fix sub-resource query in protocol node compiling

unilabos/compile/adjustph_protocol.py

@@ -237,14 +237,14 @@ def generate_adjust_ph_protocol(
     
     # 统一处理vessel参数
     if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
         vessel_data = vessel.get("data", {})
     else:
         vessel_id = str(vessel)
         vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
     
     if not vessel_id:
-        debug_print("❌ vessel 参数无效，必须包含id字段或直接提供容器ID")
+        debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
         raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
     
     debug_print("=" * 60)

unilabos/compile/stir_protocol.py

@@ -149,7 +149,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
         str: vessel_id
     """
     if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
         debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
         return vessel_id
     elif isinstance(vessel, str):

unilabos/compile/wash_solid_protocol.py

@@ -165,7 +165,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
         str: vessel_id
     """
     if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
         debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
         return vessel_id
     elif isinstance(vessel, str):

unilabos/registry/devices/virtual_device.yaml

@@ -4548,7 +4548,6 @@ virtual_solid_dispenser:
             feedback: {}
             goal:
               properties: {}
-              required: []
               type: object
             result: {}
           required:
@@ -4556,30 +4555,6 @@ virtual_solid_dispenser:
           title: cleanup参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-find_solid_reagent_bottle:
-        feedback: {}
-        goal: {}
-        goal_default:
-          reagent_name: null
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                reagent_name:
-                  type: string
-              required:
-              - reagent_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: find_solid_reagent_bottle参数
-          type: object
-        type: UniLabJsonCommand
       auto-initialize:
         feedback: {}
         goal: {}
@@ -4592,7 +4567,6 @@ virtual_solid_dispenser:
             feedback: {}
             goal:
               properties: {}
-              required: []
               type: object
             result: {}
           required:
@@ -4600,58 +4574,9 @@ virtual_solid_dispenser:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-parse_mass_string:
-        feedback: {}
-        goal: {}
-        goal_default:
-          mass_str: null
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                mass_str:
-                  type: string
-              required:
-              - mass_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: parse_mass_string参数
-          type: object
-        type: UniLabJsonCommand
-      auto-parse_mol_string:
-        feedback: {}
-        goal: {}
-        goal_default:
-          mol_str: null
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                mol_str:
-                  type: string
-              required:
-              - mol_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: parse_mol_string参数
-          type: object
-        type: UniLabJsonCommand
     module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
     status_types:
       current_reagent: str
-      device_info: dict
       dispensed_amount: float
       status: str
       total_operations: int
@@ -4683,14 +4608,18 @@ virtual_solid_dispenser:
           type: object
         device_id:
           type: string
+        max_capacity:
+          default: 100.0
+          type: number
+        precision:
+          default: 0.001
+          type: number
       required: []
       type: object
     data:
       properties:
         current_reagent:
           type: string
-        device_info:
-          type: object
         dispensed_amount:
           type: number
         status:
@@ -4702,7 +4631,6 @@ virtual_solid_dispenser:
       - current_reagent
       - dispensed_amount
       - total_operations
-      - device_info
       type: object
   version: 0.0.1
 virtual_stirrer:
@@ -5993,176 +5921,3 @@ virtual_vacuum_pump:
       - status
       type: object
   version: 0.0.1
-virtual_solid_dispenser:
-  class:
-    action_value_mappings:
-      auto-cleanup:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: cleanup的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              type: object
-            result: {}
-          required:
-          - goal
-          title: cleanup参数
-          type: object
-        type: UniLabJsonCommandAsync
-      auto-initialize:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: initialize的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              type: object
-            result: {}
-          required:
-          - goal
-          title: initialize参数
-          type: object
-        type: UniLabJsonCommandAsync
-      add_solid:
-        feedback:
-          current_status: status
-          progress: progress
-        goal:
-          vessel: vessel
-          reagent: reagent
-          mass: mass
-          mol: mol
-          purpose: purpose
-          event: event
-          rate_spec: rate_spec
-          equiv: equiv
-          ratio: ratio
-        goal_default:
-          vessel: ''
-          reagent: ''
-          mass: ''
-          mol: ''
-          purpose: ''
-          event: ''
-          rate_spec: ''
-          equiv: ''
-          ratio: ''
-        handles: []
-        result:
-          success: success
-          message: message
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                current_status:
-                  type: string
-                progress:
-                  type: number
-              type: object
-            goal:
-              properties:
-                vessel:
-                  type: string
-                reagent:
-                  type: string
-                mass:
-                  type: string
-                mol:
-                  type: string
-                purpose:
-                  type: string
-                event:
-                  type: string
-                rate_spec:
-                  type: string
-                equiv:
-                  type: string
-                ratio:
-                  type: string
-              type: object
-            result:
-              properties:
-                success:
-                  type: boolean
-                message:
-                  type: string
-                return_info:
-                  type: string
-              type: object
-          required:
-          - goal
-          title: AddSolid
-          type: object
-        type: Add  # 🔧 使用 Add action type
-    module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
-    status_types:
-      status: str
-      current_reagent: str
-      dispensed_amount: float
-      total_operations: int
-    type: python
-  description: Virtual Solid Dispenser for Add Protocol Testing - supports mass and molar additions
-  handles:
-  - data_key: solid_out
-    data_source: executor
-    data_type: resource
-    description: 固体试剂输出口
-    handler_key: SolidOut
-    io_type: source
-    label: SolidOut
-    side: SOUTH
-  - data_key: solid_in
-    data_source: handle
-    data_type: resource
-    description: 固体试剂输入口（连接试剂瓶）
-    handler_key: SolidIn
-    io_type: target
-    label: SolidIn
-    side: NORTH
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        max_capacity:
-          default: 100.0
-          type: number
-        precision:
-          default: 0.001
-          type: number
-        config:
-          type: object
-        device_id:
-          type: string
-      required: []
-      type: object
-    data:
-      properties:
-        status:
-          type: string
-        current_reagent:
-          type: string
-        dispensed_amount:
-          type: number
-        total_operations:
-          type: integer
-      required:
-      - status
-      - current_reagent
-      - dispensed_amount
-      - total_operations
-      type: object
-  version: 0.0.1

unilabos/resources/graphio.py

@@ -248,7 +248,7 @@ def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
     root_nodes = {
         node["id"]: node
         for node in nodes_list
-        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan]
+        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or len(nodes_list) == 1
     }
 
     # 如果存在多个根节点，返回所有根节点

unilabos/ros/nodes/presets/protocol_node.py

@@ -189,45 +189,26 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
                 # # 🔧 完全禁用Host查询，直接使用转换后的数据
                 # print(f"🔧 跳过Host查询，直接使用转换后的数据")
-                
+                # 向Host查询物料当前状态
-                # 🔧 额外验证：确保vessel数据完整
+                for k, v in goal.get_fields_and_field_types().items():
-                if 'vessel' in protocol_kwargs:
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                    vessel_data = protocol_kwargs['vessel']
+                        r = ResourceGet.Request()
-                    #print(f"🔍 验证vessel数据: {vessel_data}")
+                        resource_id = (
-                    
+                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                    # 如果vessel是空字典，尝试重新构建
+                        )
-                    if not vessel_data or (isinstance(vessel_data, dict) and not vessel_data):
+                        r.id = resource_id
-                    #    print(f"⚠️ vessel数据为空，尝试从原始goal重新提取...")
+                        r.with_children = True
-                        
+                        response = await self._resource_clients["resource_get"].call_async(r)
-                        # 直接从原始goal提取vessel
+                        protocol_kwargs[k] = list_to_nested_dict(
-                        if hasattr(goal, 'vessel') and goal.vessel:
+                            [convert_from_ros_msg(rs) for rs in response.resources]
-                    #        print(f"🔍 原始goal.vessel: {goal.vessel}")
+                        )
-                            # 手动转换vessel
-                            vessel_data = {
-                                'id': goal.vessel.id,
-                                'name': goal.vessel.name,
-                                'type': goal.vessel.type,
-                                'category': goal.vessel.category,
-                                'config': goal.vessel.config,
-                                'data': goal.vessel.data
-                            }
-                            protocol_kwargs['vessel'] = vessel_data
-                    #        print(f"✅ 手动重建vessel数据: {vessel_data}")
-                        else:
-                    #        print(f"❌ 无法从原始goal提取vessel数据")
-                            # 创建一个基本的vessel
-                            vessel_data = {'id': 'default_vessel'}
-                            protocol_kwargs['vessel'] = vessel_data
-                    #        print(f"🔧 创建默认vessel: {vessel_data}")
 
-                #print(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
+                self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
-                #print(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
+                self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 
                 from unilabos.resources.graphio import physical_setup_graph
 
                 self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
-                self.lab_logger().info(f"Protocol kwargs: {goal}")
-                self.lab_logger().info(f"Protocol kwargs: {action_value_mapping}")
                 protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
                 
                 self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
@@ -263,14 +244,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                             }
                         )
 
-                # # 向Host更新物料当前状态
+                # 向Host更新物料当前状态
-                # for k, v in goal.get_fields_and_field_types().items():
+                for k, v in goal.get_fields_and_field_types().items():
-                #     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                #         r = ResourceUpdate.Request()
+                        r = ResourceUpdate.Request()
-                #         r.resources = [
+                        r.resources = [
-                #             convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                #         ]
+                        ]
-                #         response = await self._resource_clients["resource_update"].call_async(r)
+                        response = await self._resource_clients["resource_update"].call_async(r)
 
                 # 设置成功状态和返回值
                 execution_success = True