use ordering to convert identifier to idx

unilabos/ros/nodes/base_device_node.py

@@ -589,14 +589,31 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     if len(extra):
                         self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
                     if "update_resource_site" in extra:
-                        additional_params["site"] = extra["update_resource_site"]
+                        additional_add_params["site"] = extra["update_resource_site"]
                     site = additional_add_params.get("site", None)
                     spec = inspect.signature(parent_resource.assign_child_resource)
                     if "spot" in spec.parameters:
+                        ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
+                        if ordering_dict:
+                            site = list(ordering_dict.keys()).index(site)
                         additional_params["spot"] = site
+                    old_parent = plr_resource.parent
+                    if old_parent is not None:
+                        # plr并不支持同一个deck的加载和卸载
+                        self.lab_logger().warning(
+                            f"物料{plr_resource}请求从{old_parent}卸载"
+                        )
+                        old_parent.unassign_child_resource(plr_resource)
+                    self.lab_logger().warning(
+                        f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
+                    )
                     parent_resource.assign_child_resource(
                         plr_resource, location=None, **additional_params
                     )
+                    func = getattr(self.driver_instance, "resource_tree_transfer", None)
+                    if callable(func):
+                        # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
+                        func(old_parent, plr_resource, parent_resource)
                 except Exception as e:
                     self.lab_logger().warning(
                         f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
@@ -659,10 +676,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             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{plr_resource} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
+                                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(plr_resource, tree, additional_add_params)
+                                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"