Add set_liquid example.

unilabos/registry/devices/liquid_handler.yaml

@@ -9278,7 +9278,13 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: {}
+        handles:
+          input:
+          - data_key: wells
+            data_source: handle
+            data_type: resource
+            handler_key: input_wells
+            label: InputWells
         placeholder_keys:
           wells: unilabos_resources
         result: {}

unilabos/registry/registry.py

@@ -127,14 +127,14 @@ class Registry:
                                             "data_type": "resource",
                                             "label": "Labware",
                                             "data_source": "executor",
-                                            "data_key": "created_resource_tree",
+                                            "data_key": "created_resource_tree.@flatten",
                                         },
                                         {
                                             "handler_key": "liquid_slots",
                                             "data_type": "resource",
                                             "label": "LiquidSlots",
                                             "data_source": "executor",
-                                            "data_key": "liquid_input_resource_tree",
+                                            "data_key": "liquid_input_resource_tree.@flatten",
                                         },
                                         {
                                             "handler_key": "materials",

unilabos/ros/msgs/message_converter.py

@@ -159,10 +159,14 @@ _msg_converter: Dict[Type, Any] = {
             else Pose()
         ),
         config=json.dumps(x.get("config", {})),
-        data=json.dumps(x.get("data", {})),
+        data=json.dumps(obtain_data_with_uuid(x)),
     ),
 }
 
+def obtain_data_with_uuid(x: dict):
+    data = x.get("data", {})
+    data["unilabos_uuid"] = x.get("uuid", None)
+    return data
 
 def json_or_yaml_loads(data: str) -> Any:
     try:

unilabos/ros/nodes/base_device_node.py

@@ -430,8 +430,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             })
             tree_response: SerialCommand.Response = await client.call_async(request)
             uuid_maps = json.loads(tree_response.response)
-            self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
+            plr_instances = rts.to_plr_resources()
-            rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
+            for plr_instance in plr_instances:
+                self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
+            rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances)
             self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
             final_response = {
                 "created_resource_tree": rts.dump(),
@@ -461,7 +463,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 return res
             try:
                 if len(rts.root_nodes) == 1 and parent_resource is not None:
-                    plr_instance = rts.to_plr_resources()[0]
+                    plr_instance = plr_instances[0]
                     if isinstance(plr_instance, Plate):
                         empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
                         if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
@@ -1281,9 +1283,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             # 批量查询资源
                             queried_resources = []
                             for resource_data in resource_inputs:
-                                plr_resource = await self.get_resource_with_dir(
+                                unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
-                                    resource_id=resource_data["id"], with_children=True
+                                if unilabos_uuid is None:
-                                )
+                                    plr_resource = await self.get_resource_with_dir(
+                                        resource_id=resource_data["id"], with_children=True
+                                    )
+                                else:
+                                    resource_tree = await self.get_resource([unilabos_uuid])
+                                    plr_resource = resource_tree.to_plr_resources()[0]
                                 if "sample_id" in resource_data:
                                     plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
                                 queried_resources.append(plr_resource)
@@ -1423,7 +1430,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 for r in rs:
                                     res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
                             else:
-                                res = self.resource_tracker.parent_resource(r)
+                                res = self.resource_tracker.parent_resource(rs)
                             if id(res) not in seen:
                                 seen.add(id(res))
                                 unique_resources.append(res)

unilabos/ros/nodes/presets/host_node.py

@@ -1244,7 +1244,7 @@ class HostNode(BaseROS2DeviceNode):
             data = json.loads(request.command)
             if "uuid" in data and data["uuid"] is not None:
                 http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
-            elif "id" in data and data["id"].startswith("/"):
+            elif "id" in data:
                 http_req = http_client.resource_get(data["id"], data["with_children"])
             else:
                 raise ValueError("没有使用正确的物料 id 或 uuid")
@@ -1463,7 +1463,7 @@ class HostNode(BaseROS2DeviceNode):
         if resource is None:
             resource = RegularContainer("test_resource传入None")
         return {
-            "resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
+            "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
             "devices": [device, *devices],
         }