modify devices to use correct executor (sleep, create_task)

unilabos/devices/virtual/virtual_solenoid_valve.py

@@ -2,11 +2,16 @@ import time
 import asyncio
 from typing import Union
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualSolenoidValve:
     """
     虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
     """
+    
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         # 从配置中获取参数，提供默认值
         if config is None:
@@ -21,6 +26,9 @@ class VirtualSolenoidValve:
         self._status = "Idle"
         self._valve_state = "Closed"  # "Open" or "Closed"
         self._is_open = False
+    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
 
     async def initialize(self) -> bool:
         """初始化设备"""
@@ -63,7 +71,7 @@ class VirtualSolenoidValve:
         self._status = "Busy"
         
         # 模拟阀门响应时间
-        await asyncio.sleep(self.response_time)
+        await self._ros_node.sleep(self.response_time)
         
         # 处理不同的命令格式
         if isinstance(command, str):