fix resource_get param

unilabos/app/backend.py

@@ -13,7 +13,7 @@ def start_backend(
     graph=None,
     controllers_config: dict = {},
     bridges=[],
-    without_host: bool = False,
+    is_slave: bool = False,
     visual: str = "None",
     resources_mesh_config: dict = {},
     **kwargs,
@@ -32,7 +32,7 @@ def start_backend(
         raise ValueError(f"Unsupported backend: {backend}")
 
     backend_thread = threading.Thread(
-        target=main if not without_host else slave,
+        target=main if not is_slave else slave,
         args=(
             devices_config,
             resources_config,

unilabos/app/main.py

@@ -375,22 +375,23 @@ def main():
 
     args_dict["bridges"] = []
 
-    # 获取通信客户端（仅支持WebSocket）
-    comm_client = get_communication_client()
-
-    if "websocket" in args_dict["app_bridges"]:
-        args_dict["bridges"].append(comm_client)
     if "fastapi" in args_dict["app_bridges"]:
         args_dict["bridges"].append(http_client)
-    if "websocket" in args_dict["app_bridges"]:
+    # 获取通信客户端（仅支持WebSocket）
+    if BasicConfig.is_host_mode:
+        comm_client = get_communication_client()
+        if "websocket" in args_dict["app_bridges"]:
+            args_dict["bridges"].append(comm_client)
+            def _exit(signum, frame):
+                comm_client.stop()
+                sys.exit(0)
 
-        def _exit(signum, frame):
-            comm_client.stop()
-            sys.exit(0)
+            signal.signal(signal.SIGINT, _exit)
+            signal.signal(signal.SIGTERM, _exit)
+            comm_client.start()
+    else:
+        print_status("SlaveMode跳过Websocket连接")
 
-        signal.signal(signal.SIGINT, _exit)
-        signal.signal(signal.SIGTERM, _exit)
-        comm_client.start()
     args_dict["resources_mesh_config"] = {}
     args_dict["resources_edge_config"] = resource_edge_info
     # web visiualize 2D

unilabos/app/register.py

@@ -1,11 +1,12 @@
 import json
 import time
+from typing import Optional, Tuple, Dict, Any
 
 from unilabos.utils.log import logger
 from unilabos.utils.type_check import TypeEncoder
 
 
-def register_devices_and_resources(lab_registry):
+def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
     """
     注册设备和资源到服务器（仅支持HTTP）
     """
@@ -28,6 +29,8 @@ def register_devices_and_resources(lab_registry):
         resources_to_register[resource_info["id"]] = resource_info
         logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
 
+    if gather_only:
+        return devices_to_register, resources_to_register
     # 注册设备
     if devices_to_register:
         try:

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -1,11 +1,11 @@
 from __future__ import annotations
-import re
-import traceback
-from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
-from collections import Counter
+
 import asyncio
 import time
-import pprint as pp
+import traceback
+from collections import Counter
+from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
+
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection

unilabos/ros/main_slave_run.py

@@ -6,11 +6,12 @@ from typing import Optional, Dict, Any, List
 import rclpy
 from unilabos_msgs.srv._serial_command import SerialCommand_Response
 
+from unilabos.app.register import register_devices_and_resources
 from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
 from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
 from unilabos_msgs.srv import SerialCommand  # type: ignore
-from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor
+from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.timer import Timer
 
@@ -108,66 +109,51 @@ def slave(
     rclpy_init_args: List[str] = ["--log-level", "debug"],
 ) -> None:
     """从节点函数"""
+    # 1. 初始化 ROS2
     if not rclpy.ok():
         rclpy.init(args=rclpy_init_args)
     executor = rclpy.__executor
     if not executor:
         executor = rclpy.__executor = MultiThreadedExecutor()
-    devices_instances = {}
-    for device_config in devices_config.root_nodes:
-        device_id = device_config.res_content.id
-        if device_config.res_content.type != "device":
-            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)
-        # else:
-        #     print(f"Warning: Device {device_id} could not be initialized or is not a valid Node")
 
-    n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
-    executor.add_node(n)
-
-    if visual != "disable":
-        from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
-
-        resource_mesh_manager = ResourceMeshManager(
-            resources_mesh_config,
-            resources_config,  # type: ignore FIXME
-            resource_tracker=DeviceNodeResourceTracker(),
-            device_id="resource_mesh_manager",
-        )
-        joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
-
-        executor.add_node(resource_mesh_manager)
-        executor.add_node(joint_republisher)
+    # 1.5 启动 executor 线程
     thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
     thread.start()
 
+    # 2. 创建 Slave Machine Node
+    n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
+    executor.add_node(n)
+
+    # 3. 向 Host 报送节点信息和物料，获取 UUID 映射
+    uuid_mapping = {}
     if not BasicConfig.slave_no_host:
+        # 3.1 报送节点信息
         sclient = n.create_client(SerialCommand, "/node_info_update")
         sclient.wait_for_service()
 
+        registry_config = {}
+        devices_to_register, resources_to_register = register_devices_and_resources(lab_registry, True)
+        registry_config.update(devices_to_register)
+        registry_config.update(resources_to_register)
         request = SerialCommand.Request()
         request.command = json.dumps(
             {
                 "machine_name": BasicConfig.machine_name,
                 "type": "slave",
                 "devices_config": devices_config.dump(),
-                "registry_config": lab_registry.obtain_registry_device_info(),
+                "registry_config": registry_config,
             },
             ensure_ascii=False,
             cls=TypeEncoder,
         )
-        response = sclient.call_async(request).result()
+        sclient.call_async(request).result()
         logger.info(f"Slave node info updated.")
 
-        # 使用新的 c2s_update_resource_tree 服务
-        rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
-        rclient.wait_for_service()
-
-        # 序列化 ResourceTreeSet 为 JSON
+        # 3.2 报送物料树，获取 UUID 映射
         if resources_config:
+            rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
+            rclient.wait_for_service()
+
             request = SerialCommand.Request()
             request.command = json.dumps(
                 {
@@ -180,35 +166,61 @@ def slave(
                 },
                 ensure_ascii=False,
             )
-            tree_response: SerialCommand_Response = rclient.call_async(request).result()
+            tree_response: SerialCommand_Response = rclient.call(request)
             uuid_mapping = json.loads(tree_response.response)
-            # 创建反向映射：new_uuid -> old_uuid
-            reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
-            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
-                            # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
-                            old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
-                            if old_uuid:
-                                # 找到旧UUID，使用UUID查找
-                                resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
-                            else:
-                                # 未找到旧UUID，使用name查找
-                                resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name})
-                            device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+            logger.info(f"Slave resource tree added. UUID mapping: {len(uuid_mapping)} nodes")
+
+            # 3.3 使用 UUID 映射更新 resources_config 的 UUID（参考 client.py 逻辑）
+            old_uuids = {node.res_content.uuid: node for node in resources_config.all_nodes}
+            for old_uuid, node in old_uuids.items():
+                if old_uuid in uuid_mapping:
+                    new_uuid = uuid_mapping[old_uuid]
+                    node.res_content.uuid = new_uuid
+                    # 更新所有子节点的 parent_uuid
+                    for child in node.children:
+                        child.res_content.parent_uuid = new_uuid
                 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")
+                    logger.warning(f"资源UUID未更新: {old_uuid}")
         else:
             logger.info("No resources to add.")
 
+    # 4. 初始化所有设备实例（此时 resources_config 的 UUID 已更新）
+    devices_instances = {}
+    for device_config in devices_config.root_nodes:
+        device_id = device_config.res_content.id
+        if device_config.res_content.type == "device":
+            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
+            if d is not None:
+                devices_instances[device_id] = d
+                logger.info(f"Device {device_id} initialized.")
+            else:
+                logger.warning(f"Device {device_id} initialization failed.")
+
+    # 5. 如果启用可视化，创建可视化相关节点
+    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_list,
+            resource_tracker=DeviceNodeResourceTracker(),
+            device_id="resource_mesh_manager",
+        )
+        joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
+        lh_joint_pub = LiquidHandlerJointPublisher(
+            resources_config=resources_list, resource_tracker=DeviceNodeResourceTracker()
+        )
+        executor.add_node(resource_mesh_manager)
+        executor.add_node(joint_republisher)
+        executor.add_node(lh_joint_pub)
+
+    # 7. 保持运行
     while True:
         time.sleep(1)
 

unilabos/ros/nodes/base_device_node.py

@@ -638,6 +638,145 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         - remove: 从资源树中移除资源
         """
         from pylabrobot.resources.resource import Resource as ResourcePLR
+
+        def _handle_add(
+            plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
+        ) -> Dict[str, Any]:
+            """
+            处理资源添加操作的内部函数
+
+            Args:
+                plr_resources: PLR资源列表
+                tree_set: 资源树集合
+                additional_add_params: 额外的添加参数
+
+            Returns:
+                操作结果字典
+            """
+            for plr_resource, tree in zip(plr_resources, tree_set.trees):
+                self.resource_tracker.add_resource(plr_resource)
+                self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
+
+            func = getattr(self.driver_instance, "resource_tree_add", None)
+            if callable(func):
+                func(plr_resources)
+
+            return {"success": True, "action": "add"}
+
+        def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
+            """
+            处理资源移除操作的内部函数
+
+            Args:
+                resources_uuid: 要移除的资源UUID列表
+
+            Returns:
+                操作结果字典，包含移除的资源列表
+            """
+            found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
+                [{"uuid": uid} for uid in resources_uuid], try_mode=True
+            )
+            found_plr_resources = []
+            other_plr_resources = []
+
+            for found_resource in found_resources:
+                for resource in found_resource:
+                    if issubclass(resource.__class__, ResourcePLR):
+                        found_plr_resources.append(resource)
+                    else:
+                        other_plr_resources.append(resource)
+
+            # 调用driver的remove回调
+            func = getattr(self.driver_instance, "resource_tree_remove", None)
+            if callable(func):
+                func(found_plr_resources)
+
+            # 从parent卸载并从tracker移除
+            for plr_resource in found_plr_resources:
+                if plr_resource.parent is not None:
+                    plr_resource.parent.unassign_child_resource(plr_resource)
+                self.resource_tracker.remove_resource(plr_resource)
+                self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
+
+            for other_plr_resource in other_plr_resources:
+                self.resource_tracker.remove_resource(other_plr_resource)
+                self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
+
+            return {
+                "success": True,
+                "action": "remove",
+                # "removed_plr": found_plr_resources,
+                # "removed_other": other_plr_resources,
+            }
+
+        def _handle_update(
+            plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
+        ) -> Dict[str, Any]:
+            """
+            处理资源更新操作的内部函数
+
+            Args:
+                plr_resources: PLR资源列表（包含新状态）
+                tree_set: 资源树集合
+                additional_add_params: 额外的参数
+
+            Returns:
+                操作结果字典
+            """
+            for plr_resource, tree in zip(plr_resources, tree_set.trees):
+                states = plr_resource.serialize_all_state()
+                original_instance: ResourcePLR = self.resource_tracker.figure_resource(
+                    {"uuid": tree.root_node.res_content.uuid}, try_mode=False
+                )
+
+                # Update操作中包含改名：需要先remove再add
+                if original_instance.name != plr_resource.name:
+                    old_name = original_instance.name
+                    new_name = plr_resource.name
+                    self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
+
+                    # 收集所有相关的uuid（包括子节点）
+                    _handle_remove([original_instance.unilabos_uuid])
+                    original_instance.name = new_name
+                    _handle_add([original_instance], tree_set, additional_add_params)
+
+                    self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
+
+                # 常规更新：不涉及改名
+                original_parent_resource = original_instance.parent
+                original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
+                target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
+
+                self.lab_logger().info(
+                    f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
+                    f"目标父节点{target_parent_resource_uuid} 更新"
+                )
+
+                # 更新extra
+                if getattr(plr_resource, "unilabos_extra", None) is not None:
+                    original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")  # type: ignore  # noqa: E501
+
+                # 如果父节点变化，需要重新挂载
+                if (
+                    original_parent_resource_uuid != target_parent_resource_uuid
+                    and original_parent_resource is not None
+                ):
+                    self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+
+                # 加载状态
+                original_instance.load_all_state(states)
+                child_count = len(original_instance.get_all_children())
+                self.lab_logger().info(
+                    f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
+                )
+
+            # 调用driver的update回调
+            func = getattr(self.driver_instance, "resource_tree_update", None)
+            if callable(func):
+                func(plr_resources)
+
+            return {"success": True, "action": "update"}
+
         try:
             data = json.loads(req.command)
             results = []
@@ -656,7 +795,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     ].call_async(
                         SerialCommand.Request(
                             command=json.dumps(
-                                {"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"}
+                                {"data": {"data": resources_uuid, "with_children": True if action == "add" else False}, "action": "get"}
                             )
                         )
                     )  # type: ignore
@@ -664,68 +803,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     tree_set = ResourceTreeSet.from_raw_list(raw_nodes)
                 try:
                     if action == "add":
-                        # 添加资源到资源跟踪器
+                        if tree_set is None:
+                            raise ValueError("tree_set不能为None")
                         plr_resources = tree_set.to_plr_resources()
-                        for plr_resource, tree in zip(plr_resources, tree_set.trees):
-                            self.resource_tracker.add_resource(plr_resource)
-                            self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
-                        func = getattr(self.driver_instance, "resource_tree_add", None)
-                        if callable(func):
-                            func(plr_resources)
-                            results.append({"success": True, "action": "add"})
+                        result = _handle_add(plr_resources, tree_set, additional_add_params)
+                        results.append(result)
                     elif action == "update":
-                        # 更新资源
+                        if tree_set is None:
+                            raise ValueError("tree_set不能为None")
                         plr_resources = tree_set.to_plr_resources()
-                        for plr_resource, tree in zip(plr_resources, tree_set.trees):
-                            states = plr_resource.serialize_all_state()
-                            original_instance: ResourcePLR = self.resource_tracker.figure_resource(
-                                {"uuid": tree.root_node.res_content.uuid}, try_mode=False
-                            )
-                            original_parent_resource = original_instance.parent
-                            original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
-                            target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
-                            self.lab_logger().info(
-                                f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
-                            )
-                            # todo: 对extra进行update
-                            if getattr(plr_resource, "unilabos_extra", None) is not None:
-                                original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")
-                            if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
-                                self.transfer_to_new_resource(original_instance, tree, additional_add_params)
-                            original_instance.load_all_state(states)
-                            self.lab_logger().info(
-                                f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
-                            )
-
-                        func = getattr(self.driver_instance, "resource_tree_update", None)
-                        if callable(func):
-                            func(plr_resources)
-                            results.append({"success": True, "action": "update"})
+                        result = _handle_update(plr_resources, tree_set, additional_add_params)
+                        results.append(result)
                     elif action == "remove":
-                        # 移除资源
-                        found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
-                            [{"uuid": uid} for uid in resources_uuid], try_mode=True
-                        )
-                        found_plr_resources = []
-                        other_plr_resources = []
-                        for found_resource in found_resources:
-                            for resource in found_resource:
-                                if issubclass(resource.__class__, ResourcePLR):
-                                    found_plr_resources.append(resource)
-                                else:
-                                    other_plr_resources.append(resource)
-                        func = getattr(self.driver_instance, "resource_tree_remove", None)
-                        if callable(func):
-                            func(found_plr_resources)
-                        for plr_resource in found_plr_resources:
-                            if plr_resource.parent is not None:
-                                plr_resource.parent.unassign_child_resource(plr_resource)
-                            self.resource_tracker.remove_resource(plr_resource)
-                            self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
-                        for other_plr_resource in other_plr_resources:
-                            self.resource_tracker.remove_resource(other_plr_resource)
-                            self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
-                        results.append({"success": True, "action": "remove"})
+                        result = _handle_remove(resources_uuid)
+                        results.append(result)
                 except Exception as e:
                     error_msg = f"Error processing {action} operation: {str(e)}"
                     self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
@@ -734,7 +825,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
             # 返回处理结果
             result_json = {"results": results, "total": len(data)}
-            res.response = json.dumps(result_json, ensure_ascii=False)
+            res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
             self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
 
         except json.JSONDecodeError as e:
@@ -1004,9 +1095,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
                             # 通过资源跟踪器获取本地实例
                             final_resources = queried_resources if is_sequence else queried_resources[0]
-                            final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [
-                                self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources
-                            ]
+                            final_resources = (
+                                self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
+                                if not is_sequence
+                                else [
+                                    self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
+                                    for res in queried_resources
+                                ]
+                            )
                             action_kwargs[k] = final_resources
 
                         except Exception as e:
@@ -1227,6 +1323,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             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 _convert_resource_sync(self, resource_data: Dict[str, Any]):
         """同步转换资源数据为实例"""
         # 创建资源查询请求

unilabos/ros/nodes/presets/host_node.py

@@ -165,29 +165,16 @@ class HostNode(BaseROS2DeviceNode):
                     # resources_config 的 root node 是
                     # # 创建反向映射：new_uuid -> old_uuid
                     # reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
-                    # for tree in resources_config.trees:
-                    #     node = tree.root_node
-                    #     if node.res_content.type == "device":
-                    #         if node.res_content.id == "host_node":
-                    #             continue
-                    #         # 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
-                    #         old_uuid = reverse_uuid_mapping.get(node.res_content.uuid)
-                    #         if old_uuid:
-                    #             # 找到旧UUID，使用UUID查找
-                    #             resource_instance = device_tracker.uuid_to_resources.get(old_uuid)
-                    #         else:
-                    #             # 未找到旧UUID，使用name查找
-                    #             resource_instance = device_tracker.figure_resource(
-                    #                 {"name": node.res_content.name}
-                    #             )
-                    #         device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
-                    #     else:
-                    #         try:
-                    #             for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
-                    #                 self.resource_tracker.add_resource(plr_resource)
-                    #         except Exception as ex:
-                    #             self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
+                    for tree in resources_config.trees:
+                        node = tree.root_node
+                        if node.res_content.type == "device":
+                            continue
+                        else:
+                            try:
+                                for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
+                                    self._resource_tracker.add_resource(plr_resource)
+                            except Exception as ex:
+                                self.lab_logger().warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！")
         except Exception as ex:
             logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
         # 初始化Node基类，传递空参数覆盖列表
@@ -878,11 +865,10 @@ class HostNode(BaseROS2DeviceNode):
         success = False
         uuid_mapping = {}
         if len(self.bridges) > 0:
-            from unilabos.app.web.client import HTTPClient
+            from unilabos.app.web.client import HTTPClient, http_client
 
-            client: HTTPClient = self.bridges[-1]
             resource_start_time = time.time()
-            uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
+            uuid_mapping = http_client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
             success = True
             resource_end_time = time.time()
             self.lab_logger().info(
@@ -990,9 +976,10 @@ class HostNode(BaseROS2DeviceNode):
         """
         更新节点信息回调
         """
-        self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
+        # self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
         try:
             from unilabos.app.communication import get_communication_client
+            from unilabos.app.web.client import HTTPClient, http_client
 
             info = json.loads(request.command)
             if "SYNC_SLAVE_NODE_INFO" in info:
@@ -1001,10 +988,10 @@ class HostNode(BaseROS2DeviceNode):
                 edge_device_id = info["edge_device_id"]
                 self.device_machine_names[edge_device_id] = machine_name
             else:
-                comm_client = get_communication_client()
-                registry_config = info["registry_config"]
-                for device_config in registry_config:
-                    comm_client.publish_registry(device_config["id"], device_config)
+                devices_config = info.pop("devices_config")
+                registry_config = info.pop("registry_config")
+                if registry_config:
+                    http_client.resource_registry({"resources": registry_config})
             self.lab_logger().debug(f"[Host Node] Node info update: {info}")
             response.response = "OK"
         except Exception as e:
@@ -1030,10 +1017,9 @@ class HostNode(BaseROS2DeviceNode):
 
         success = False
         if len(self.bridges) > 0:  # 边的提交待定
-            from unilabos.app.web.client import HTTPClient
+            from unilabos.app.web.client import HTTPClient, http_client
 
-            client: HTTPClient = self.bridges[-1]
-            r = client.resource_add(add_schema(resources))
+            r = http_client.resource_add(add_schema(resources))
             success = bool(r)
 
         response.success = success

unilabos/ros/nodes/resource_tracker.py

@@ -2,7 +2,7 @@ import traceback
 import uuid
 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 typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
 from unilabos.utils.log import logger
 
@@ -900,7 +900,7 @@ class DeviceNodeResourceTracker(object):
                 new_uuid = name_to_uuid_map[resource_name]
                 self.set_resource_uuid(res, new_uuid)
                 self.uuid_to_resources[new_uuid] = res
-                logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
+                logger.trace(f"设置资源UUID: {resource_name} -> {new_uuid}")
                 return 1
             return 0
 
@@ -923,7 +923,8 @@ class DeviceNodeResourceTracker(object):
             if resource_name and resource_name in name_to_extra_map:
                 extra = name_to_extra_map[resource_name]
                 self.set_resource_extra(res, extra)
-                logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
+                if len(extra):
+                    logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
                 return 1
             return 0
 
@@ -933,7 +934,7 @@ class DeviceNodeResourceTracker(object):
         """
         递归遍历资源树，更新所有节点的uuid
 
-        Args:0
+        Args:
             resource: 资源对象（可以是dict或实例）
             uuid_map: uuid映射字典，{old_uuid: new_uuid}
 
@@ -958,6 +959,27 @@ class DeviceNodeResourceTracker(object):
 
         return self._traverse_and_process(resource, process)
 
+    def loop_gather_uuid(self, resource) -> List[str]:
+        """
+        递归遍历资源树，收集所有节点的uuid
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+
+        Returns:
+            收集到的uuid列表
+        """
+        uuid_list = []
+
+        def process(res):
+            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
+            if current_uuid:
+                uuid_list.append(current_uuid)
+            return 0
+
+        self._traverse_and_process(resource, process)
+        return uuid_list
+
     def _collect_uuid_mapping(self, resource):
         """
         递归收集资源的 uuid 映射到 uuid_to_resources
@@ -971,14 +993,15 @@ class DeviceNodeResourceTracker(object):
             if current_uuid:
                 old = self.uuid_to_resources.get(current_uuid)
                 self.uuid_to_resources[current_uuid] = res
-                logger.debug(
+                logger.trace(
                     f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}"
                 )
+                return 1
             return 0
 
         self._traverse_and_process(resource, process)
 
-    def _remove_uuid_mapping(self, resource):
+    def _remove_uuid_mapping(self, resource) -> int:
         """
         递归清除资源的 uuid 映射
 
@@ -990,10 +1013,11 @@ class DeviceNodeResourceTracker(object):
             current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
             if current_uuid and current_uuid in self.uuid_to_resources:
                 self.uuid_to_resources.pop(current_uuid)
-                logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}")
+                logger.trace(f"移除资源UUID映射: {current_uuid} -> {res}")
+                return 1
             return 0
 
-        self._traverse_and_process(resource, process)
+        return self._traverse_and_process(resource, process)
 
     def parent_resource(self, resource):
         if id(resource) in self.resource2parent_resource:
@@ -1048,13 +1072,12 @@ class DeviceNodeResourceTracker(object):
                 removed = True
                 break
 
-        if not removed:
+        # 递归清除uuid映射
+        count = self._remove_uuid_mapping(resource)
+        if not count:
             logger.warning(f"尝试移除不存在的资源: {resource}")
             return False
 
-        # 递归清除uuid映射
-        self._remove_uuid_mapping(resource)
-
         # 清除 resource2parent_resource 中与该资源相关的映射
         # 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射
         keys_to_remove = []
@@ -1077,7 +1100,9 @@ class DeviceNodeResourceTracker(object):
         self.uuid_to_resources.clear()
         self.resource2parent_resource.clear()
 
-    def figure_resource(self, query_resource, try_mode=False):
+    def figure_resource(
+        self, query_resource: Union[List[Union[dict, "PLRResource"]], dict, "PLRResource"], try_mode=False
+    ) -> Union[List[Union[dict, "PLRResource", List[Union[dict, "PLRResource"]]]], dict, "PLRResource"]:
         if isinstance(query_resource, list):
             return [self.figure_resource(r, try_mode) for r in query_resource]
         elif (

unilabos/utils/log.py

@@ -191,7 +191,8 @@ def configure_logger(loglevel=None):
 
     # 添加处理器到根日志记录器
     root_logger.addHandler(console_handler)
-
+    logging.getLogger("asyncio").setLevel(logging.INFO)
+    logging.getLogger("urllib3").setLevel(logging.INFO)
 
 # 配置日志系统
 configure_logger()