liquid states

unilabos/ros/utils/driver_creator.py

@@ -105,40 +105,41 @@ 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) -> Any:
+    def _process_resource_references(self, data: Any, to_dict=False, states=None, prefix_path="") -> Any:
         """
         递归处理资源引用，替换_resource_child_name对应的资源
 
         Args:
             data: 需要处理的数据，可能是字典、列表或其他类型
-            to_dict: 转换成对应的实例，还是转换成对应的字典
+            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
 
         Returns:
             处理后的数据
         """
         from pylabrobot.resources import Deck, Resource
+        if states is None:
+            states = {}
 
         if isinstance(data, dict):
-            # 检查是否包含资源引用
             if "_resource_child_name" in data:
                 child_name = data["_resource_child_name"]
                 if child_name in self.children:
-                    # 找到了对应的资源
                     resource = self.children[child_name]
-
-                    # 检查是否需要转换资源类型
                     if "_resource_type" in data:
                         type_path = data["_resource_type"]
                         try:
-                            # 尝试导入指定的类型
                             target_type = import_manager.get_class(type_path)
                             contain_model = not issubclass(target_type, Deck)
                             resource, target_type = self._process_resource_mapping(resource, target_type)
-                            # 在截图中格式，是deserialize，所以这里要转成plr resource可deserialize的字典
-                            # 这样后面执行deserialize的时候能够正确反序列化对应的物料
                             resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)
+
+                            # 使用 prefix_path 作为 key 存储资源状态
                             if to_dict:
-                                return resource_instance.serialize()
+                                serialized = resource_instance.serialize()
+                                states[prefix_path] = resource_instance.serialize_all_state()
+                                return serialized
                             else:
                                 self.resource_tracker.add_resource(resource_instance)
                             return resource_instance
@@ -151,18 +152,21 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                 else:
                     logger.warning(f"找不到资源引用 '{child_name}'，保持原值不变")
 
-            # 递归处理字典的每个值
+            # 递归处理每个键值
             result = {}
             for key, value in data.items():
-                result[key] = self._process_resource_references(value, to_dict)
+                new_prefix = f"{prefix_path}.{key}" if prefix_path else key
+                result[key] = self._process_resource_references(value, to_dict, states, new_prefix)
             return result
 
-        # 处理列表类型
         elif isinstance(data, list):
-            return [self._process_resource_references(item, to_dict) for item in data]
+            return [
+                self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]")
+                for i, item in enumerate(data)
+            ]
 
-        # 其他类型直接返回
-        return data
+        else:
+            return data
 
     def create_instance(self, data: Dict[str, Any]) -> Optional[T]:
         """
@@ -187,10 +191,18 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                     logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
 
             # 首先处理资源引用
-            processed_data = self._process_resource_references(data, to_dict=True)
+            states = {}
+            processed_data = self._process_resource_references(data, to_dict=True, states=states)
 
             try:
                 self.device_instance = deserialize_method(**processed_data)
+                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}")
+                    for kk, vv in all_states.items():
+                        if kk not in v:
+                            v[kk] = vv
+                    self.device_instance.deck.load_all_state(v)
                 self.resource_tracker.add_resource(self.device_instance)
                 self.post_create()
                 return self.device_instance  # type: ignore
@@ -225,6 +237,10 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         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: