Fix update with different spot and same parent

unilabos/resources/itemized_carrier.py

@@ -149,6 +149,7 @@ class ItemizedCarrier(ResourcePLR):
 
     if not reassign and self.sites[idx] is not None:
       raise ValueError(f"a site with index {idx} already exists")
+    location = list(self.child_locations.values())[idx]
     super().assign_child_resource(resource, location=location, reassign=reassign)
     self.sites[idx] = resource
 

unilabos/resources/resource_tracker.py

@@ -14,9 +14,9 @@ if TYPE_CHECKING:
 
 
 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)
+    depth: float = Field(description="Depth", default=0.0)  # z
+    width: float = Field(description="Width", default=0.0)  # x
+    height: float = Field(description="Height", default=0.0)  # y
 
 
 class ResourceDictPositionScale(BaseModel):
@@ -469,9 +469,9 @@ class ResourceTreeSet(object):
                 **res.config,
                 "name": res.name,
                 "type": res.config.get("type", plr_type),
-                "size_x": res.config.get("size_x", 0),
-                "size_y": res.config.get("size_y", 0),
-                "size_z": res.config.get("size_z", 0),
+                "size_x": res.pose.size.width,
+                "size_y": res.pose.size.height,
+                "size_z": res.pose.size.depth,
                 "location": {
                     "x": res.pose.position.x,
                     "y": res.pose.position.y,

unilabos/ros/nodes/base_device_node.py

@@ -844,6 +844,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     and original_parent_resource is not None
                 ):
                     self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                else:
+                    # 判断是否变更了resource_site
+                    target_site = original_instance.unilabos_extra.get("update_resource_site")
+                    sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
+                    site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
+                    if target_site is not None and sites is not None and site_names is not None:
+                        site_index = sites.index(original_instance)
+                        site_name = site_names[site_index]
+                        if site_name != target_site:
+                            self.transfer_to_new_resource(original_instance, tree, additional_add_params)
 
                 # 加载状态
                 original_instance.load_all_state(states)
@@ -881,6 +891,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             raise ValueError("tree_set不能为None")
                         plr_resources = tree_set.to_plr_resources()
                         result = _handle_add(plr_resources, tree_set, additional_add_params)
+                        new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
+                        r = SerialCommand.Request()
+                        r.command = json.dumps(
+                            {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
+                        response: SerialCommand_Response = await self._resource_clients[
+                            "c2s_update_resource_tree"].call_async(r)  # type: ignore
+                        self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
                         results.append(result)
                     elif action == "update":
                         if tree_set is None:
@@ -891,7 +908,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 plr_resources.append(tree.root_node)
                             else:
                                 plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
+                        new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
                         result = _handle_update(plr_resources, tree_set, additional_add_params)
+                        r = SerialCommand.Request()
+                        r.command = json.dumps(
+                            {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
+                        response: SerialCommand_Response = await self._resource_clients[
+                            "c2s_update_resource_tree"].call_async(r)  # type: ignore
+                        self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
                         results.append(result)
                     elif action == "remove":
                         result = _handle_remove(resources_uuid)
@@ -1758,6 +1782,7 @@ class ROS2DeviceNode:
             or driver_class.__name__ == "LiquidHandlerBiomek"
             or driver_class.__name__ == "PRCXI9300Handler"
             or driver_class.__name__ == "TransformXYZHandler"
+            or driver_class.__name__ == "OpcUaClient"
         )
 
         # 创建设备类实例