Merge branch 'dev' into feat/lab_resource

unilabos/resources/resource_tracker.py

@@ -123,24 +123,6 @@ class ResourceDictType(TypedDict):
     machine_name: str
 
 
-class ResourceDictType(TypedDict):
-    id: str
-    uuid: str
-    name: str
-    description: str
-    resource_schema: Dict[str, Any]
-    model: Dict[str, Any]
-    icon: str
-    parent_uuid: Optional[str]
-    parent: Optional["ResourceDictType"]
-    type: Union[Literal["device"], str]
-    klass: str
-    pose: ResourceDictPositionType
-    config: Dict[str, Any]
-    data: Dict[str, Any]
-    extra: Dict[str, Any]
-
-
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
 class ResourceDict(BaseModel):
     id: str = Field(description="Resource ID")
@@ -571,17 +553,10 @@ class ResourceTreeSet(object):
             trees.append(tree_instance)
         return cls(trees)
 
-    def to_plr_resources(
+    def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
-        self, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None
-    ) -> List["PLRResource"]:
         """
         将 ResourceTreeSet 转换为 PLR 资源列表
 
-        Args:
-            skip_devices: 是否跳过 device 类型节点
-            requested_uuids: 若指定，则按此 UUID 顺序返回对应资源（用于批量查询时一一对应），
-                否则返回各树的根节点列表
-
         Returns:
             List[PLRResource]: PLR 资源实例列表
         """
@@ -637,71 +612,6 @@ class ResourceTreeSet(object):
                 d["model"] = res.config.get("model", None)
             return d
 
-        # deserialize 会单独处理的元数据 key，不传给构造函数
-        _META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"}
-        # deserialize 自定义逻辑使用的 key（如 TipSpot 用 prototype_tip 构建 make_tip），需保留
-        _DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"}
-
-        def remove_incompatible_params(plr_d: dict) -> None:
-            """递归移除 PLR 类不接受的参数，避免 deserialize 报错。
-            - 移除构造函数不接受的参数（如 compute_height_from_volume、ordering、category）
-            - 对 TubeRack：将 ordering 转为 ordered_items
-            - 保留 deserialize 自定义逻辑需要的 key（如 prototype_tip）
-            """
-            if "type" in plr_d:
-                sub_cls = find_subclass(plr_d["type"], PLRResource)
-                if sub_cls is not None:
-                    spec = inspect.signature(sub_cls)
-                    valid_params = set(spec.parameters.keys())
-                    # TubeRack 特殊处理：先转换 ordering，再参与后续过滤
-                    if "ordering" not in valid_params and "ordering" in plr_d:
-                        ordering = plr_d.pop("ordering", None)
-                        if sub_cls.__name__ == "TubeRack":
-                            plr_d["ordered_items"] = (
-                                _ordering_to_ordered_items(plr_d, ordering)
-                                if ordering
-                                else {}
-                            )
-                    # 移除构造函数不接受的参数（保留 META 和 deserialize 自定义逻辑需要的 key）
-                    for key in list(plr_d.keys()):
-                        if (
-                            key not in _META_KEYS
-                            and key not in _DESERIALIZE_PRESERVED_KEYS
-                            and key not in valid_params
-                        ):
-                            plr_d.pop(key, None)
-            for child in plr_d.get("children", []):
-                remove_incompatible_params(child)
-
-        def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict:
-            """将 ordering 转为 ordered_items，从 children 构建 Tube 对象"""
-            from pylabrobot.resources import Tube, Coordinate
-            from pylabrobot.serializer import deserialize as plr_deserialize
-
-            children = plr_d.get("children", [])
-            ordered_items = {}
-            for idx, (ident, child_name) in enumerate(ordering.items()):
-                child_data = children[idx] if idx < len(children) else None
-                if child_data is None:
-                    continue
-                loc_data = child_data.get("location")
-                loc = (
-                    plr_deserialize(loc_data)
-                    if loc_data
-                    else Coordinate(0, 0, 0)
-                )
-                tube = Tube(
-                    name=child_data.get("name", child_name or ident),
-                    size_x=child_data.get("size_x", 10),
-                    size_y=child_data.get("size_y", 10),
-                    size_z=child_data.get("size_z", 50),
-                    max_volume=child_data.get("max_volume", 1000),
-                )
-                tube.location = loc
-                ordered_items[ident] = tube
-            plr_d["children"] = []  # 已并入 ordered_items，避免重复反序列化
-            return ordered_items
-
         plr_resources = []
         tracker = DeviceNodeResourceTracker()
 
@@ -721,7 +631,9 @@ class ResourceTreeSet(object):
                     raise ValueError(
                         f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
                     )
-                remove_incompatible_params(plr_dict)
+                spec = inspect.signature(sub_cls)
+                if "category" not in spec.parameters:
+                    plr_dict.pop("category", None)
                 plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.serializer import deserialize
@@ -735,47 +647,12 @@ class ResourceTreeSet(object):
                 plr_resources.append(plr_resource)
 
             except Exception as e:
-                logger.error(f"转换 PLR 资源失败: {e}")
+                logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}")
                 import traceback
 
                 logger.error(f"堆栈: {traceback.format_exc()}")
                 raise
 
-        if requested_uuids:
-            # 按请求的 UUID 顺序返回对应资源（从整棵树中按 uuid 提取）
-            # 优先使用 tracker.uuid_to_resources；若映射缺失，再递归遍历 PLR 树兜底搜索。
-            def _find_plr_by_uuid(roots: List["PLRResource"], uid: str) -> Optional["PLRResource"]:
-                stack = list(roots)
-                while stack:
-                    node = stack.pop()
-                    node_uid = getattr(node, "unilabos_uuid", None)
-                    if node_uid == uid:
-                        return node
-                    children = getattr(node, "children", None) or []
-                    stack.extend(children)
-                return None
-
-            result = []
-            missing_uuids = []
-            for uid in requested_uuids:
-                found = tracker.uuid_to_resources.get(uid)
-                if found is None:
-                    found = _find_plr_by_uuid(plr_resources, uid)
-                    if found is not None:
-                        # 回填缓存，后续相同 uuid 可直接命中
-                        tracker.uuid_to_resources[uid] = found
-                if found is None:
-                    missing_uuids.append(uid)
-                else:
-                    result.append(found)
-
-            if missing_uuids:
-                raise ValueError(
-                    f"请求的 UUID 未在资源树中找到: {missing_uuids}。"
-                    f"可用 UUID 数量: {len(tracker.uuid_to_resources)}，"
-                    f"资源树数量: {len(self.trees)}"
-                )
-            return result
         return plr_resources
 
     @classmethod
@@ -793,13 +670,7 @@ class ResourceTreeSet(object):
             ValueError: 当建立关系时发现不一致
         """
         # 第一步：将字典列表转换为 ResourceDictInstance 列表
-        parsed_list = []
+        instances = [ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in raw_list]
-        for node_dict in raw_list:
-            if isinstance(node_dict, str):
-                import json
-                node_dict = json.loads(node_dict)
-            parsed_list.append(node_dict)
-        instances = [ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in parsed_list]
 
         # 第二步：建立映射关系
         uuid_to_instance: Dict[str, ResourceDictInstance] = {}
@@ -870,6 +741,16 @@ class ResourceTreeSet(object):
         """
         return [tree.root_node for tree in self.trees]
 
+    @property
+    def root_nodes_uuid(self) -> List[ResourceDictInstance]:
+        """
+        获取所有树的根节点
+
+        Returns:
+            所有根节点的资源实例列表
+        """
+        return [tree.root_node.res_content.uuid for tree in self.trees]
+
     @property
     def all_nodes(self) -> List[ResourceDictInstance]:
         """