content.parent = uuids_to_nodes.get(u["parent_uuid"]).res_content if u["parent_uuid"] in uuids_to_nodes else None
+                            print(n.res_content.parent)
+                        tree_set = ResourceTreeSet.from_nested_list(nodes)
+                    try:
+                        if action == "add":
+                            # 添加资源到资源跟踪器
+                            plr_resource = tree_set.to_plr_resources()  # FIXME: 转成plr的实例
+                            func = getattr(self.driver_instance, "resource_tree_add", None)
+                            if callable(func):
+                                func(tree_set)
+                                results.append({"success": True, "action": "add"})
+                        elif action == "update":
+                            # 更新资源
+                            func = getattr(self.driver_instance, "resource_tree_update", None)
+                            if callable(func):
+                                func(tree_set)
+                                results.append({"success": True, "action": "update"})
+                        elif action == "remove":
+                            # 移除资源
+                            func = getattr(self.driver_instance, "resource_tree_remove", None)
+                            if callable(func):
+                                resources_instance: List[ResourcePLR] = [self.resource_tracker.uuid_to_resources[i] for
+                                                                         i in resources_uuid]
+                                func(resources_instance)
+                                [r.parent.unassign_child_resource(r) for r in resources_instance if r is not None]
+                                results.append({"success": True, "action": "remove"})
+                    except Exception as e:
+                        error_msg = f"Error processing {action} operation: {str(e)}"
+                        self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+                        self.lab_logger().error(traceback.format_exc())
+                        results.append({"success": False, "action": action, "error": error_msg})
+
+                # 返回处理结果
+                result_json = {"results": results, "total": len(data)}
+                res.response = json.dumps(result_json, ensure_ascii=False)
+                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}")
+                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(traceback.format_exc())
+                res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
+
+            return res
+
         async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
             # 物料传输到对应的node节点
             rclient = self.create_client(ResourceAdd, "/resources/add")
@@ -380,12 +472,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
                 container_instance = request.resources[0]
                 container_query_dict: dict = resources
-                found_resources = self.resource_tracker.figure_resource({"id": container_query_dict["name"]}, try_mode=True)
+                found_resources = self.resource_tracker.figure_resource(
+                    {"id": container_query_dict["name"]}, try_mode=True
+                )
                 if not len(found_resources):
                     self.resource_tracker.add_resource(container_instance)
                     logger.info(f"添加物料{container_query_dict['name']}到资源跟踪器")
                 else:
-                    assert len(found_resources) == 1, f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统"
+                    assert (
+                        len(found_resources) == 1
+                    ), f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统"
                     resource = found_resources[0]
                     if isinstance(resource, Resource):
                         regular_container = RegularContainer(resource.id)
@@ -399,12 +495,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         request.resources[0].name = resource["name"]
                         logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
                     else:
-                        logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")
+                        logger.info(
+                            f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}"
+                        )
             response: ResourceAdd.Response = await rclient.call_async(request)
             # 应该先add_resource了
             final_response = {
                 "created_resources": [ROS2MessageInstance(i).get_python_dict() for i in request.resources],
-                "liquid_input_resources": []
+                "liquid_input_resources": [],
             }
             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
@@ -423,12 +521,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     )
                     res.response = get_result_info_str("", True, ret)
                 except Exception as e:
-                    self.lab_logger().error(f"运行设备的create_resource出错：{create_resource_func}\n{traceback.format_exc()}")
+                    self.lab_logger().error(
+                        f"运行设备的create_resource出错：{create_resource_func}\n{traceback.format_exc()}"
+                    )
                     res.response = get_result_info_str(traceback.format_exc(), False, {})
                 return res
             # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
             if bind_parent_id != self.node_name:
-                resource = self.resource_tracker.figure_resource({"name": bind_parent_id})  # 拿到父节点，进行具体assign等操作
+                resource = self.resource_tracker.figure_resource(
+                    {"name": bind_parent_id}
+                )  # 拿到父节点，进行具体assign等操作
             # request.resources = [convert_to_ros_msg(Resource, resources)]
 
             try:
@@ -452,9 +554,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
                         plr_instance.set_well_liquids(empty_liquid_info_in)
                         input_wells_ulr = [
-                            convert_to_ros_msg(Resource, resource_plr_to_ulab(plr_instance.get_well(LIQUID_INPUT_SLOT), with_children=False)) for r in LIQUID_INPUT_SLOT
+                            convert_to_ros_msg(
+                                Resource,
+                                resource_plr_to_ulab(plr_instance.get_well(LIQUID_INPUT_SLOT), with_children=False),
+                            )
+                            for r in LIQUID_INPUT_SLOT
+                        ]
+                        final_response["liquid_input_resources"] = [
+                            ROS2MessageInstance(i).get_python_dict() for i in input_wells_ulr
                         ]
-                        final_response["liquid_input_resources"] = [ROS2MessageInstance(i).get_python_dict() for i in input_wells_ulr]
                         res.response = json.dumps(final_response)
                     if isinstance(resource, OTDeck) and "slot" in other_calling_param:
                         other_calling_param["slot"] = int(other_calling_param["slot"])
@@ -499,16 +607,22 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         # noinspection PyTypeChecker
         self._service_server: Dict[str, Service] = {
-            "query_host_name": self.create_service(
+            "re_register_device": self.create_service(
                 SerialCommand,
-                f"/srv{self.namespace}/query_host_name",
+                f"/srv{self.namespace}/re_register_device",
-                query_host_name_cb,
+                re_register_device,
                 callback_group=self.callback_group,
             ),
             "append_resource": self.create_service(
                 SerialCommand,
                 f"/srv{self.namespace}/append_resource",
-                append_resource,
+                append_resource,  # type: ignore
+                callback_group=self.callback_group,
+            ),
+            "s2c_resource_tree": self.create_service(
+                SerialCommand,
+                f"/srv{self.namespace}/s2c_resource_tree",
+                s2c_resource_tree,  # type: ignore
                 callback_group=self.callback_group,
             ),
         }
@@ -518,15 +632,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         rclpy.get_global_executor().add_node(self)
         self.lab_logger().debug(f"ROS节点初始化完成")
 
-    async def update_resource(self, resources: List[Any]):
+    async def update_resource(self, resources: List["ResourcePLR"]):
-        r = ResourceUpdate.Request()
+        r = SerialCommand.Request()
-        unique_resources = []
+        tree_set = ResourceTreeSet.from_plr_resources(resources)
-        for resource in resources:  # resource是list[ResourcePLR]
+        r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})
-            # 目前更新资源只支持传入plr的对象，后面要更新convert_resources_from_type函数
+        response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
-            converted_list = convert_resources_from_type([resource], resource_type=[object], is_plr=True)
+        try:
-            unique_resources.extend([convert_to_ros_msg(Resource, converted) for converted in converted_list])
+            uuid_maps = json.loads(response.response)
-        r.resources = unique_resources
+            self.resource_tracker.loop_update_uuid(resources, uuid_maps)
-        response = await self._resource_clients["resource_update"].call_async(r)
+        except Exception as e:
+            self.lab_logger().error(f"更新资源uuid失败: {e}")
+            self.lab_logger().error(traceback.format_exc())
         self.lab_logger().debug(f"资源更新结果: {response}")
 
     def register_device(self):
@@ -657,7 +773,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             execution_success = False
             action_return_value = None
 
-        #####    self.lab_logger().info(f"执行动作: {action_name}")
+            #####    self.lab_logger().info(f"执行动作: {action_name}")
             goal = goal_handle.request
 
             # 从目标消息中提取参数, 并调用对应的方法
@@ -672,7 +788,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             self.lab_logger().info(f"执行序列动作后续步骤: {action}")
                             self.get_real_function(self.driver_instance, action)[0]()
 
-                action_paramtypes = self.get_real_function(self.driver_instance, action_value_mapping["sequence"][0])[1]
+                action_paramtypes = self.get_real_function(self.driver_instance, action_value_mapping["sequence"][0])[
+                    1
+                ]
             else:
                 ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
 
@@ -718,7 +836,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
                         else:
                             resources_list: List[List[Dict[str, Any]]] = [[convert_from_ros_msg(rs) for rs in sub_res_list] for sub_res_list in current_resources]  # type: ignore
-                            final_resource = [convert_resources_to_type(sub_res_list, final_type)[0] for sub_res_list in resources_list]
+                            final_resource = [
+                                convert_resources_to_type(sub_res_list, final_type)[0]
+                                for sub_res_list in resources_list
+                            ]
                         try:
                             action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=False)
                         except Exception as e:
@@ -745,7 +866,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 execution_success = True
                             except Exception as e:
                                 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：{action_kwargs}"
+                                )
                                 error(traceback.format_exc())
 
                         future.add_done_callback(_handle_future_exception)
@@ -754,7 +877,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         execution_success = False
                         self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
                 else:
-                #####    self.lab_logger().info(f"同步执行动作 {ACTION}")
+                    #####    self.lab_logger().info(f"同步执行动作 {ACTION}")
                     future = self._executor.submit(ACTION, **action_kwargs)
 
                     def _handle_future_exception(fut):
@@ -763,7 +886,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             action_return_value = fut.result()
                             execution_success = True
                         except Exception as e:
-                            error(f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
+                            error(
+                                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)
 
@@ -807,7 +932,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 self.lab_logger().info(f"动作 {action_name} 已取消")
                 return action_type.Result()
 
-            ##### self.lab_logger().info(f"动作执行完成: {action_name}")
+            # self.lab_logger().info(f"动作执行完成: {action_name}")
             del future
 
             # 向Host更新物料当前状态
@@ -816,27 +941,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         continue
                     self.lab_logger().info(f"更新资源状态: {k}")
-                    r = ResourceUpdate.Request()
                     # 仅当action_kwargs[k]不为None时尝试转换
-                    akv = action_kwargs[k]  # 已经是完成转换的物料了，只需要转换成ros msg Resource了
+                    akv = action_kwargs[k]  # 已经是完成转换的物料了
                     apv = action_paramtypes[k]
                     final_type = get_type_class(apv)
                     if final_type is None:
                         continue
                     try:
+                        # 去重：使用 seen 集合获取唯一的资源对象
                         seen = set()
                         unique_resources = []
-                        for rs in akv:
+                        for rs in akv:  # todo: 这里目前只支持plr的类型
                             res = self.resource_tracker.parent_resource(rs)  # 获取 resource 对象
                             if id(res) not in seen:
                                 seen.add(id(res))
-                                converted_list = convert_resources_from_type([res], final_type)
+                                unique_resources.append(res)
-                                unique_resources.extend([convert_to_ros_msg(Resource, converted) for converted in converted_list])
 
-                        r.resources = unique_resources
+                        # 使用新的资源树接口
-
+                        if unique_resources:
-                        response = await self._resource_clients["resource_update"].call_async(r)
+                            await self.update_resource(unique_resources)
-                        self.lab_logger().debug(f"资源更新结果: {response}")
                     except Exception as e:
                         self.lab_logger().error(f"资源更新失败: {e}")
                         self.lab_logger().error(traceback.format_exc())
@@ -860,7 +983,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 if attr_name in ["success", "reached_goal"]:
                     setattr(result_msg, attr_name, True)
                 elif attr_name == "return_info":
-                    setattr(result_msg, attr_name, get_result_info_str(execution_error, execution_success, action_return_value))
+                    setattr(
+                        result_msg,
+                        attr_name,
+                        get_result_info_str(execution_error, execution_success, action_return_value),
+                    )
 
             ##### self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
             return result_msg
@@ -887,9 +1014,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 class DeviceInitError(Exception):
     pass
 
+
 class JsonCommandInitError(Exception):
     pass
 
+
 class ROS2DeviceNode:
     """
     ROS2设备节点类
@@ -980,11 +1109,18 @@ class ROS2DeviceNode:
             )
         else:
             from unilabos.devices.workstation.workstation_base import WorkstationBase
-            if issubclass(self._driver_class, WorkstationBase):  # 是WorkstationNode的子节点，就要调用WorkstationNodeCreator
+
+            if issubclass(
+                self._driver_class, WorkstationBase
+            ):  # 是WorkstationNode的子节点，就要调用WorkstationNodeCreator
                 self.driver_is_workstation = True
-                self._driver_creator = WorkstationNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
+                self._driver_creator = WorkstationNodeCreator(
+                    driver_class, children=children, resource_tracker=self.resource_tracker
+                )
             else:
-                self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
+                self._driver_creator = DeviceClassCreator(
+                    driver_class, children=children, resource_tracker=self.resource_tracker
+                )
 
         if driver_is_ros:
             driver_params["device_id"] = device_id
@@ -999,6 +1135,7 @@ class ROS2DeviceNode:
             self._ros_node = self._driver_instance  # type: ignore
         elif self.driver_is_workstation:
             from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+
             self._ros_node = ROS2WorkstationNode(
                 protocol_type=driver_params["protocol_type"],
                 children=children,
@@ -1038,16 +1175,22 @@ class ROS2DeviceNode:
             try:
                 target = yaml.safe_load(io.StringIO(string))
             except Exception as ex2:
-                raise JsonCommandInitError(f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}")
+                raise JsonCommandInitError(
+                    f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}"
+                )
         try:
             function_name = target["function_name"]
             function_args = target["function_args"]
             assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
             function = getattr(self.driver_instance, function_name)
-            assert callable(function), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
+            assert callable(
+                function
+            ), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
             return function(**function_args)
         except KeyError as ex:
-            raise JsonCommandInitError(f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}")
+            raise JsonCommandInitError(
+                f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
+            )
 
     async def _execute_driver_command_async(self, string: str):
         try:
@@ -1056,17 +1199,25 @@ class ROS2DeviceNode:
             try:
                 target = yaml.safe_load(io.StringIO(string))
             except Exception as ex2:
-                raise JsonCommandInitError(f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}")
+                raise JsonCommandInitError(
+                    f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}"
+                )
         try:
             function_name = target["function_name"]
             function_args = target["function_args"]
             assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
             function = getattr(self.driver_instance, function_name)
-            assert callable(function), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
+            assert callable(
-            assert asyncio.iscoroutinefunction(function), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
+                function
+            ), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
+            assert asyncio.iscoroutinefunction(
+                function
+            ), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
             return await function(**function_args)
         except KeyError as ex:
-            raise JsonCommandInitError(f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}")
+            raise JsonCommandInitError(
+                f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
+            )
 
     def _start_loop(self):
         def run_event_loop():

unilabos/ros/nodes/presets/host_node.py

@@ -1,5 +1,4 @@
 import collections
-import copy
 from dataclasses import dataclass, field
 import json
 import threading
@@ -13,7 +12,6 @@ from geometry_msgs.msg import Point
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
-from rosidl_runtime_py import set_message_fields
 from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos_msgs.srv import (
     ResourceAdd,
@@ -23,6 +21,7 @@ from unilabos_msgs.srv import (
     ResourceList,
     SerialCommand,
 )  # type: ignore
+from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
 
 from unilabos.registry.registry import lab_registry
@@ -38,11 +37,16 @@ from unilabos.ros.msgs.message_converter import (
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
+from unilabos.ros.nodes.resource_tracker import (
+    ResourceDictInstance,
+    ResourceTreeSet,
+    ResourceTreeInstance,
+)
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.type_check import serialize_result_info
 
 if TYPE_CHECKING:
-    from unilabos.app.ws_client import QueueItem
+    from unilabos.app.ws_client import QueueItem, WSResourceChatData
 
 
 @dataclass
@@ -62,6 +66,7 @@ class HostNode(BaseROS2DeviceNode):
     _device_action_status: ClassVar[collections.defaultdict[str, DeviceActionStatus]] = collections.defaultdict(
         DeviceActionStatus
     )
+    _resource_tracker: ClassVar[DeviceNodeResourceTracker] = DeviceNodeResourceTracker()  # 资源管理器实例
 
     @classmethod
     def get_instance(cls, timeout=None) -> Optional["HostNode"]:
@@ -72,8 +77,8 @@ class HostNode(BaseROS2DeviceNode):
     def __init__(
         self,
         device_id: str,
-        devices_config: Dict[str, Any],
+        devices_config: ResourceTreeSet,
-        resources_config: list,
+        resources_config: ResourceTreeSet,
         resources_edge_config: list[dict],
         physical_setup_graph: Optional[Dict[str, Any]] = None,
         controllers_config: Optional[Dict[str, Any]] = None,
@@ -103,7 +108,7 @@ class HostNode(BaseROS2DeviceNode):
             action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
             hardware_interface={},
             print_publish=False,
-            resource_tracker=DeviceNodeResourceTracker(),  # host node并不是通过initialize 包一层传进来的
+            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
         )
 
         # 设置单例实例
@@ -112,7 +117,7 @@ class HostNode(BaseROS2DeviceNode):
         # 初始化配置
         self.server_latest_timestamp = 0.0  #
         self.devices_config = devices_config
-        self.resources_config = resources_config
+        self.resources_config = resources_config  # 直接保存 ResourceTreeSet
         self.resources_edge_config = resources_edge_config
         self.physical_setup_graph = physical_setup_graph
         if controllers_config is None:
@@ -167,10 +172,11 @@ class HostNode(BaseROS2DeviceNode):
         self._discover_devices()
 
         # 初始化所有本机设备节点，多一次过滤，防止重复初始化
-        for device_id, device_config in devices_config.items():
+        for device_config in devices_config.root_nodes:
-            if device_config.get("type", "device") != "device":
+            device_id = device_config.res_content.id
+            if device_config.res_content.type != "device":
                 self.lab_logger().debug(
-                    f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                    f"[Host Node] Skipping type {device_config.res_content.type} {device_id} already existed, skipping."
                 )
                 continue
             if device_id not in self.devices_names:
@@ -186,58 +192,68 @@ class HostNode(BaseROS2DeviceNode):
             ].items():
                 controller_config["update_rate"] = update_rate
                 self.initialize_controller(controller_id, controller_config)
-        resources_config.insert(
+        # 创建 host_node 作为一个单独的 ResourceTree
-            0,
+
-            {
+        host_node_dict = {
-                "id": "host_node",
+            "id": "host_node",
-                "name": "host_node",
+            "uuid": str(uuid.uuid4()),
-                "parent": None,
+            "parent_uuid": "",
-                "type": "device",
+            "name": "host_node",
-                "class": "host_node",
+            "type": "device",
-                "position": {"x": 0, "y": 0, "z": 0},
+            "class": "host_node",
-                "config": {},
+            "config": {},
-                "data": {},
+            "data": {},
-                "children": [],
+            "children": [],
-            },
+            "description": "",
-        )
+            "schema": {},
-        resource_with_dirs_name = []
+            "model": {},
-        resource_ids_to_instance = {i["id"]: i for i in resources_config}
+            "icon": "",
-        for res in resources_config:
+        }
-            temp_res = res
+
-            res_paths = [res]
+        # 创建 host_node 的 ResourceTree
-            while temp_res.get("parent"):
+        host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
-                temp_res = resource_ids_to_instance[temp_res.get("parent")]
+        host_node_tree = ResourceTreeInstance(host_node_instance)
-                res_paths.append(temp_res)
+        resources_config.trees.insert(0, host_node_tree)
-            dirs = "/" + "/".join([res["id"] for res in res_paths[::-1]])
-            new_res = copy.deepcopy(res)
-            new_res["data"]["unilabos_dirs"] = dirs
-            resource_with_dirs_name.append(new_res)
         try:
             for bridge in self.bridges:
-                if hasattr(bridge, "resource_add"):
+                if hasattr(bridge, "resource_tree_add") and resources_config:
                     from unilabos.app.web.client import HTTPClient
 
                     client: HTTPClient = bridge
                     resource_start_time = time.time()
-                    resource_add_res = client.resource_add(add_schema(resources_config))
+                    # 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
-                    # DEBUG ONLY
+                    uuid_mapping = client.resource_tree_add(resources_config, "", True)
-                    # for i in resource_with_dirs_name:
-                    #     http_req = self.bridges[-1].resource_get(i["data"]["unilabos_dirs"], True)
-                    #     res = self._resource_get_process(http_req)
-                    #     print(res)
                     resource_end_time = time.time()
                     self.lab_logger().info(
                         f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
                     )
+                    for edge in self.resources_edge_config:
+                        edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
+                        edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
                     resource_add_res = client.resource_edge_add(self.resources_edge_config)
                     resource_edge_end_time = time.time()
                     self.lab_logger().info(
                         f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
                     )
+                    # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
+                    # resources_config 的 root node 是
+                    for node in resources_config.root_nodes:
+                        if node.res_content.type == "device":
+                            for sub_node in node.children:
+                                # 只有二级子设备
+                                if sub_node.res_content.type != "device":
+                                    # slave节点走c2s更新接口，拿到add自行update uuid
+                                    device_tracker = self.devices_instances[node.res_content.id].resource_tracker
+                                    resource_instance = device_tracker.figure_resource(  # todo: 要换成uuid进行figure
+                                        {"name": sub_node.res_content.name})
+                                    device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+                        else:
+                            resource_instance = self.resource_tracker.figure_resource({"name": node.res_content.name})
+                            self._resource_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+
         except Exception as ex:
             self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
             self.lab_logger().error(traceback.format_exc())
-
         # 创建定时器，定期发现设备
         self._discovery_timer = self.create_timer(
             discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
@@ -286,23 +302,23 @@ class HostNode(BaseROS2DeviceNode):
                 self.devices_names[edge_device_id] = namespace
                 self._create_action_clients_for_device(device_id, namespace)
                 self._online_devices.add(device_key)
-                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
                 threading.Thread(
                     target=self._send_re_register,
                     args=(sclient,),
                     daemon=True,
-                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
+                    name=f"ROSDevice{self.device_id}_re_register_device_{namespace}",
                 ).start()
             elif device_key not in self._online_devices:
                 # 设备重新上线
                 self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
                 self._online_devices.add(device_key)
-                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
                 threading.Thread(
                     target=self._send_re_register,
                     args=(sclient,),
                     daemon=True,
-                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
+                    name=f"ROSDevice{self.device_id}_re_register_device_{namespace}",
                 ).start()
 
         # 检测离线设备
@@ -473,16 +489,13 @@ class HostNode(BaseROS2DeviceNode):
             for i in response:
                 res = json.loads(i)
                 new_li.append(res)
-            return {
+            return {"resources": new_li, "liquid_input_resources": new_li}
-                "resources": new_li,
-                "liquid_input_resources": new_li
-            }
         except Exception as ex:
             pass
         _n = "\n"
         raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
 
-    def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
+    def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
         """
         根据配置初始化设备，
 
@@ -495,9 +508,8 @@ class HostNode(BaseROS2DeviceNode):
         """
         self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
 
-        device_config_copy = copy.deepcopy(device_config)
         try:
-            d = initialize_device_from_dict(device_id, device_config_copy)
+            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
         except DeviceClassInvalid as e:
             self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
             d = None
@@ -677,9 +689,7 @@ class HostNode(BaseROS2DeviceNode):
             feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
             goal_uuid=goal_uuid_obj,
         )
-        future.add_done_callback(
+        future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
-            lambda future: self.goal_response_callback(item, action_id, future)
-        )
 
     def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
@@ -816,8 +826,125 @@ class HostNode(BaseROS2DeviceNode):
                 self._node_info_update_callback,
                 callback_group=ReentrantCallbackGroup(),
             ),
+            "c2s_update_resource_tree": self.create_service(
+                SerialCommand,
+                "/c2s_update_resource_tree",
+                self._resource_tree_update_callback,
+                callback_group=ReentrantCallbackGroup(),
+            ),
         }
 
+    def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
+        resource_tree_set = ResourceTreeSet.load(data["data"])
+        mount_uuid = data["mount_uuid"]
+        first_add = data["first_add"]
+
+        self.lab_logger().info(
+            f"[Host Node-Resource] Loaded ResourceTreeSet with {len(resource_tree_set.trees)} trees, "
+            f"{len(resource_tree_set.all_nodes)} total nodes"
+        )
+
+        # 处理资源添加逻辑
+        success = False
+        uuid_mapping = {}
+        if len(self.bridges) > 0:
+            from unilabos.app.web.client import HTTPClient
+
+            client: HTTPClient = self.bridges[-1]
+            resource_start_time = time.time()
+            uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
+            success = True
+            resource_end_time = time.time()
+            self.lab_logger().info(
+                f"[Host Node-Resource] 物料创建上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+            )
+            if uuid_mapping:
+                self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
+
+        if success:
+            from unilabos.resources.graphio import physical_setup_graph
+
+            # 将资源添加到本地图中
+            for node in resource_tree_set.all_nodes:
+                resource_dict = node.res_content.model_dump(by_alias=True)
+                if resource_dict.get("id") not in physical_setup_graph.nodes:
+                    physical_setup_graph.add_node(resource_dict["id"], **resource_dict)
+                else:
+                    physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
+
+        response.response = json.dumps(uuid_mapping) if success else "FAILED"
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
+
+    def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
+        uuid_list: List[str] = data["data"]
+        with_children: bool = data["with_children"]
+        from unilabos.app.web.client import http_client
+        resource_response = http_client.resource_tree_get(uuid_list, with_children)
+        response.response = json.dumps(resource_response)
+
+    def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
+        """
+        子节点通知Host物料树删除
+        """
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree remove request received")
+        response.response = "OK"
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree remove completed")
+
+    def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
+        """
+        子节点通知Host物料树更新
+        """
+        resource_tree_set = ResourceTreeSet.load(data["data"])
+
+        self.lab_logger().info(
+            f"[Host Node-Resource] Loaded ResourceTreeSet with {len(resource_tree_set.trees)} trees, "
+            f"{len(resource_tree_set.all_nodes)} total nodes"
+        )
+
+        from unilabos.app.web.client import http_client
+        resource_start_time = time.time()
+        uuid_mapping = http_client.resource_tree_update(resource_tree_set, "", False)
+        success = bool(uuid_mapping)
+        resource_end_time = time.time()
+        self.lab_logger().info(
+            f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+        )
+        if uuid_mapping:
+            self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
+        # 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
+        response.response = json.dumps(uuid_mapping)
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
+
+    def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
+        """
+        子节点通知Host物料树更新
+
+        接收序列化的 ResourceTreeSet 数据并进行处理
+        """
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree add request received")
+        try:
+            # 解析请求数据
+            data = json.loads(request.command)
+            action = data["action"]
+            data = data["data"]
+            if action == "add":
+                self._resource_tree_action_add_callback(data, response)
+            elif action == "get":
+                self._resource_tree_action_get_callback(data, response)
+            elif action == "update":
+                self._resource_tree_action_update_callback(data, response)
+            elif action == "remove":
+                self._resource_tree_action_remove_callback(data, response)
+            else:
+                self.lab_logger().error(f"[Host Node-Resource] Invalid action: {action}")
+                response.response = "ERROR"
+        except Exception as e:
+            self.lab_logger().error(f"[Host Node-Resource] Error adding resource tree: {e}")
+            self.lab_logger().error(traceback.format_exc())
+            response.response = f"ERROR: {str(e)}"
+
+        return response
+
     def _node_info_update_callback(self, request, response):
         """
         更新节点信息回调
@@ -907,7 +1034,13 @@ class HostNode(BaseROS2DeviceNode):
             return response
         except Exception as e:
             self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
-        r = [resource for resource in self.resources_config if resource.get("id") == request.id]
+        # 从 ResourceTreeSet 中查找资源
+        resources_list = (
+            [node.res_content.model_dump(by_alias=True) for node in self.resources_config.all_nodes]
+            if self.resources_config
+            else []
+        )
+        r = [resource for resource in resources_list if resource.get("id") == request.id]
         self.lab_logger().debug(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
         response.resources = [convert_to_ros_msg(Resource, resource) for resource in r]
         return response
@@ -1094,6 +1227,7 @@ class HostNode(BaseROS2DeviceNode):
 
         else:
             self.lab_logger().warning("⚠️ 无法获取服务端任务下发时间，跳过任务延迟分析")
+            raw_delay_ms = -1
             corrected_delay_ms = -1
 
         self.lab_logger().info("=" * 60)
@@ -1129,3 +1263,78 @@ class HostNode(BaseROS2DeviceNode):
             )
         else:
             self.lab_logger().warning("⚠️ 收到无效的Pong响应（缺少ping_id）")
+
+    def notify_resource_tree_update(
+        self, device_id: str, action: str, resource_uuid_list: List[str]
+    ) -> bool:
+        """
+        通知设备节点更新资源树
+
+        Args:
+            device_id: 目标设备ID
+            action: 操作类型 "add", "update", "remove"
+            resource_uuid_list: 资源UUIDs
+
+        Returns:
+            bool: 操作是否成功
+        """
+        try:
+            # 检查设备是否存在
+            if device_id not in self.devices_names:
+                self.lab_logger().error(f"[Host Node-Resource] Device {device_id} not found in devices_names")
+                return False
+
+            namespace = self.devices_names[device_id]
+            device_key = f"{namespace}/{device_id}"
+
+            # 检查设备是否在线
+            if device_key not in self._online_devices:
+                self.lab_logger().error(f"[Host Node-Resource] Device {device_key} is offline")
+                return False
+
+            # 构建服务地址
+            srv_address = f"/srv{namespace}/s2c_resource_tree"
+            self.lab_logger().info(f"[Host Node-Resource] Notifying {device_id} for resource tree {action} operation")
+
+            # 创建服务客户端
+            sclient = self.create_client(SerialCommand, srv_address)
+
+            # 等待服务可用（设置超时）
+            if not sclient.wait_for_service(timeout_sec=5.0):
+                self.lab_logger().error(f"[Host Node-Resource] Service {srv_address} not available")
+                return False
+
+            # 构建请求数据
+            request_data = [
+                {
+                    "action": action,
+                    "data": resource_uuid_list,
+                }
+            ]
+
+            # 创建请求
+            request = SerialCommand.Request()
+            request.command = json.dumps(request_data, ensure_ascii=False)
+
+            # 发送异步请求
+            future = sclient.call_async(request)
+
+            # 等待响应
+            timeout = 30.0
+            start_time = time.time()
+            while not future.done():
+                if time.time() - start_time > timeout:
+                    self.lab_logger().error(f"[Host Node-Resource] Timeout waiting for response from {device_id}")
+                    return False
+                time.sleep(0.01)
+
+            response = future.result()
+            self.lab_logger().info(
+                f"[Host Node-Resource] Resource tree {action} notification completed for {device_id}"
+            )
+            return True
+
+        except Exception as e:
+            self.lab_logger().error(f"[Host Node-Resource] Error notifying resource tree update: {str(e)}")
+            self.lab_logger().error(traceback.format_exc())
+            return False

unilabos/ros/nodes/presets/workstation.py

@@ -130,7 +130,7 @@ class ROS2WorkstationNode(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}")
+        self.lab_logger().info(f"ROS2WorkstationNode {device_id} initialized with protocols: {self.protocol_names}")
 
     def _setup_protocol_names(self, protocol_type):
         # 处理协议类型

unilabos/ros/nodes/resource_tracker.py

@@ -1,11 +1,528 @@
-from typing import List, Tuple, Any, Dict, TYPE_CHECKING
+import uuid
-from abc import ABC, abstractmethod
+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 unilabos.utils.log import logger
 
 if TYPE_CHECKING:
-    from unilabos.devices.workstation.workstation_base import WorkstationBase
+    # from unilabos.devices.workstation.workstation_base import WorkstationBase
-    from pylabrobot.resources import Resource as PLRResource
+    from pylabrobot.resources import Resource as PLRResource, corning_6_wellplate_16point8ml_flat
+
+
+class ResourceDictPositionSize(BaseModel):
+    depth: float = Field(description="Depth", default=0.0)
+    width: float = Field(description="Width", default=0.0)
+    height: float = Field(description="Height", default=0.0)
+
+
+class ResourceDictPositionScale(BaseModel):
+    x: float = Field(description="x scale", default=0.0)
+    y: float = Field(description="y scale", default=0.0)
+    z: float = Field(description="z scale", default=0.0)
+
+
+class ResourceDictPositionObject(BaseModel):
+    x: float = Field(description="X coordinate", default=0.0)
+    y: float = Field(description="Y coordinate", default=0.0)
+    z: float = Field(description="Z coordinate", default=0.0)
+
+
+class ResourceDictPosition(BaseModel):
+    size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
+    scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
+    layout: Literal["2d"] = Field(description="Resource layout", default="2d")
+    position: ResourceDictPositionObject = Field(
+        description="Resource position", default_factory=ResourceDictPositionObject
+    )
+    position3d: ResourceDictPositionObject = Field(
+        description="Resource position in 3D space", default_factory=ResourceDictPositionObject
+    )
+    rotation: ResourceDictPositionObject = Field(
+        description="Resource rotation", default_factory=ResourceDictPositionObject
+    )
+
+
+# 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
+class ResourceDict(BaseModel):
+    id: str = Field(description="Resource ID")
+    uuid: str = Field(description="Resource UUID")
+    name: str = Field(description="Resource name")
+    description: str = Field(description="Resource description", default="")
+    schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict)
+    model: Dict[str, Any] = Field(description="Resource model", default_factory=dict)
+    icon: str = Field(description="Resource icon", default="")
+    parent: Optional["ResourceDict"] = Field(
+        description="Parent resource object", default=None, serialization_alias="parent_uuid"
+    )
+    type: Literal["device"] | str = Field(description="Resource type")
+    klass: str = Field(alias="class", description="Resource class name")
+    position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
+    config: Dict[str, Any] = Field(description="Resource configuration")
+    data: Dict[str, Any] = Field(description="Resource data")
+
+    @field_serializer("parent")
+    def _serialize_parent(self, parent: Optional["ResourceDict"]):
+        return self.parent_uuid
+
+    @field_validator("parent", mode="before")
+    @classmethod
+    def _deserialize_parent(cls, parent: Optional["ResourceDict"]):
+        if isinstance(parent, ResourceDict):
+            return parent
+        else:
+            return None
+
+    @property
+    def parent_uuid(self) -> str:
+        """获取父节点的UUID"""
+        return self.parent.uuid if self.parent is not None else ""
+
+    @property
+    def parent_name(self) -> Optional[str]:
+        """获取父节点的UUID"""
+        return self.parent.name if self.parent is not None else None
+
+    @property
+    def is_root_node(self) -> bool:
+        """判断资源是否为根节点"""
+        return self.parent is None
+
+
+class GraphData(BaseModel):
+    """图数据结构，包含节点和边"""
+
+    nodes: List["ResourceTreeInstance"] = Field(description="Resource nodes list", default_factory=list)
+    links: List[Dict[str, Any]] = Field(description="Resource links/edges list", default_factory=list)
+
+
+class ResourceDictInstance(object):
+    """ResourceDict的实例，同时提供一些方法"""
+
+    def __init__(self, res_content: "ResourceDict"):
+        self.res_content = res_content
+        self.children = []
+        self.typ = "dict"
+
+    @classmethod
+    def get_resource_instance_from_dict(cls, content: Dict[str, Any]) -> "ResourceDictInstance":
+        """从字典创建资源实例"""
+        if "id" not in content:
+            content["id"] = content["name"]
+        if "uuid" not in content:
+            content["uuid"] = str(uuid.uuid4())
+        if "description" in content and content["description"] is None:
+            del content["description"]
+        if "model" in content and content["model"] is None:
+            del content["model"]
+        if "schema" in content and content["schema"] is None:
+            del content["schema"]
+        if "x" in content.get("position", {}):
+            # 说明是老版本的position格式，转换成新的
+            content["position"] = {"position": content["position"]}
+        if not content.get("class"):
+            content["class"] = ""
+        if not content.get("config"):  # todo: 后续从后端保证字段非空
+            content["config"] = {}
+        if not content.get("data"):
+            content["data"] = {}
+        return ResourceDictInstance(ResourceDict.model_validate(content))
+
+    def get_nested_dict(self) -> Dict[str, Any]:
+        """获取资源实例的嵌套字典表示"""
+        res_dict = self.res_content.model_dump(by_alias=True)
+        res_dict["children"] = {child.res_content.name: child.get_nested_dict() for child in self.children}
+        res_dict["parent"] = self.res_content.parent_name
+        res_dict["position"] = self.res_content.position.position.model_dump()
+        return res_dict
+
+
+class ResourceTreeInstance(object):
+    """
+    资源树，表示一个根节点及其所有子节点的层次结构，继承ResourceDictInstance表示自己是根节点
+    """
+
+    @staticmethod
+    def _build_uuid_map(resource_list: List[ResourceDictInstance]) -> Dict[str, ResourceDictInstance]:
+        """构建uuid到资源对象的映射，并检查重复"""
+        uuid_map: Dict[str, ResourceDictInstance] = {}
+        for res_instance in resource_list:
+            res = res_instance.res_content
+            if res.uuid in uuid_map:
+                raise ValueError(f"发现重复的uuid: {res.uuid}")
+            uuid_map[res.uuid] = res_instance
+        return uuid_map
+
+    @staticmethod
+    def _build_uuid_instance_map(
+        resource_list: List[ResourceDictInstance],
+    ) -> Dict[str, ResourceDictInstance]:
+        """构建uuid到资源实例的映射"""
+        return {res_instance.res_content.uuid: res_instance for res_instance in resource_list}
+
+    @staticmethod
+    def _collect_tree_nodes(
+        root_instance: ResourceDictInstance, uuid_map: Dict[str, ResourceDict]
+    ) -> List[ResourceDictInstance]:
+        """使用BFS收集属于某个根节点的所有节点"""
+        # BFS遍历，根据parent_uuid字段找到所有属于这棵树的节点
+        tree_nodes = [root_instance]
+        visited = {root_instance.res_content.uuid}
+        queue = [root_instance.res_content.uuid]
+
+        while queue:
+            current_uuid = queue.pop(0)
+            # 查找所有parent_uuid指向当前节点的子节点
+            for uuid_str, res in uuid_map.items():
+                if res.parent_uuid == current_uuid and uuid_str not in visited:
+                    child_instance = ResourceDictInstance(res)
+                    tree_nodes.append(child_instance)
+                    visited.add(uuid_str)
+                    queue.append(uuid_str)
+
+        return tree_nodes
+
+    def __init__(self, resource: ResourceDictInstance):
+        self.root_node = resource
+        self._validate_tree()
+
+    def _validate_tree(self):
+        """
+        验证树结构的一致性
+        - 验证uuid唯一性
+        - 验证parent-children关系一致性
+
+        Raises:
+            ValueError: 当发现不一致时
+        """
+        known_uuids: set = set()
+
+        def validate_node(node: ResourceDictInstance):
+            # 检查uuid唯一性
+            if node.res_content.uuid in known_uuids:
+                raise ValueError(f"发现重复的uuid: {node.res_content.uuid}")
+            if node.res_content.uuid:
+                known_uuids.add(node.res_content.uuid)
+            else:
+                print(f"警告: 资源 {node.res_content.id} 没有uuid")
+
+            # 验证并递归处理子节点
+            for child in node.children:
+                if child.res_content.parent != node.res_content:
+                    parent_id = child.res_content.parent.id if child.res_content.parent else None
+                    raise ValueError(
+                        f"节点 {child.res_content.id} 的parent引用不正确，应该指向 {node.res_content.id}，但实际指向 {parent_id}"
+                    )
+                validate_node(child)
+
+        validate_node(self.root_node)
+
+    def get_all_nodes(self) -> List[ResourceDictInstance]:
+        """
+        获取树中的所有节点（深度优先遍历）
+
+        Returns:
+            所有节点的资源实例列表
+        """
+        nodes = []
+
+        def collect_nodes(node: ResourceDictInstance):
+            nodes.append(node)
+            for child in node.children:
+                collect_nodes(child)
+
+        collect_nodes(self.root_node)
+        return nodes
+
+    def find_by_uuid(self, target_uuid: str) -> Optional[ResourceDictInstance]:
+        """
+        通过uuid查找节点
+
+        Args:
+            target_uuid: 目标uuid
+
+        Returns:
+            找到的节点资源实例，如果没找到返回None
+        """
+
+        def search(node: ResourceDictInstance) -> Optional[ResourceDictInstance]:
+            if node.res_content.uuid == target_uuid:
+                return node
+            for child in node.children:
+                res = search(child)
+                if res:
+                    return res
+            return None
+
+        result = search(self.root_node)
+        return result
+
+
+class ResourceTreeSet(object):
+    """
+    多个根节点的resource集合，包含多个ResourceTree
+    """
+
+    def __init__(self, resource_list: List[List[ResourceDictInstance]] | List[ResourceTreeInstance]):
+        """
+        初始化资源树集合
+
+        Args:
+            resource_list: 可以是以下两种类型之一：
+                - List[ResourceTree]: 已经构建好的树列表
+                - List[List[ResourceInstanceDict]]: 嵌套列表，每个内部列表代表一棵树
+
+        Raises:
+            TypeError: 当传入不支持的类型时
+        """
+        if not resource_list:
+            self.trees: List[ResourceTreeInstance] = []
+        elif isinstance(resource_list[0], ResourceTreeInstance):
+            # 已经是ResourceTree列表
+            self.trees = cast(List[ResourceTreeInstance], resource_list)
+        elif isinstance(resource_list[0], list):
+            pass
+        else:
+            raise TypeError(
+                f"不支持的类型: {type(resource_list[0])}。"
+                f"ResourceTreeSet 只接受 List[ResourceTree] 或 List[List[ResourceInstanceDict]]"
+            )
+
+    @classmethod
+    def from_plr_resources(cls, resources: List["PLRResource"]) -> "ResourceTreeSet":
+        """
+        从plr资源创建ResourceTreeSet
+        """
+
+        def replace_plr_type(source: str):
+            replace_info = {
+                "plate": "plate",
+                "well": "well",
+                "tip_spot": "container",
+                "trash": "container",
+                "deck": "deck",
+                "tip_rack": "container",
+            }
+            if source in replace_info:
+                return replace_info[source]
+            else:
+                print("转换pylabrobot的时候，出现未知类型", source)
+                return "container"
+
+        def build_uuid_mapping(res: "PLRResource", uuid_list: list):
+            """递归构建uuid映射字典"""
+            uuid_list.append(getattr(res, "unilabos_uuid", ""))
+            for child in res.children:
+                build_uuid_mapping(child, uuid_list)
+
+        def resource_plr_inner(
+            d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
+        ) -> ResourceDictInstance:
+            current_uuid = uuids.pop(0)
+
+            # 先构建当前节点的字典（不包含children）
+            r_dict = {
+                "id": d["name"],
+                "uuid": current_uuid,
+                "name": d["name"],
+                "parent": parent_resource,  # 直接传入 ResourceDict 对象
+                "type": replace_plr_type(d.get("category", "")),
+                "class": d.get("class", ""),
+                "position": (
+                    {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
+                    if d["location"]
+                    else {"x": 0, "y": 0, "z": 0}
+                ),
+                "config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
+                "data": states[d["name"]],
+            }
+
+            # 先转换为 ResourceDictInstance，获取其中的 ResourceDict
+            current_instance = ResourceDictInstance.get_resource_instance_from_dict(r_dict)
+            current_resource = current_instance.res_content
+
+            # 递归处理子节点，传入当前节点的 ResourceDict 作为 parent
+            current_instance.children = [
+                resource_plr_inner(child, current_resource, states, uuids) for child in d["children"]
+            ]
+
+            return current_instance
+
+        trees = []
+        for resource in resources:
+            # 构建uuid列表
+            uuid_list = []
+            build_uuid_mapping(resource, uuid_list)
+
+            serialized_data = resource.serialize()
+            all_states = resource.serialize_all_state()
+
+            # 根节点没有父节点，传入 None
+            root_instance = resource_plr_inner(serialized_data, None, all_states, uuid_list)
+            tree_instance = ResourceTreeInstance(root_instance)
+            trees.append(tree_instance)
+        return cls(trees)
+
+    def to_plr_resources(self) -> Tuple[List["PLRResource"], List[Dict[str, str]]]:
+        """
+        将 ResourceTreeSet 转换为 PLR 资源列表
+
+        Returns:
+            Tuple[List[PLRResource], List[Dict[str, str]]]:
+                - PLR 资源实例列表
+                - 每个资源对应的 name_to_uuid 映射字典列表
+        """
+        from unilabos.resources.graphio import resource_ulab_to_plr
+
+        plr_resources = []
+        name_to_uuid_maps = []
+
+        def build_name_to_uuid_map(node: ResourceDictInstance, result: Dict[str, str]):
+            """递归构建 name 到 uuid 的映射"""
+            result[node.res_content.name] = node.res_content.uuid
+            for child in node.children:
+                build_name_to_uuid_map(child, result)
+
+        for tree in self.trees:
+            # 构建 name_to_uuid 映射
+            name_to_uuid = {}
+            build_name_to_uuid_map(tree.root_node, name_to_uuid)
+
+            # 使用 get_nested_dict 获取字典表示
+            resource_dict = tree.root_node.get_nested_dict()
+
+            # 判断是否包含 model（Deck 下没有 model）
+            plr_model = tree.root_node.res_content.type != "deck"
+
+            try:
+                # 使用 resource_ulab_to_plr 创建 PLR 资源实例
+                plr_resource = resource_ulab_to_plr(resource_dict, plr_model=plr_model)
+
+                # 设置 unilabos_uuid 属性到资源及其所有子节点
+                def set_uuid_recursive(plr_res: "PLRResource", node: ResourceDictInstance):
+                    """递归设置 PLR 资源的 unilabos_uuid 属性"""
+                    setattr(plr_res, "unilabos_uuid", node.res_content.uuid)
+                    # 匹配子节点（通过 name）
+                    for plr_child in plr_res.children:
+                        matching_node = next(
+                            (child for child in node.children if child.res_content.name == plr_child.name),
+                            None,
+                        )
+                        if matching_node:
+                            set_uuid_recursive(plr_child, matching_node)
+
+                set_uuid_recursive(plr_resource, tree.root_node)
+
+                plr_resources.append(plr_resource)
+                name_to_uuid_maps.append(name_to_uuid)
+            except Exception as e:
+                logger.error(f"转换 PLR 资源失败: {e}")
+                import traceback
+
+                logger.error(f"堆栈: {traceback.format_exc()}")
+                raise
+
+        return plr_resources, name_to_uuid_maps
+
+    @classmethod
+    def from_nested_list(cls, nested_list: List[ResourceDictInstance]) -> "ResourceTreeSet":
+        """
+        从扁平化的资源列表创建ResourceTreeSet，自动按根节点分组
+
+        Args:
+            nested_list: 扁平化的资源实例列表，可能包含多个根节点
+
+        Returns:
+            ResourceTreeSet实例
+
+        Raises:
+            ValueError: 当没有找到任何根节点时
+        """
+        # 找到所有根节点
+        known_uuids = {res_instance.res_content.uuid for res_instance in nested_list}
+        root_instances = [
+            ResourceTreeInstance(res_instance)
+            for res_instance in nested_list
+            if res_instance.res_content.is_root_node or res_instance.res_content.parent_uuid not in known_uuids
+        ]
+        return cls(root_instances)
+
+    @property
+    def root_nodes(self) -> List[ResourceDictInstance]:
+        """
+        获取所有树的根节点
+
+        Returns:
+            所有根节点的资源实例列表
+        """
+        return [tree.root_node for tree in self.trees]
+
+    @property
+    def all_nodes(self) -> List[ResourceDictInstance]:
+        """
+        获取所有树中的所有节点
+
+        Returns:
+            所有节点的资源实例列表
+        """
+        return [node for tree in self.trees for node in tree.get_all_nodes()]
+
+    def find_by_uuid(self, target_uuid: str) -> Optional[ResourceDictInstance]:
+        """
+        在所有树中通过uuid查找节点
+
+        Args:
+            target_uuid: 目标uuid
+
+        Returns:
+            找到的节点资源实例，如果没找到返回None
+        """
+        for tree in self.trees:
+            result = tree.find_by_uuid(target_uuid)
+            if result:
+                return result
+        return None
+
+    def dump(self) -> List[List[Dict[str, Any]]]:
+        """
+        将 ResourceTreeSet 序列化为嵌套列表格式
+
+        序列化时：
+        - parent 自动转换为 parent_uuid（在 ResourceDict.model_dump 中处理）
+        - children 不会被序列化（exclude=True）
+
+        Returns:
+            List[List[Dict]]: 每个内层列表代表一棵树的扁平化资源字典列表
+        """
+        result = []
+        for tree in self.trees:
+            # 获取树的所有节点并序列化
+            tree_nodes = [node.res_content.model_dump(by_alias=True) for node in tree.get_all_nodes()]
+            result.append(tree_nodes)
+        return result
+
+    @classmethod
+    def load(cls, data: List[List[Dict[str, Any]]]) -> "ResourceTreeSet":
+        """
+        从序列化的嵌套列表格式反序列化为 ResourceTreeSet
+
+        Args:
+            data: List[List[Dict]]: 序列化的数据，每个内层列表代表一棵树
+
+        Returns:
+            ResourceTreeSet: 反序列化后的资源树集合
+        """
+        # 将每个字典转换为 ResourceInstanceDict
+        # FIXME: 需要重新确定parent关系
+        nested_lists = []
+        for tree_data in data:
+            flatten_instances = [
+                ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in tree_data
+            ]
+            nested_lists.append(flatten_instances)
+
+        # 使用现有的构造函数创建 ResourceTreeSet
+        return cls(nested_lists)
 
 
 class DeviceNodeResourceTracker(object):
@@ -13,6 +530,7 @@ class DeviceNodeResourceTracker(object):
     def __init__(self):
         self.resources = []
         self.resource2parent_resource = {}
+        self.uuid_to_resources = {}
         pass
 
     def prefix_path(self, resource):
@@ -24,6 +542,109 @@ class DeviceNodeResourceTracker(object):
 
         return resource_prefix_path
 
+    def map_uuid_to_resource(self, resource, uuid_map: Dict[str, str]):
+        for old_uuid, new_uuid in uuid_map.items():
+            if old_uuid != new_uuid:
+                if old_uuid in self.uuid_to_resources:
+                    instance = self.uuid_to_resources.pop(old_uuid)
+                    if isinstance(resource, dict):
+                        resource["uuid"] = new_uuid
+                    else:  # 实例的
+                        setattr(instance, "unilabos_uuid", new_uuid)
+                    self.uuid_to_resources[new_uuid] = instance
+                    print(f"更新uuid映射: {old_uuid} -> {new_uuid} | {instance}")
+
+    def loop_set_uuid(self, resource, name_to_uuid_map: Dict[str, str]) -> int:
+        """
+        递归遍历资源树，根据 name 设置所有节点的 uuid
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+            name_to_uuid_map: name到uuid的映射字典，{name: uuid}
+
+        Returns:
+            更新的资源数量
+        """
+        if isinstance(resource, list):
+            return sum(self.loop_set_uuid(r, name_to_uuid_map) for r in resource)
+
+        update_count = 0
+
+        # 先递归处理所有子节点
+        children = getattr(resource, "children", [])
+        for child in children:
+            update_count += self.loop_set_uuid(child, name_to_uuid_map)
+
+        # 获取当前资源的name
+        if isinstance(resource, dict):
+            resource_name = resource.get("name")
+        else:
+            resource_name = getattr(resource, "name", None)
+
+        # 如果name在映射中，则设置uuid
+        if resource_name and resource_name in name_to_uuid_map:
+            new_uuid = name_to_uuid_map[resource_name]
+            # 更新资源的uuid
+            if isinstance(resource, dict):
+                resource["uuid"] = new_uuid
+            else:
+                # 对于PLR资源，设置unilabos_uuid
+                setattr(resource, "unilabos_uuid", new_uuid)
+            self.uuid_to_resources[new_uuid] = resource
+            update_count += 1
+            logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
+
+        return update_count
+
+    def loop_update_uuid(self, resource, uuid_map: Dict[str, str]) -> int:
+        """
+        递归遍历资源树，更新所有节点的uuid
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+            uuid_map: uuid映射字典，{old_uuid: new_uuid}
+
+        Returns:
+            更新的资源数量
+        """
+        if isinstance(resource, list):
+            return sum(self.loop_update_uuid(r, uuid_map) for r in resource)
+
+        update_count = 0
+
+        # 先递归处理所有子节点
+        children = getattr(resource, "children", [])
+        for child in children:
+            update_count += self.loop_update_uuid(child, uuid_map)
+
+        # 获取当前资源的uuid
+        if isinstance(resource, dict):
+            current_uuid = resource.get("uuid")
+        else:
+            current_uuid = getattr(resource, "unilabos_uuid", None)
+
+        # 如果当前uuid在映射中，则更新
+        if current_uuid and current_uuid in uuid_map:
+            new_uuid = uuid_map[current_uuid]
+            if current_uuid != new_uuid:
+                # 更新资源的uuid
+                if isinstance(resource, dict):
+                    resource["uuid"] = new_uuid
+                else:
+                    # 对于PLR资源，更新unilabos_uuid
+                    if hasattr(resource, "unilabos_uuid"):
+                        setattr(resource, "unilabos_uuid", new_uuid)
+
+                # 更新uuid_to_resources映射
+                if current_uuid in self.uuid_to_resources:
+                    instance = self.uuid_to_resources.pop(current_uuid)
+                    self.uuid_to_resources[new_uuid] = instance
+
+                update_count += 1
+                logger.debug(f"更新uuid: {current_uuid} -> {new_uuid} | {resource}")
+
+        return update_count
+
     def parent_resource(self, resource):
         if id(resource) in self.resource2parent_resource:
             return self.resource2parent_resource[id(resource)]
@@ -47,12 +668,12 @@ class DeviceNodeResourceTracker(object):
         ):  # 临时处理，要删除的，driver有太多类型错误标注
             return [self.figure_resource(r, try_mode) for r in query_resource.values()]
         res_id = (
-            query_resource.id
+            query_resource.id  # type: ignore
             if hasattr(query_resource, "id")
             else (query_resource.get("id") if isinstance(query_resource, dict) else None)
         )
         res_name = (
-            query_resource.name
+            query_resource.name  # type: ignore
             if hasattr(query_resource, "name")
             else (query_resource.get("name") if isinstance(query_resource, dict) else None)
         )
@@ -65,7 +686,7 @@ class DeviceNodeResourceTracker(object):
         for r in self.resources:
             if isinstance(query_resource, dict):
                 res_list.extend(
-                    self.loop_find_resource(r, resource_cls_type, identifier_key, query_resource[identifier_key])
+                    self.loop_find_resource(r, object, identifier_key, query_resource[identifier_key])
                 )
             else:
                 res_list.extend(
@@ -93,7 +714,7 @@ class DeviceNodeResourceTracker(object):
             res_list.extend(
                 self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource)
             )
-        if target_resource_cls_type == type(resource):
+        if issubclass(type(resource), target_resource_cls_type):
             if target_resource_cls_type == dict:
                 if identifier_key in resource:
                     if resource[identifier_key] == compare_value:
@@ -111,3 +732,137 @@ class DeviceNodeResourceTracker(object):
                     if getattr(res, k) == v:
                         new_list.append(res)
         return new_list
+
+
+if __name__ == "__main__":
+    import sys
+    import os
+
+    a = corning_6_wellplate_16point8ml_flat("a").serialize()
+    # 尝试导入 pylabrobot，如果失败则尝试从本地 pylabrobot_repo 导入
+    try:
+        from pylabrobot.resources import Resource, Coordinate
+    except ImportError:
+        # 尝试添加本地 pylabrobot_repo 路径
+        # __file__ is unilabos/ros/nodes/resource_tracker.py
+        # We need to go up 4 levels to get to project root
+        current_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
+        pylabrobot_path = os.path.join(current_dir, "pylabrobot_repo")
+        if os.path.exists(pylabrobot_path):
+            sys.path.insert(0, pylabrobot_path)
+            try:
+                from pylabrobot.resources import Resource, Coordinate
+            except ImportError:
+                print("pylabrobot 未安装，且无法从本地 pylabrobot_repo 导入")
+                print("如需运行测试，请先安装: pip install pylabrobot")
+                exit(0)
+        else:
+            print("pylabrobot 未安装，跳过测试")
+            print("如需运行测试，请先安装: pip install pylabrobot")
+            exit(0)
+
+    # 创建一个简单的测试资源
+    def create_test_resource(name: str):
+        """创建一个简单的测试用资源"""
+        # 创建父资源
+        parent = Resource(name=name, size_x=100.0, size_y=100.0, size_z=50.0, category="container")
+
+        # 添加一些子资源
+        for i in range(3):
+            child = Resource(name=f"{name}_child_{i}", size_x=20.0, size_y=20.0, size_z=10.0, category="container")
+            child.location = Coordinate(x=i * 30, y=0, z=0)
+            parent.assign_child_resource(child, location=child.location)
+
+        return parent
+
+    print("=" * 80)
+    print("测试 1: 基本序列化和反序列化")
+    print("=" * 80)
+
+    # 创建原始 PLR 资源
+    original_resource = create_test_resource("test_resource")
+    print(f"\n1. 创建原始 PLR 资源: {original_resource.name}")
+    print(f"   子节点数量: {len(original_resource.children)}")
+
+    # 手动设置 unilabos_uuid（模拟实际使用场景）
+    def set_test_uuid(res: "PLRResource", prefix="uuid"):
+        """递归设置测试用的 uuid"""
+        import uuid as uuid_module
+
+        setattr(res, "unilabos_uuid", f"{prefix}-{uuid_module.uuid4()}")
+        for i, child in enumerate(res.children):
+            set_test_uuid(child, f"{prefix}-{i}")
+
+    set_test_uuid(original_resource, "root")
+    print(f"   根节点 UUID: {getattr(original_resource, 'unilabos_uuid', 'None')}")
+
+    # 转换为 ResourceTreeSet (from_plr_resources)
+    print("\n2. 使用 from_plr_resources 转换为 ResourceTreeSet")
+    resource_tree_set = ResourceTreeSet.from_plr_resources([original_resource])
+    print(f"   树的数量: {len(resource_tree_set.trees)}")
+    print(f"   根节点名称: {resource_tree_set.root_nodes[0].res_content.name}")
+    print(f"   根节点 UUID: {resource_tree_set.root_nodes[0].res_content.uuid}")
+    print(f"   总节点数: {len(resource_tree_set.all_nodes)}")
+
+    # 转换回 PLR 资源 (to_plr_resources)
+    print("\n3. 使用 to_plr_resources 转换回 PLR 资源")
+    try:
+        plr_resources, name_to_uuid_maps = resource_tree_set.to_plr_resources()
+    except ModuleNotFoundError as e:
+        print(f"   ❌ 缺少依赖模块: {e}")
+        print("   提示: to_plr_resources 方法实现完成，但需要安装额外的依赖（如 networkx）")
+        print("\n测试部分完成！from_plr_resources 已验证正常工作。")
+        exit(0)
+    print(f"   PLR 资源数量: {len(plr_resources)}")
+    print(f"   name_to_uuid 映射数量: {len(name_to_uuid_maps)}")
+
+    restored_resource = plr_resources[0]
+    name_to_uuid = name_to_uuid_maps[0]
+
+    print(f"   恢复的资源名称: {restored_resource.name}")
+    print(f"   恢复的资源子节点数: {len(restored_resource.children)}")
+    print(f"   恢复的资源 UUID: {getattr(restored_resource, 'unilabos_uuid', 'None')}")
+    print(f"   name_to_uuid 映射条目数: {len(name_to_uuid)}")
+
+    # 验证 UUID 映射
+    print("\n4. 验证 UUID 映射")
+    original_uuid = getattr(original_resource, "unilabos_uuid", None)
+    restored_uuid = getattr(restored_resource, "unilabos_uuid", None)
+    print(f"   原始根节点 UUID: {original_uuid}")
+    print(f"   恢复后根节点 UUID: {restored_uuid}")
+    print(f"   UUID 匹配: {original_uuid == restored_uuid}")
+
+    # 验证 name_to_uuid 映射完整性
+    def count_all_nodes(res: "PLRResource") -> int:
+        """递归统计节点总数"""
+        return 1 + sum(count_all_nodes(child) for child in res.children)
+
+    original_node_count = count_all_nodes(original_resource)
+    restored_node_count = count_all_nodes(restored_resource)
+    mapping_count = len(name_to_uuid)
+
+    print(f"\n   原始资源节点总数: {original_node_count}")
+    print(f"   恢复资源节点总数: {restored_node_count}")
+    print(f"   映射字典条目数: {mapping_count}")
+    print(f"   节点数量匹配: {original_node_count == restored_node_count == mapping_count}")
+
+    # 验证子节点的 UUID
+    print("\n5. 验证子节点 UUID (前3个)")
+    for i, (original_child, restored_child) in enumerate(
+        zip(original_resource.children[:3], restored_resource.children[:3])
+    ):
+        orig_uuid = getattr(original_child, "unilabos_uuid", None)
+        rest_uuid = getattr(restored_child, "unilabos_uuid", None)
+        print(f"   子节点 {i}: {original_child.name}")
+        print(f"     原始 UUID: {orig_uuid}")
+        print(f"     恢复 UUID: {rest_uuid}")
+        print(f"     匹配: {orig_uuid == rest_uuid}")
+
+    # 测试 name_to_uuid 映射的正确性
+    print("\n6. 验证 name_to_uuid 映射内容 (前5个)")
+    for i, (name, uuid_val) in enumerate(list(name_to_uuid.items())[:5]):
+        print(f"   {name} -> {uuid_val}")
+
+    print("\n" + "=" * 80)
+    print("测试完成！")
+    print("=" * 80)

unilabos/ros/utils/driver_creator.py

@@ -4,6 +4,7 @@
 这个模块包含用于创建设备类实例的工厂类。
 基础工厂类提供通用的实例创建方法，而特定工厂类提供针对特定设备类的创建方法。
 """
+
 import asyncio
 import inspect
 import traceback
@@ -53,7 +54,6 @@ class DeviceClassCreator(Generic[T]):
                 if c["type"] != "device":
                     self.resource_tracker.add_resource(c)
 
-
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
         创建设备类实例
@@ -118,7 +118,9 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             return nested_dict_to_list(resource), Resource
         return resource, source_type
 
-    def _process_resource_references(self, data: Any, to_dict=False, states=None, prefix_path="") -> Any:
+    def _process_resource_references(
+        self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
+    ) -> Any:
         """
         递归处理资源引用，替换_resource_child_name对应的资源
 
@@ -127,11 +129,13 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             to_dict: 是否返回字典形式的资源
             states: 用于保存所有资源状态
             prefix_path: 当前递归路径
+            name_to_uuid: name到uuid的映射字典
 
         Returns:
             处理后的数据
         """
         from pylabrobot.resources import Deck, Resource
+
         if states is None:
             states = {}
 
@@ -155,6 +159,9 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                                 return serialized
                             else:
                                 self.resource_tracker.add_resource(resource_instance)
+                                # 立即设置UUID
+                                if name_to_uuid:
+                                    self.resource_tracker.loop_set_uuid(resource_instance, name_to_uuid)
                             return resource_instance
                         except Exception as e:
                             logger.warning(f"无法导入资源类型 {type_path}: {e}")
@@ -169,12 +176,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             result = {}
             for key, value in data.items():
                 new_prefix = f"{prefix_path}.{key}" if prefix_path else key
-                result[key] = self._process_resource_references(value, to_dict, states, new_prefix)
+                result[key] = self._process_resource_references(value, to_dict, states, new_prefix, name_to_uuid)
             return result
 
         elif isinstance(data, list):
             return [
-                self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]")
+                self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
                 for i, item in enumerate(data)
             ]
 
@@ -193,22 +200,42 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         """
         deserialize_error = None
         stack = None
+
+        # 递归遍历 children 构建 name_to_uuid 映射
+        def collect_name_to_uuid(children_dict: Dict[str, Any], result: Dict[str, str]):
+            """递归遍历嵌套的 children 字典，收集 name 到 uuid 的映射"""
+            for child in children_dict.values():
+                if isinstance(child, dict):
+                    result[child["name"]] = child["uuid"]
+                    collect_name_to_uuid(child["children"], result)
+
+        name_to_uuid = {}
+        collect_name_to_uuid(self.children, name_to_uuid)
         if self.has_deserialize:
             deserialize_method = getattr(self.device_cls, "deserialize")
             spect = inspect.signature(deserialize_method)
             spec_args = spect.parameters
             for param_name, param_value in data.copy().items():
-                if isinstance(param_value, dict) and "_resource_child_name" in param_value and "_resource_type" not in param_value:
+                if (
+                    isinstance(param_value, dict)
+                    and "_resource_child_name" in param_value
+                    and "_resource_type" not in param_value
+                ):
                     arg_value = spec_args[param_name].annotation
                     data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
                     logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
 
             # 首先处理资源引用
             states = {}
-            processed_data = self._process_resource_references(data, to_dict=True, states=states)
+            processed_data = self._process_resource_references(
+                data, to_dict=True, states=states, name_to_uuid=name_to_uuid
+            )
 
             try:
-                self.device_instance = deserialize_method(**processed_data)
+                from pylabrobot.resources import Resource
+
+                self.device_instance: Resource = deserialize_method(**processed_data)
+                self.resource_tracker.loop_set_uuid(self.device_instance, name_to_uuid)
                 all_states = self.device_instance.serialize_all_state()
                 for k, v in states.items():
                     logger.debug(f"PyLabRobot反序列化设置状态：{k}")
@@ -229,11 +256,15 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                 spect = inspect.signature(self.device_cls.__init__)
                 spec_args = spect.parameters
                 for param_name, param_value in data.copy().items():
-                    if isinstance(param_value, dict) and "_resource_child_name" in param_value and "_resource_type" not in param_value:
+                    if (
+                        isinstance(param_value, dict)
+                        and "_resource_child_name" in param_value
+                        and "_resource_type" not in param_value
+                    ):
                         arg_value = spec_args[param_name].annotation
                         data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
                         logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
-                processed_data = self._process_resource_references(data, to_dict=False)
+                processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
                 self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)
             except Exception as e:
                 logger.error(f"PyLabRobot创建实例失败: {e}")
@@ -247,22 +278,31 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         return self.device_instance
 
     def post_create(self):
-        if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")):
+        if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(
+            getattr(self.device_instance, "setup")
+        ):
             from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+
             def done_cb(*args):
                 from pylabrobot.resources import set_volume_tracking
+
                 # from pylabrobot.resources import set_tip_tracking
                 set_volume_tracking(enabled=True)
                 # set_tip_tracking(enabled=True)  # 序列化tip_spot has为False
                 logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")
                 from unilabos.config.config import BasicConfig
+
                 if BasicConfig.vis_2d_enable:
                     from pylabrobot.visualizer.visualizer import Visualizer
+
                     vis = Visualizer(resource=self.device_instance, open_browser=True)
+
                     def vis_done_cb(*args):
                         logger.info(f"PyLabRobot设备实例开启了Visualizer {self.device_instance}")
+
                     ROS2DeviceNode.run_async_func(vis.setup).add_done_callback(vis_done_cb)
                     logger.debug(f"PyLabRobot设备实例提交开启Visualizer {self.device_instance}")
+
             ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(done_cb)
 
 
@@ -299,6 +339,7 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
             deck_dict = data.get("deck")
             if deck_dict:
                 from pylabrobot.resources import Deck, Resource
+
                 plrc = PyLabRobotCreator(Deck, self.children, self.resource_tracker)
                 deck = plrc.create_instance(deck_dict)
                 data["deck"] = deck