modify devices to use correct executor (sleep, create_task)

unilabos/devices/virtual/virtual_centrifuge.py

@@ -3,9 +3,13 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualCentrifuge:
     """Virtual centrifuge device - 简化版，只保留核心功能"""
+    
+    _ros_node: BaseROS2DeviceNode
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
         # 处理可能的不同调用方式
@@ -32,6 +36,9 @@ class VirtualCentrifuge:
         for key, value in kwargs.items():
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
+    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
 
     async def initialize(self) -> bool:
         """Initialize virtual centrifuge"""
@@ -132,7 +139,7 @@ class VirtualCentrifuge:
                     break
                 
                 # 每秒更新一次
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
             
             # 离心完成
             self.data.update({