update version to 0.10.12

print all logs to file
fix resource dict dump error

.conda/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: 0.10.11
+  version: 0.10.12
 
 source:
   path: ../unilabos

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.11
+  version: 0.10.12
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.11"
+  version: "0.10.12"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.11',
+    version='0.10.12',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.11"
+__version__ = "0.10.12"

unilabos/app/communication.py

@@ -141,7 +141,7 @@ class CommunicationClientFactory:
         """
         if cls._client_cache is None:
             cls._client_cache = cls.create_client(protocol)
-            logger.info(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
+            logger.trace(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
 
         return cls._client_cache
 

unilabos/app/main.py

@@ -218,7 +218,7 @@ def main():
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-        configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
 
     if args_dict["addr"] == "test":
         print_status("使用测试环境地址", "info")

unilabos/app/oss_upload.py

@@ -34,14 +34,14 @@ def _get_oss_token(
         client = http_client
 
     # 构造scene参数: driver_name-exp_type
-    scene = f"{driver_name}-{exp_type}"
+    sub_path = f"{driver_name}-{exp_type}"
 
     # 构造请求URL，使用client的remote_addr（已包含/api/v1/）
     url = f"{client.remote_addr}/applications/token"
-    params = {"scene": scene, "filename": filename}
+    params = {"sub_path": sub_path, "filename": filename, "scene": "job"}
 
     try:
-        logger.info(f"[OSS] 请求预签名URL: scene={scene}, filename={filename}")
+        logger.info(f"[OSS] 请求预签名URL: sub_path={sub_path}, filename={filename}")
         response = requests.get(url, params=params, headers={"Authorization": f"Lab {client.auth}"}, timeout=10)
 
         if response.status_code == 200:

unilabos/app/ws_client.py

@@ -389,7 +389,7 @@ class MessageProcessor:
         self.is_running = True
         self.thread = threading.Thread(target=self._run, daemon=True, name="MessageProcessor")
         self.thread.start()
-        logger.info("[MessageProcessor] Started")
+        logger.trace("[MessageProcessor] Started")
 
     def stop(self) -> None:
         """停止消息处理线程"""
@@ -939,7 +939,7 @@ class QueueProcessor:
         # 事件通知机制
         self.queue_update_event = threading.Event()
 
-        logger.info("[QueueProcessor] Initialized")
+        logger.trace("[QueueProcessor] Initialized")
 
     def set_websocket_client(self, websocket_client: "WebSocketClient"):
         """设置WebSocket客户端引用"""
@@ -954,7 +954,7 @@ class QueueProcessor:
         self.is_running = True
         self.thread = threading.Thread(target=self._run, daemon=True, name="QueueProcessor")
         self.thread.start()
-        logger.info("[QueueProcessor] Started")
+        logger.trace("[QueueProcessor] Started")
 
     def stop(self) -> None:
         """停止队列处理线程"""
@@ -1314,3 +1314,19 @@ class WebSocketClient(BaseCommunicationClient):
             logger.info(f"[WebSocketClient] Job {job_log} cancelled successfully")
         else:
             logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
+
+    def publish_host_ready(self) -> None:
+        """发布host_node ready信号"""
+        if self.is_disabled or not self.is_connected():
+            logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
+            return
+
+        message = {
+            "action": "host_node_ready",
+            "data": {
+                "status": "ready",
+                "timestamp": time.time(),
+            },
+        }
+        self.message_processor.send_message(message)
+        logger.info("[WebSocketClient] Host node ready signal published")

unilabos/resources/graphio.py

@@ -45,10 +45,13 @@ def canonicalize_nodes_data(
     print_status(f"{len(nodes)} Resources loaded:", "info")
 
     # 第一步：基本预处理（处理graphml的label字段）
-    for node in nodes:
+    outer_host_node_id = None
+    for idx, node in enumerate(nodes):
         if node.get("label") is not None:
             node_id = node.pop("label")
             node["id"] = node["name"] = node_id
+        if node["id"] == "host_node":
+            outer_host_node_id = idx
         if not isinstance(node.get("config"), dict):
             node["config"] = {}
         if not node.get("type"):
@@ -58,25 +61,26 @@ def canonicalize_nodes_data(
             node["name"] = node.get("id")
             print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'name', defaulting to {node['name']}", "warning")
         if not isinstance(node.get("position"), dict):
-            node["position"] = {"position": {}}
+            node["pose"] = {"position": {}}
             x = node.pop("x", None)
             if x is not None:
-                node["position"]["position"]["x"] = x
+                node["pose"]["position"]["x"] = x
             y = node.pop("y", None)
             if y is not None:
-                node["position"]["position"]["y"] = y
+                node["pose"]["position"]["y"] = y
             z = node.pop("z", None)
             if z is not None:
-                node["position"]["position"]["z"] = z
+                node["pose"]["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"]:
+            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose"]:
                 v = node.pop(k)
                 node["config"][k] = v
-
+    if outer_host_node_id is not None:
+        nodes.pop(outer_host_node_id)
     # 第二步：处理parent_relation
     id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
     for parent, children in parent_relation.items():
@@ -93,7 +97,7 @@ def canonicalize_nodes_data(
 
     for node in nodes:
         try:
-            print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
+            # print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
             # 使用标准化方法
             resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
             known_nodes[node["id"]] = resource_instance
@@ -582,11 +586,15 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "tip_rack": "tip_rack",
             "warehouse": "warehouse",
             "container": "container",
+            "tube": "tube",
+            "bottle_carrier": "bottle_carrier",
+            "plate_adapter": "plate_adapter",
         }
         if source in replace_info:
             return replace_info[source]
         else:
-            logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
+            if source is not None:
+                logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
             return source
 
     def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:

unilabos/ros/device_node_wrapper.py

@@ -5,6 +5,7 @@ from unilabos.ros.msgs.message_converter import (
     get_action_type,
 )
 from unilabos.ros.nodes.base_device_node import init_wrapper, ROS2DeviceNode
+from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
 
 # 定义泛型类型变量
 T = TypeVar("T")
@@ -18,12 +19,11 @@ class ROS2DeviceNodeWrapper(ROS2DeviceNode):
 
 def ros2_device_node(
     cls: Type[T],
-    device_config: Optional[Dict[str, Any]] = None,
+    device_config: Optional[ResourceDictInstance] = None,
     status_types: Optional[Dict[str, Any]] = None,
     action_value_mappings: Optional[Dict[str, Any]] = None,
     hardware_interface: Optional[Dict[str, Any]] = None,
     print_publish: bool = False,
-    children: Optional[Dict[str, Any]] = None,
 ) -> Type[ROS2DeviceNodeWrapper]:
     """Create a ROS2 Node class for a device class with properties and actions.
 
@@ -45,7 +45,7 @@ def ros2_device_node(
     if status_types is None:
         status_types = {}
     if device_config is None:
-        device_config = {}
+        raise ValueError("device_config cannot be None")
     if action_value_mappings is None:
         action_value_mappings = {}
     if hardware_interface is None:
@@ -82,7 +82,6 @@ def ros2_device_node(
                 action_value_mappings=action_value_mappings,
                 hardware_interface=hardware_interface,
                 print_publish=print_publish,
-                children=children,
                 *args,
                 **kwargs,
             ),

unilabos/ros/initialize_device.py

@@ -4,13 +4,14 @@ from typing import Optional
 from unilabos.registry.registry import lab_registry
 from unilabos.ros.device_node_wrapper import ros2_device_node
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
+from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
 from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.import_manager import default_manager
 
 
 
-def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2DeviceNode]:
+def initialize_device_from_dict(device_id, device_config: ResourceDictInstance) -> Optional[ROS2DeviceNode]:
     """Initializes a device based on its configuration.
 
     This function dynamically imports the appropriate device class and creates an instance of it using the provided device configuration.
@@ -24,15 +25,14 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         None
     """
     d = None
-    original_device_config = copy.deepcopy(device_config)
+    device_class_config = device_config.res_content.klass
-    device_class_config = device_config["class"]
+    uid = device_config.res_content.uuid
-    uid = device_config["uuid"]
     if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
         if len(device_class_config) == 0:
             raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
         if device_class_config not in lab_registry.device_type_registry:
             raise DeviceClassInvalid(f"Device [{device_id}] class {device_class_config} not found. {device_config}")
-        device_class_config = device_config["class"] = lab_registry.device_type_registry[device_class_config]["class"]
+        device_class_config = lab_registry.device_type_registry[device_class_config]["class"]
     elif isinstance(device_class_config, dict):
         raise DeviceClassInvalid(f"Device [{device_id}] class config should be type 'str' but 'dict' got. {device_config}")
     if isinstance(device_class_config, dict):
@@ -41,17 +41,16 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         DEVICE = ros2_device_node(
             DEVICE,
             status_types=device_class_config.get("status_types", {}),
-            device_config=original_device_config,
+            device_config=device_config,
             action_value_mappings=device_class_config.get("action_value_mappings", {}),
             hardware_interface=device_class_config.get(
                 "hardware_interface",
                 {"name": "hardware_interface", "write": "send_command", "read": "read_data", "extra_info": []},
-            ),
+            )
-            children=device_config.get("children", {})
         )
         try:
             d = DEVICE(
-                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
+                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.res_content.config
             )
         except DeviceInitError as ex:
             return d

unilabos/ros/main_slave_run.py

@@ -192,7 +192,7 @@ def slave(
     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())
+            d = initialize_device_from_dict(device_id, device_config)
             if d is not None:
                 devices_instances[device_id] = d
                 logger.info(f"Device {device_id} initialized.")

unilabos/ros/nodes/base_device_node.py

@@ -48,7 +48,7 @@ from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos.ros.nodes.resource_tracker import (
     DeviceNodeResourceTracker,
     ResourceTreeSet,
-    ResourceTreeInstance,
+    ResourceTreeInstance, ResourceDictInstance,
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
@@ -133,12 +133,11 @@ def init_wrapper(
     device_id: str,
     device_uuid: str,
     driver_class: type[T],
-    device_config: Dict[str, Any],
+    device_config: ResourceTreeInstance,
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
     print_publish: bool,
-    children: Optional[list] = None,
     driver_params: Optional[Dict[str, Any]] = None,
     driver_is_ros: bool = False,
     *args,
@@ -147,8 +146,6 @@ def init_wrapper(
     """初始化设备节点的包装函数，和ROS2DeviceNode初始化保持一致"""
     if driver_params is None:
         driver_params = kwargs.copy()
-    if children is None:
-        children = []
     kwargs["device_id"] = device_id
     kwargs["device_uuid"] = device_uuid
     kwargs["driver_class"] = driver_class
@@ -157,7 +154,6 @@ def init_wrapper(
     kwargs["status_types"] = status_types
     kwargs["action_value_mappings"] = action_value_mappings
     kwargs["hardware_interface"] = hardware_interface
-    kwargs["children"] = children
     kwargs["print_publish"] = print_publish
     kwargs["driver_is_ros"] = driver_is_ros
     super(type(self), self).__init__(*args, **kwargs)
@@ -586,7 +582,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         except Exception as e:
             self.lab_logger().error(f"更新资源uuid失败: {e}")
             self.lab_logger().error(traceback.format_exc())
-        self.lab_logger().debug(f"资源更新结果: {response}")
+        self.lab_logger().trace(f"资源更新结果: {response}")
 
     async def get_resource(self, resources_uuid: List[str], with_children: bool = True) -> ResourceTreeSet:
         """
@@ -1168,7 +1164,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             execution_error = traceback.format_exc()
                             break
 
-            ##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
             time_start = time.time()
             time_overall = 100
             future = None
@@ -1176,35 +1171,36 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 # 将阻塞操作放入线程池执行
                 if asyncio.iscoroutinefunction(ACTION):
                     try:
-                        ##### self.lab_logger().info(f"异步执行动作 {ACTION}")
+                        self.lab_logger().trace(f"异步执行动作 {ACTION}")
-                        future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
+                        def _handle_future_exception(fut: Future):
-
-                        def _handle_future_exception(fut):
                             nonlocal execution_error, execution_success, action_return_value
                             try:
                                 action_return_value = fut.result()
+                                if isinstance(action_return_value, BaseException):
+                                    raise action_return_value
                                 execution_success = True
-                            except Exception as e:
+                            except Exception as _:
                                 execution_error = traceback.format_exc()
                                 error(
                                     f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
                                 )
 
+                        future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
                         future.add_done_callback(_handle_future_exception)
                     except Exception as e:
                         execution_error = traceback.format_exc()
                         execution_success = False
                         self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
                 else:
-                    #####    self.lab_logger().info(f"同步执行动作 {ACTION}")
+                    self.lab_logger().trace(f"同步执行动作 {ACTION}")
                     future = self._executor.submit(ACTION, **action_kwargs)
 
-                    def _handle_future_exception(fut):
+                    def _handle_future_exception(fut: Future):
                         nonlocal execution_error, execution_success, action_return_value
                         try:
                             action_return_value = fut.result()
                             execution_success = True
-                        except Exception as e:
+                        except Exception as _:
                             execution_error = traceback.format_exc()
                             error(
                                 f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
@@ -1309,7 +1305,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         get_result_info_str(execution_error, execution_success, action_return_value),
                     )
 
-            ##### self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
+            self.lab_logger().trace(f"动作 {action_name} 完成并返回结果")
             return result_msg
 
         return execute_callback
@@ -1544,17 +1540,29 @@ class ROS2DeviceNode:
     这个类封装了设备类实例和ROS2节点的功能，提供ROS2接口。
     它不继承设备类，而是通过代理模式访问设备类的属性和方法。
     """
+    @staticmethod
+    async def safe_task_wrapper(trace_callback, func, **kwargs):
+        try:
+            if callable(trace_callback):
+                trace_callback(await func(**kwargs))
+            return await func(**kwargs)
+        except Exception as e:
+            if callable(trace_callback):
+                trace_callback(e)
+            return e
 
     @classmethod
-    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
+    def run_async_func(cls, func, trace_error=True, inner_trace_callback=None, **kwargs) -> Task:
-        def _handle_future_exception(fut):
+        def _handle_future_exception(fut: Future):
             try:
-                fut.result()
+                ret = fut.result()
+                if isinstance(ret, BaseException):
+                    raise ret
             except Exception as e:
-                error(f"异步任务 {func.__name__} 报错了")
+                error(f"异步任务 {func.__name__} 获取结果失败")
                 error(traceback.format_exc())
 
-        future = rclpy.get_global_executor().create_task(func(**kwargs))
+        future = rclpy.get_global_executor().create_task(ROS2DeviceNode.safe_task_wrapper(inner_trace_callback, func, **kwargs))
         if trace_error:
             future.add_done_callback(_handle_future_exception)
         return future
@@ -1582,12 +1590,11 @@ class ROS2DeviceNode:
         device_id: str,
         device_uuid: str,
         driver_class: Type[T],
-        device_config: Dict[str, Any],
+        device_config: ResourceDictInstance,
         driver_params: Dict[str, Any],
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
         hardware_interface: Dict[str, Any],
-        children: Dict[str, Any],
         print_publish: bool = True,
         driver_is_ros: bool = False,
     ):
@@ -1598,7 +1605,7 @@ class ROS2DeviceNode:
             device_id: 设备标识符
             device_uuid: 设备uuid
             driver_class: 设备类
-            device_config: 原始初始化的json
+            device_config: 原始初始化的ResourceDictInstance
             driver_params: driver初始化的参数
             status_types: 状态类型映射
             action_value_mappings: 动作值映射
@@ -1612,6 +1619,7 @@ class ROS2DeviceNode:
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
         self._driver_class = driver_class
         self.device_config = device_config
+        children: List[ResourceDictInstance] = device_config.children
         self.driver_is_ros = driver_is_ros
         self.driver_is_workstation = False
         self.resource_tracker = DeviceNodeResourceTracker()

unilabos/ros/nodes/presets/host_node.py

@@ -289,6 +289,12 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info("[Host Node] Host node initialized.")
         HostNode._ready_event.set()
 
+        # 发送host_node ready信号到所有桥接器
+        for bridge in self.bridges:
+            if hasattr(bridge, "publish_host_ready"):
+                bridge.publish_host_ready()
+                self.lab_logger().debug(f"Host ready signal sent via {bridge.__class__.__name__}")
+
     def _send_re_register(self, sclient):
         sclient.wait_for_service()
         request = SerialCommand.Request()
@@ -532,7 +538,7 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
 
         try:
-            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
+            d = initialize_device_from_dict(device_id, device_config)
         except DeviceClassInvalid as e:
             self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
             d = None
@@ -712,7 +718,7 @@ class HostNode(BaseROS2DeviceNode):
             feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
             goal_uuid=goal_uuid_obj,
         )
-        future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
+        future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
 
     def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
@@ -723,9 +729,11 @@ class HostNode(BaseROS2DeviceNode):
 
         self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
         self._goals[item.job_id] = goal_handle
-        goal_handle.get_result_async().add_done_callback(
+        goal_future = goal_handle.get_result_async()
-            lambda future: self.get_result_callback(item, action_id, future)
+        goal_future.add_done_callback(
+            lambda f: self.get_result_callback(item, action_id, f)
         )
+        goal_future.result()
 
     def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
         """反馈回调"""
@@ -794,6 +802,7 @@ class HostNode(BaseROS2DeviceNode):
             # 存储结果供 HTTP API 查询
             try:
                 from unilabos.app.web.controller import store_job_result
+
                 if goal_status == GoalStatus.STATUS_CANCELED:
                     store_job_result(job_id, status, return_info, {})
                 else:

unilabos/ros/nodes/presets/workstation.py

@@ -24,7 +24,7 @@ from unilabos.ros.msgs.message_converter import (
     convert_from_ros_msg_with_mapping,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDictInstance
 from unilabos.utils.type_check import get_result_info_str
 
 if TYPE_CHECKING:
@@ -47,7 +47,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
     def __init__(
         self,
         protocol_type: List[str],
-        children: Dict[str, Any],
+        children: List[ResourceDictInstance],
         *,
         driver_instance: "WorkstationBase",
         device_id: str,
@@ -81,10 +81,11 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         # 初始化子设备
         self.communication_node_id_to_instance = {}
 
-        for device_id, device_config in self.children.items():
+        for device_config in self.children:
-            if device_config.get("type", "device") != "device":
+            device_id = device_config.res_content.id
+            if device_config.res_content.type != "device":
                 self.lab_logger().debug(
-                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                    f"[Protocol Node] Skipping type {device_config.res_content.type} {device_id} already existed, skipping."
                 )
                 continue
             try:
@@ -101,8 +102,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                 self.communication_node_id_to_instance[device_id] = d
                 continue
 
-        for device_id, device_config in self.children.items():
+        for device_config in self.children:
-            if device_config.get("type", "device") != "device":
+            device_id = device_config.res_content.id
+            if device_config.res_content.type != "device":
                 continue
             # 设置硬件接口代理
             if device_id not in self.sub_devices:

unilabos/ros/nodes/resource_tracker.py

@@ -1,9 +1,11 @@
+import inspect
 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, Union
 
+from unilabos.resources.plr_additional_res_reg import register
 from unilabos.utils.log import logger
 
 if TYPE_CHECKING:
@@ -62,7 +64,6 @@ class ResourceDict(BaseModel):
     parent: Optional["ResourceDict"] = Field(description="Parent resource object", default=None, exclude=True)
     type: Union[Literal["device"], str] = Field(description="Resource type")
     klass: str = Field(alias="class", description="Resource class name")
-    position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
     pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
     config: Dict[str, Any] = Field(description="Resource configuration")
     data: Dict[str, Any] = Field(description="Resource data")
@@ -146,15 +147,16 @@ class ResourceDictInstance(object):
         if not content.get("extra"):  # MagicCode
             content["extra"] = {}
         if "pose" not in content:
-            content["pose"] = content.get("position", {})
+            content["pose"] = content.pop("position", {})
         return ResourceDictInstance(ResourceDict.model_validate(content))
 
-    def get_nested_dict(self) -> Dict[str, Any]:
+    def get_plr_nested_dict(self) -> Dict[str, Any]:
         """获取资源实例的嵌套字典表示"""
         res_dict = self.res_content.model_dump(by_alias=True)
-        res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
+        res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children}
         res_dict["parent"] = self.res_content.parent_instance_name
-        res_dict["position"] = self.res_content.position.position.model_dump()
+        res_dict["position"] = self.res_content.pose.position.model_dump()
+        del res_dict["pose"]
         return res_dict
 
 
@@ -429,9 +431,9 @@ class ResourceTreeSet(object):
         Returns:
             List[PLRResource]: PLR 资源实例列表
         """
+        register()
         from pylabrobot.resources import Resource as PLRResource
         from pylabrobot.utils.object_parsing import find_subclass
-        import inspect
 
         # 类型映射
         TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"}
@@ -459,9 +461,9 @@ class ResourceTreeSet(object):
                 "size_y": res.config.get("size_y", 0),
                 "size_z": res.config.get("size_z", 0),
                 "location": {
-                    "x": res.position.position.x,
+                    "x": res.pose.position.x,
-                    "y": res.position.position.y,
+                    "y": res.pose.position.y,
-                    "z": res.position.position.z,
+                    "z": res.pose.position.z,
                     "type": "Coordinate",
                 },
                 "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},

unilabos/ros/utils/driver_creator.py

@@ -9,10 +9,11 @@ import asyncio
 import inspect
 import traceback
 from abc import abstractmethod
-from typing import Type, Any, Dict, Optional, TypeVar, Generic
+from typing import Type, Any, Dict, Optional, TypeVar, Generic, List
 
 from unilabos.resources.graphio import nested_dict_to_list, resource_ulab_to_plr
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
+    ResourceTreeInstance
 from unilabos.utils import logger, import_manager
 from unilabos.utils.cls_creator import create_instance_from_config
 
@@ -33,7 +34,7 @@ class DeviceClassCreator(Generic[T]):
     这个类提供了从任意类创建实例的通用方法。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化设备类创建器
 
@@ -50,9 +51,9 @@ class DeviceClassCreator(Generic[T]):
         附加资源到设备类实例
         """
         if self.device_instance is not None:
-            for c in self.children.values():
+            for c in self.children:
-                if c["type"] != "device":
+                if c.res_content.type != "device":
-                    self.resource_tracker.add_resource(c)
+                    self.resource_tracker.add_resource(c.get_plr_nested_dict())
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -94,7 +95,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     这个类提供了针对PyLabRobot设备类的实例创建方法，特别处理deserialize方法。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化PyLabRobot设备类创建器
 
@@ -111,12 +112,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     def attach_resource(self):
         pass  # 只能增加实例化物料，原来默认物料仅为字典查询
 
-    def _process_resource_mapping(self, resource, source_type):
+    # def _process_resource_mapping(self, resource, source_type):
-        if source_type == dict:
+    #     if source_type == dict:
-            from pylabrobot.resources.resource import Resource
+    #         from pylabrobot.resources.resource import Resource
-
+    #
-            return nested_dict_to_list(resource), Resource
+    #         return nested_dict_to_list(resource), Resource
-        return resource, source_type
+    #     return resource, source_type
 
     def _process_resource_references(
         self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
@@ -142,15 +143,21 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         if isinstance(data, dict):
             if "_resource_child_name" in data:
                 child_name = data["_resource_child_name"]
-                if child_name in self.children:
+                resource: Optional[ResourceDictInstance] = None
-                    resource = self.children[child_name]
+                for child in self.children:
+                    if child.res_content.name == child_name:
+                        resource = child
+                if resource is not None:
                     if "_resource_type" in data:
                         type_path = data["_resource_type"]
                         try:
-                            target_type = import_manager.get_class(type_path)
+                            # target_type = import_manager.get_class(type_path)
-                            contain_model = not issubclass(target_type, Deck)
+                            # contain_model = not issubclass(target_type, Deck)
-                            resource, target_type = self._process_resource_mapping(resource, target_type)
+                            # resource, target_type = self._process_resource_mapping(resource, target_type)
-                            resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
+                            res_tree = ResourceTreeInstance(resource)
+                            res_tree_set = ResourceTreeSet([res_tree])
+                            resource_instance: Resource = res_tree_set.to_plr_resources()[0]
+                            # resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
                             states[prefix_path] = resource_instance.serialize_all_state()
                             # 使用 prefix_path 作为 key 存储资源状态
                             if to_dict:
@@ -202,12 +209,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         stack = None
 
         # 递归遍历 children 构建 name_to_uuid 映射
-        def collect_name_to_uuid(children_dict: Dict[str, Any], result: Dict[str, str]):
+        def collect_name_to_uuid(children_list: List[ResourceDictInstance], result: Dict[str, str]):
             """递归遍历嵌套的 children 字典，收集 name 到 uuid 的映射"""
-            for child in children_dict.values():
+            for child in children_list:
-                if isinstance(child, dict):
+                if isinstance(child, ResourceDictInstance):
-                    result[child["name"]] = child["uuid"]
+                    result[child.res_content.name] = child.res_content.uuid
-                    collect_name_to_uuid(child["children"], result)
+                    collect_name_to_uuid(child.children, result)
 
         name_to_uuid = {}
         collect_name_to_uuid(self.children, name_to_uuid)
@@ -313,7 +320,7 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
     这个类提供了针对WorkstationNode设备类的实例创建方法，处理children参数。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化WorkstationNode设备类创建器
 
@@ -336,9 +343,9 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
-            for material_id, child in self.children.items():
+            for child in self.children:
-                if child["type"] != "device":
+                if child.res_content.type != "device":
-                    self.resource_tracker.add_resource(self.children[material_id])
+                    self.resource_tracker.add_resource(child.get_plr_nested_dict())
             deck_dict = data.get("deck")
             if deck_dict:
                 from pylabrobot.resources import Deck, Resource

unilabos/utils/log.py

@@ -162,8 +162,9 @@ def configure_logger(loglevel=None, working_dir=None):
     """
     # 获取根日志记录器
     root_logger = logging.getLogger()
-
+    root_logger.setLevel(TRACE_LEVEL)
     # 设置日志级别
+    numeric_level = logging.DEBUG
     if loglevel is not None:
         if isinstance(loglevel, str):
             # 将字符串转换为logging级别
@@ -173,12 +174,8 @@ def configure_logger(loglevel=None, working_dir=None):
                 numeric_level = getattr(logging, loglevel.upper(), None)
                 if not isinstance(numeric_level, int):
                     print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
-                    numeric_level = logging.DEBUG
         else:
             numeric_level = loglevel
-        root_logger.setLevel(numeric_level)
-    else:
-        root_logger.setLevel(logging.DEBUG)  # 默认级别
 
     # 移除已存在的处理器
     for handler in root_logger.handlers[:]:
@@ -186,7 +183,7 @@ def configure_logger(loglevel=None, working_dir=None):
 
     # 创建控制台处理器
     console_handler = logging.StreamHandler()
-    console_handler.setLevel(root_logger.level)  # 使用与根记录器相同的级别
+    console_handler.setLevel(numeric_level)  # 使用与根记录器相同的级别
 
     # 使用自定义的颜色格式化器
     color_formatter = ColoredFormatter()
@@ -206,7 +203,7 @@ def configure_logger(loglevel=None, working_dir=None):
 
         # 创建文件处理器
         file_handler = logging.FileHandler(log_filepath, encoding="utf-8")
-        file_handler.setLevel(root_logger.level)
+        file_handler.setLevel(TRACE_LEVEL)
 
         # 使用不带颜色的格式化器
         file_formatter = ColoredFormatter(use_colors=False)

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.11</version>
+  <version>0.10.12</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>