modify devices to use correct executor (sleep, create_task)

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -25,6 +25,8 @@ from pylabrobot.resources import (
     Tip,
 )
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class LiquidHandlerMiddleware(LiquidHandler):
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
@@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
 class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     """Extended LiquidHandler with additional operations."""
     support_touch_tip = True
+    _ros_node: BaseROS2DeviceNode
 
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
         """Initialize a LiquidHandler.
@@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         self.group_info = dict()
         super().__init__(backend, deck, simulator, channel_num)
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     @classmethod
-    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
+    def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
         """Set the liquid in a well."""
         for well, liquid_name, volume in zip(wells, liquid_names, volumes):
             well.set_liquids([(liquid_name, volume)])  # type: ignore
@@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 print(f"Waiting time: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
                 print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
-            await asyncio.sleep(seconds)
+            await self._ros_node.sleep(seconds)
             if msg:
                 print(f"Done: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")