temp fix for resource get

docs/boot_examples/organic_synthesis.md

@@ -91,7 +91,7 @@
 使用以下命令启动模拟反应器：
 
 ```bash
-unilab -g test/experiments/mock_reactor.json --app_bridges ""
+unilab -g test/experiments/mock_reactor.json
 ```
 
 ### 2. 执行抽真空和充气操作

unilabos/resources/graphio.py

@@ -17,6 +17,7 @@ from unilabos.ros.nodes.resource_tracker import (
     ResourceDictInstance,
     ResourceTreeSet,
 )
+from unilabos.utils import logger
 from unilabos.utils.banner_print import print_status
 
 try:
@@ -67,6 +68,10 @@ def canonicalize_nodes_data(
             z = node.pop("z", None)
             if z is not None:
                 node["position"]["position"]["z"] = z
+        if "sample_id" in node:
+            sample_id = node.pop("sample_id")
+            if sample_id:
+                logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
         for k in list(node.keys()):
             if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children"]:
                 v = node.pop(k)

unilabos/ros/nodes/base_device_node.py

@@ -6,7 +6,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -657,15 +657,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             results.append({"success": True, "action": "update"})
                     elif action == "remove":
                         # 移除资源
-                        plr_resources: List[ResourcePLR] = [
-                            self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
-                        ]
+                        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 res_list in found_resources:
+                            for res in res_list:
+                                if issubclass(res.__class__, ResourcePLR):
+                                    found_plr_resources.append(res)
+                                else:
+                                    other_plr_resources.append(res)
                         func = getattr(self.driver_instance, "resource_tree_remove", None)
                         if callable(func):
-                            func(plr_resources)
-                        for plr_resource in plr_resources:
+                            func(found_plr_resources)
+                        for plr_resource in found_plr_resources:
                             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 res in other_plr_resources:
+                            self.resource_tracker.remove_resource(res)
+                            self.lab_logger().info(f"移除物料 {res} 及其子节点")
                         results.append({"success": True, "action": "remove"})
                 except Exception as e:
                     error_msg = f"Error processing {action} operation: {str(e)}"
@@ -945,7 +957,10 @@ 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]
-                            action_kwargs[k] = self.resource_tracker.figure_resource(final_resources, try_mode=False)
+                            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:
                             self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")

unilabos/ros/nodes/presets/workstation.py

@@ -6,6 +6,8 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING
 
 import rclpy
 from rosidl_runtime_py import message_to_ordereddict
+from unilabos_msgs.msg import Resource
+from unilabos_msgs.srv import ResourceUpdate
 
 from unilabos.messages import *  # type: ignore  # protocol names
 from rclpy.action import ActionServer, ActionClient
@@ -241,7 +243,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                             raw_data = json.loads(response.response)
                             tree_set = ResourceTreeSet.from_raw_list(raw_data)
                             target = tree_set.dump()
-                            protocol_kwargs[k] = target[0]
+                            protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target
                         except Exception as ex:
                             self.lab_logger().error(f"查询资源失败: {k}, 错误: {ex}\n{traceback.format_exc()}")
                             raise

unilabos/ros/nodes/resource_tracker.py

@@ -774,7 +774,8 @@ class DeviceNodeResourceTracker(object):
         else:
             return getattr(resource, uuid_attr, None)
 
-    def _set_resource_uuid(self, resource, new_uuid: str):
+    @classmethod
+    def set_resource_uuid(cls, resource, new_uuid: str):
         """
         设置资源的 uuid，统一处理 dict 和 instance 两种类型
 
@@ -827,7 +828,7 @@ class DeviceNodeResourceTracker(object):
             resource_name = self._get_resource_attr(res, "name")
             if resource_name and resource_name in name_to_uuid_map:
                 new_uuid = name_to_uuid_map[resource_name]
-                self._set_resource_uuid(res, new_uuid)
+                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}")
                 return 1
@@ -839,7 +840,7 @@ class DeviceNodeResourceTracker(object):
         """
         递归遍历资源树，更新所有节点的uuid
 
-        Args:
+        Args:0
             resource: 资源对象（可以是dict或实例）
             uuid_map: uuid映射字典，{old_uuid: new_uuid}
 
@@ -853,7 +854,7 @@ class DeviceNodeResourceTracker(object):
             if current_uuid and current_uuid in uuid_map:
                 new_uuid = uuid_map[current_uuid]
                 if current_uuid != new_uuid:
-                    self._set_resource_uuid(res, new_uuid)
+                    self.set_resource_uuid(res, new_uuid)
                     # 更新uuid_to_resources映射
                     if current_uuid in self.uuid_to_resources:
                         self.uuid_to_resources.pop(current_uuid)