update workbench example

update aksk desc

print res query logs

Fix skills exec error with action type

Update Skills

Update Skills addr

Change uni-lab. to leap-lab.
Support unit in pylabrobot

Support async func.

change to leap-lab backend. Support feedback interval. Reduce cocurrent lags.

fix create_resource_with_slot

update unilabos_formulation & batch-submit-exp

scale multi exec thread up to 48

update handle creation api

fit cocurrent gap

add running status debounce

allow non @topic_config support

update skill

add placeholder keys

always free

提交实验技能

disable samples

correct sample demo ret value

新增试剂reagent

update registry

新增manual_confirm

add workstation creation skill

add virtual_sample_demo 样品追踪测试设备

add external devices param
fix registry upload missing type

fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow

unilabos/ros/nodes/presets/host_node.py

@@ -4,6 +4,8 @@ import threading
 import time
 import traceback
 import uuid
+
+from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
 from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
 
@@ -24,7 +26,7 @@ from unilabos_msgs.srv import (
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
 
-from unilabos.registry.decorators import device
+from unilabos.registry.decorators import device, action, NodeType
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 from unilabos.registry.registry import lab_registry
 from unilabos.resources.container import RegularContainer
@@ -313,7 +315,9 @@ class HostNode(BaseROS2DeviceNode):
                 callback_group=self.callback_group,
             ),
         }  # 用来存储多个ActionClient实例
-        self._action_value_mappings: Dict[str, Dict] = {}  # device_id -> action_value_mappings(本地+远程设备统一存储)
+        self._action_value_mappings: Dict[str, Dict] = {
+            device_id: self._action_value_mappings
+        }  # device_id -> action_value_mappings(本地+远程设备统一存储)
         self._slave_registry_configs: Dict[str, Dict] = {}  # registry_name -> registry_config(含action_value_mappings)
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
         self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备
@@ -616,22 +620,17 @@ class HostNode(BaseROS2DeviceNode):
                 }
             )
         ]
-
         response: List[str] = await self.create_resource_detailed(
             resources, device_ids, bind_parent_id, bind_location, other_calling_param
         )
 
-        try:
-            assert len(response) == 1, "Create Resource应当只返回一个结果"
-            for i in response:
-                res = json.loads(i)
-                if "suc" in res:
-                    raise ValueError(res.get("error"))
-                return res
-        except Exception as ex:
-            pass
-        _n = "\n"
-        raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
+        assert len(response) == 1, "Create Resource应当只返回一个结果"
+        for i in response:
+            res = json.loads(i)
+            if "suc" in res and not res["suc"]:
+                raise ValueError(res.get("error", "未知错误"))
+            return res
+        raise ValueError(f"创建资源时失败！响应为空")
 
     def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
         """
@@ -1166,7 +1165,7 @@ class HostNode(BaseROS2DeviceNode):
                 else:
                     physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
 
-        response.response = json.dumps(uuid_mapping) if success else "FAILED"
+        response.response = _fast_dumps_str(uuid_mapping) if success else "FAILED"
         self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
 
     async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
@@ -1176,6 +1175,7 @@ class HostNode(BaseROS2DeviceNode):
 
         resource_response = http_client.resource_tree_get(uuid_list, with_children)
         response.response = json.dumps(resource_response)
+        self.lab_logger().trace(f"[Host Node-Resource] Resource tree get request callback {response.response}")
 
     async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
         """
@@ -1228,9 +1228,26 @@ class HostNode(BaseROS2DeviceNode):
         """
         try:
             # 解析请求数据
-            data = json.loads(request.command)
+            data = _fast_loads(request.command)
             action = data["action"]
-            self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
+            inner = data.get("data", {})
+            if action == "add":
+                mount_uuid = inner.get("mount_uuid", "?")[:8] if isinstance(inner, dict) else "?"
+                tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
+                node_count = len(tree_data) if isinstance(tree_data, list) else "?"
+                source = f"mount={mount_uuid}.. nodes≈{node_count}"
+            elif action in ("get", "remove"):
+                uid_list = inner.get("data", inner) if isinstance(inner, dict) else inner
+                source = f"uuids={len(uid_list) if isinstance(uid_list, list) else '?'}"
+            elif action == "update":
+                tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
+                node_count = len(tree_data) if isinstance(tree_data, list) else "?"
+                source = f"nodes≈{node_count}"
+            else:
+                source = ""
+            self.lab_logger().info(
+                f"[Host Node-Resource] Resource tree {action} request received ({source})"
+            )
             data = data["data"]
             if action == "add":
                 await self._resource_tree_action_add_callback(data, response)
@@ -1621,6 +1638,19 @@ class HostNode(BaseROS2DeviceNode):
         }
         return res
 
+    @action(always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
+        "assignee_user_ids": "unilabos_manual_confirm"
+    }, goal_default={
+        "timeout_seconds": 3600,
+        "assignee_user_ids": []
+    })
+    def manual_confirm(self, timeout_seconds: int, assignee_user_ids: list[str], **kwargs) -> dict:
+        """
+        timeout_seconds: 超时时间（秒），默认3600秒
+        修改的结果无效，是只读的
+        """
+        return kwargs
+
     def test_resource(
         self,
         sample_uuids: SampleUUIDsType,