modify devices to use correct executor (sleep, create_task)

test/registry/example_devices.py

@@ -3,7 +3,8 @@
 """
 
 import asyncio
-from typing import Dict, Any, Optional, List
+from typing import Dict, Any, List
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class SmartPumpController:
@@ -14,6 +15,8 @@ class SmartPumpController:
     适用于实验室自动化系统中的液体处理任务。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
         """
         初始化智能泵控制器
@@ -30,6 +33,9 @@ class SmartPumpController:
         self.calibration_factor = 1.0
         self.pump_mode = "continuous"  # continuous, volume, rate
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def connect_device(self, timeout: int = 10) -> bool:
         """
         连接到泵设备
@@ -90,7 +96,7 @@ class SmartPumpController:
         pump_time = (volume / flow_rate) * 60  # 转换为秒
 
         self.current_flow_rate = flow_rate
-        await asyncio.sleep(min(pump_time, 3.0))  # 模拟泵送过程
+        await self._ros_node.sleep(min(pump_time, 3.0))  # 模拟泵送过程
 
         self.total_volume_pumped += volume
         self.current_flow_rate = 0.0
@@ -170,6 +176,8 @@ class AdvancedTemperatureController:
     适用于需要精确温度控制的化学反应和材料处理过程。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, controller_id: str = "temp_controller_01"):
         """
         初始化温度控制器
@@ -185,6 +193,9 @@ class AdvancedTemperatureController:
         self.pid_enabled = True
         self.temperature_history: List[Dict] = []
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
         """
         设置目标温度
@@ -238,7 +249,7 @@ class AdvancedTemperatureController:
                 }
             )
 
-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)
 
             # 保持历史记录不超过100条
             if len(self.temperature_history) > 100:
@@ -330,6 +341,8 @@ class MultiChannelAnalyzer:
     常用于光谱分析、电化学测量等应用场景。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
         """
         初始化多通道分析仪
@@ -344,6 +357,9 @@ class MultiChannelAnalyzer:
         self.is_measuring = False
         self.sample_rate = 1000  # Hz
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
         """
         配置通道
@@ -376,7 +392,7 @@ class MultiChannelAnalyzer:
 
         # 模拟数据采集
         measurements = []
-        for second in range(duration):
+        for _ in range(duration):
             timestamp = asyncio.get_event_loop().time()
             frame_data = {}
 
@@ -391,7 +407,7 @@ class MultiChannelAnalyzer:
 
             measurements.append({"timestamp": timestamp, "data": frame_data})
 
-            await asyncio.sleep(1.0)  # 每秒采集一次
+            await self._ros_node.sleep(1.0)  # 每秒采集一次
 
         self.is_measuring = False
 
@@ -465,6 +481,8 @@ class AutomatedDispenser:
     集成称重功能，确保分配精度和重现性。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, dispenser_id: str = "dispenser_01"):
         """
         初始化自动分配器
@@ -479,6 +497,9 @@ class AutomatedDispenser:
         self.container_capacity = 1000.0  # mL
         self.precision_mode = True
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def move_to_position(self, x: float, y: float, z: float) -> bool:
         """
         移动到指定位置
@@ -517,7 +538,7 @@ class AutomatedDispenser:
         if viscosity == "high":
             dispense_time *= 2  # 高粘度液体需要更长时间
 
-        await asyncio.sleep(min(dispense_time, 5.0))  # 最多等待5秒
+        await self._ros_node.sleep(min(dispense_time, 5.0))  # 最多等待5秒
 
         self.dispensed_total += volume
 

unilabos/devices/cnc/grbl_async.py

@@ -12,6 +12,7 @@ from serial import Serial
 from serial.serialutil import SerialException
 
 from unilabos.messages import Point3D
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class GrblCNCConnectionError(Exception):
@@ -32,6 +33,7 @@ class GrblCNCInfo:
 class GrblCNCAsync:
     _status: str = "Offline"
     _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
+    _ros_node: BaseROS2DeviceNode
     
     def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
         self.port = port
@@ -58,6 +60,9 @@ class GrblCNCAsync:
         self._run_future: Optional[Future[Any]] = None
         self._run_lock = Lock()
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     def _read_all(self):
         data = self._serial.read_until(b"\n")
         data_decoded = data.decode()
@@ -148,7 +153,7 @@ class GrblCNCAsync:
             try:
                 await self._query(command)
                 while True:
-                    await asyncio.sleep(0.2)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.2)  # Wait for 0.5 seconds before polling again
                     
                     status = await self.get_status()
                     if "Idle" in status:
@@ -214,7 +219,7 @@ class GrblCNCAsync:
             self._pose_number = i
             self.pose_number_remaining = len(points) - i
             await self.set_position(point)
-            await asyncio.sleep(0.5)
+            await self._ros_node.sleep(0.5)
         self._step_number = -1
 
     async def stop_operation(self):
@@ -235,7 +240,7 @@ class GrblCNCAsync:
     async def open(self):
         if self._read_task:
             raise GrblCNCConnectionError
-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())
 
         try:
             await self.get_status()

unilabos/devices/cnc/mock.py

@@ -2,6 +2,8 @@ import time
 import asyncio
 from pydantic import BaseModel
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class Point3D(BaseModel):
     x: float
@@ -14,10 +16,15 @@ def d(a: Point3D, b: Point3D) -> float:
 
 
 class MockCNCAsync:
+    _ros_node: BaseROS2DeviceNode["MockCNCAsync"]
+
     def __init__(self):
         self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
         self._status = "Idle"
 
+    def post_create(self, ros_node):
+        self._ros_node = ros_node
+    
     @property
     def position(self) -> Point3D:
         return self._position
@@ -38,5 +45,5 @@ class MockCNCAsync:
             self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
             self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
             self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
-            await asyncio.sleep(move_time / 20)
+            await self._ros_node.sleep(move_time / 20)
         self._status = "Idle"

unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py

@@ -15,9 +15,12 @@ from typing import List, Optional, Dict, Any, Union, Tuple
 from dataclasses import dataclass
 from abc import ABC, abstractmethod
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 # 基础导入
 try:
     from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
+
     PYLABROBOT_AVAILABLE = True
 except ImportError:
     # 如果 pylabrobot 不可用，创建基础的模拟类
@@ -42,17 +45,16 @@ except ImportError:
     class Well(Resource):
         pass
 
+
 # LaiYu_Liquid 控制器导入
 try:
-    from .controllers.pipette_controller import (
-        PipetteController, TipStatus, LiquidClass, LiquidParameters
-    )
-    from .controllers.xyz_controller import (
-        XYZController, MachineConfig, CoordinateOrigin, MotorAxis
-    )
+    from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters
+    from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis
+
     CONTROLLERS_AVAILABLE = True
 except ImportError:
     CONTROLLERS_AVAILABLE = False
+
     # 创建模拟的控制器类
     class PipetteController:
         def __init__(self, *args, **kwargs):
@@ -71,17 +73,20 @@ except ImportError:
         def connect_device(self):
             return True
 
+
 logger = logging.getLogger(__name__)
 
 
 class LaiYuLiquidError(RuntimeError):
     """LaiYu_Liquid 设备异常"""
+
     pass
 
 
 @dataclass
 class LaiYuLiquidConfig:
     """LaiYu_Liquid 设备配置"""
+
     port: str = "/dev/cu.usbserial-3130"  # RS485转USB端口
     address: int = 1  # 设备地址
     baudrate: int = 9600  # 波特率
@@ -155,7 +160,17 @@ class LaiYuLiquidDeck:
 class LaiYuLiquidContainer:
     """LaiYu_Liquid 容器类"""
 
-    def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0):
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 0,
+        size_y: float = 0,
+        size_z: float = 0,
+        container_type: str = "",
+        volume: float = 0.0,
+        max_volume: float = 1000.0,
+        lid_height: float = 0.0,
+    ):
         self.name = name
         self.size_x = size_x
         self.size_y = size_y
@@ -197,17 +212,22 @@ class LaiYuLiquidContainer:
 
     def assign_child_resource(self, resource, location=None):
         """分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
-        if hasattr(resource, 'name'):
-            self.child_resources[resource.name] = {
-                'resource': resource,
-                'location': location
-            }
+        if hasattr(resource, "name"):
+            self.child_resources[resource.name] = {"resource": resource, "location": location}
 
 
 class LaiYuLiquidTipRack:
     """LaiYu_Liquid 吸头架类"""
 
-    def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0):
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 0,
+        size_y: float = 0,
+        size_z: float = 0,
+        tip_count: int = 96,
+        tip_volume: float = 1000.0,
+    ):
         self.name = name
         self.size_x = size_x
         self.size_y = size_y
@@ -240,10 +260,7 @@ class LaiYuLiquidTipRack:
 
     def assign_child_resource(self, resource, location=None):
         """分配子资源到指定位置"""
-        self.child_resources[resource.name] = {
-            'resource': resource,
-            'location': location
-        }
+        self.child_resources[resource.name] = {"resource": resource, "location": location}
 
 
 def get_module_info():
@@ -253,24 +270,17 @@ def get_module_info():
         "version": "1.0.0",
         "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
         "author": "UniLabOS Team",
-        "capabilities": [
-            "移液器控制",
-            "XYZ轴运动控制", 
-            "吸头架管理",
-            "板和容器管理",
-            "资源位置管理"
-        ],
-        "dependencies": {
-            "required": ["serial"],
-            "optional": ["pylabrobot"]
-        }
+        "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"],
+        "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]},
     }
 
 
 class LaiYuLiquidBackend:
     """LaiYu_Liquid 硬件通信后端"""
 
-    def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None):
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None):
         self.config = config
         self.deck = deck  # 工作台引用，用于获取资源位置信息
         self.pipette_controller = None
@@ -283,6 +293,9 @@ class LaiYuLiquidBackend:
         self.tip_attached = False
         self.current_volume = 0.0
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def _validate_position(self, x: float, y: float, z: float) -> bool:
         """验证位置是否在安全范围内"""
         try:
@@ -348,7 +361,7 @@ class LaiYuLiquidBackend:
             safe_position = (
                 self.config.deck_width / 2,  # 工作台中心X
                 self.config.deck_height / 2,  # 工作台中心Y
-                self.config.safe_height  # 安全高度Z
+                self.config.safe_height,  # 安全高度Z
             )
 
             if not self._validate_position(*safe_position):
@@ -375,17 +388,12 @@ class LaiYuLiquidBackend:
         try:
             if CONTROLLERS_AVAILABLE:
                 # 初始化移液器控制器
-                self.pipette_controller = PipetteController(
-                    port=self.config.port,
-                    address=self.config.address
-                )
+                self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address)
 
                 # 初始化XYZ控制器
                 machine_config = MachineConfig()
                 self.xyz_controller = XYZController(
-                    port=self.config.port,
-                    baudrate=self.config.baudrate,
-                    machine_config=machine_config
+                    port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config
                 )
 
                 # 连接设备
@@ -412,10 +420,10 @@ class LaiYuLiquidBackend:
     async def stop(self):
         """停止设备"""
         try:
-            if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'):
+            if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"):
                 await asyncio.to_thread(self.pipette_controller.disconnect)
 
-            if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'):
+            if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"):
                 await asyncio.to_thread(self.xyz_controller.disconnect)
 
             self.is_connected = False
@@ -432,7 +440,7 @@ class LaiYuLiquidBackend:
                 raise LaiYuLiquidError("设备未连接")
 
             # 模拟移动
-            await asyncio.sleep(0.1)  # 模拟移动时间
+            await self._ros_node.sleep(0.1)  # 模拟移动时间
             self.current_position = (x, y, z)
             logger.debug(f"移动到位置: ({x}, {y}, {z})")
             return True
@@ -472,9 +480,11 @@ class LaiYuLiquidBackend:
             pickup_z = tip_z - self.config.tip_pickup_force_depth
             retract_z = tip_z + self.config.tip_pickup_retract_height
 
-            if not (self._validate_position(tip_x, tip_y, safe_z) and 
-                    self._validate_position(tip_x, tip_y, pickup_z) and 
-                    self._validate_position(tip_x, tip_y, retract_z)):
+            if not (
+                self._validate_position(tip_x, tip_y, safe_z)
+                and self._validate_position(tip_x, tip_y, pickup_z)
+                and self._validate_position(tip_x, tip_y, retract_z)
+            ):
                 logger.error("枪头拾取位置超出安全范围")
                 return False
 
@@ -487,8 +497,7 @@ class LaiYuLiquidBackend:
                     safe_z = tip_z + self.config.tip_approach_height
                     logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
                     move_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord, 
-                        tip_x, tip_y, safe_z
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z
                     )
                     if not move_success:
                         logger.error("移动到枪头上方失败")
@@ -498,22 +507,20 @@ class LaiYuLiquidBackend:
                     pickup_z = tip_z - self.config.tip_pickup_force_depth
                     logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
                     z_down_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        tip_x, tip_y, pickup_z
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z
                     )
                     if not z_down_success:
                         logger.error("Z轴下降到枪头位置失败")
                         return False
 
                     # 3. 等待一小段时间确保枪头牢固附着
-                    await asyncio.sleep(0.2)
+                    await self._ros_node.sleep(0.2)
 
                     # 4. Z轴上升到回退高度
                     retract_z = tip_z + self.config.tip_pickup_retract_height
                     logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
                     z_up_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        tip_x, tip_y, retract_z
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z
                     )
                     if not z_up_success:
                         logger.error("Z轴上升失败")
@@ -533,7 +540,7 @@ class LaiYuLiquidBackend:
             else:
                 # 模拟模式
                 logger.info("模拟模式：执行枪头拾取动作")
-                await asyncio.sleep(1.0)  # 模拟整个拾取过程的时间
+                await self._ros_node.sleep(1.0)  # 模拟整个拾取过程的时间
                 self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
 
             # 6. 标记枪头已附着
@@ -578,8 +585,10 @@ class LaiYuLiquidBackend:
             safe_z = drop_z + self.config.safe_height
             drop_height_z = drop_z + self.config.tip_drop_height
 
-            if not (self._validate_position(drop_x, drop_y, safe_z) and 
-                    self._validate_position(drop_x, drop_y, drop_height_z)):
+            if not (
+                self._validate_position(drop_x, drop_y, safe_z)
+                and self._validate_position(drop_x, drop_y, drop_height_z)
+            ):
                 logger.error("枪头丢弃位置超出安全范围")
                 return False
 
@@ -592,8 +601,7 @@ class LaiYuLiquidBackend:
                     safe_z = drop_z + self.config.tip_drop_height
                     logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
                     move_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        drop_x, drop_y, safe_z
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
                     )
                     if not move_success:
                         logger.error("移动到丢弃位置上方失败")
@@ -602,8 +610,7 @@ class LaiYuLiquidBackend:
                     # 2. Z轴下降到丢弃高度
                     logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
                     z_down_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        drop_x, drop_y, drop_z
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z
                     )
                     if not z_down_success:
                         logger.error("Z轴下降到丢弃位置失败")
@@ -619,13 +626,12 @@ class LaiYuLiquidBackend:
                             logger.warning(f"枪头弹出命令失败: {e}")
 
                     # 4. 等待一小段时间确保枪头完全脱离
-                    await asyncio.sleep(0.3)
+                    await self._ros_node.sleep(0.3)
 
                     # 5. Z轴上升到安全高度
                     logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
                     z_up_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        drop_x, drop_y, safe_z
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
                     )
                     if not z_up_success:
                         logger.error("Z轴上升失败")
@@ -645,7 +651,7 @@ class LaiYuLiquidBackend:
             else:
                 # 模拟模式
                 logger.info("模拟模式：执行枪头丢弃动作")
-                await asyncio.sleep(0.8)  # 模拟整个丢弃过程的时间
+                await self._ros_node.sleep(0.8)  # 模拟整个丢弃过程的时间
                 self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
 
             # 7. 标记枪头已脱离，清空体积
@@ -671,7 +677,7 @@ class LaiYuLiquidBackend:
                 raise LaiYuLiquidError(f"体积超出范围: {volume}")
 
             # 模拟吸取
-            await asyncio.sleep(0.3)
+            await self._ros_node.sleep(0.3)
             self.current_volume += volume
             logger.debug(f"从 {location} 吸取 {volume} μL")
             return True
@@ -693,7 +699,7 @@ class LaiYuLiquidBackend:
                 raise LaiYuLiquidError(f"分配体积无效: {volume}")
 
             # 模拟分配
-            await asyncio.sleep(0.3)
+            await self._ros_node.sleep(0.3)
             self.current_volume -= volume
             logger.debug(f"向 {location} 分配 {volume} μL")
             return True
@@ -765,8 +771,9 @@ class LaiYuLiquid:
         await self.backend.stop()
         self.is_setup = False
 
-    async def transfer(self, source: str, target: str, volume: float, 
-                      tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool:
+    async def transfer(
+        self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0
+    ) -> bool:
         """液体转移"""
         try:
             if not self.is_setup:
@@ -788,7 +795,7 @@ class LaiYuLiquid:
                 ("吸取液体", self.backend.aspirate(volume, source)),
                 ("移动到目标位置", self.backend.move_to(*target_pos)),
                 ("分配液体", self.backend.dispense(volume, target)),
-                ("丢弃吸头", self.backend.drop_tip())
+                ("丢弃吸头", self.backend.drop_tip()),
             ]
 
             for step_name, step_coro in steps:
@@ -823,7 +830,7 @@ class LaiYuLiquid:
             "current_position": self.backend.current_position,
             "tip_attached": self.backend.tip_attached,
             "current_volume": self.backend.current_volume,
-            "resources": self.deck.list_resources()
+            "resources": self.deck.list_resources(),
         }
 
 
@@ -846,7 +853,7 @@ def create_quick_setup() -> LaiYuLiquidDeck:
             create_tip_rack_1000ul,
             create_tip_rack_200ul,
             create_96_well_plate,
-            create_waste_container
+            create_waste_container,
         )
 
         # 添加基本资源
@@ -877,5 +884,5 @@ __all__ = [
     "LaiYuLiquidTipRack",
     "LaiYuLiquidError",
     "create_quick_setup",
-    "get_module_info"
+    "get_module_info",
 ]

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')}")

unilabos/devices/pump_and_valve/runze_async.py

@@ -8,6 +8,8 @@ import serial.tools.list_ports
 from serial import Serial
 from serial.serialutil import SerialException
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class RunzeSyringePumpMode(Enum):
     Normal = 0
@@ -77,6 +79,8 @@ class RunzeSyringePumpInfo:
 
 
 class RunzeSyringePumpAsync:
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
         self.port = port
         self.address = address
@@ -102,6 +106,9 @@ class RunzeSyringePumpAsync:
         self._run_future: Optional[Future[Any]] = None
         self._run_lock = Lock()
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     def _adjust_total_steps(self):
         self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
         self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
@@ -182,7 +189,7 @@ class RunzeSyringePumpAsync:
             try:
                 await self._query(command)
                 while True:
-                    await asyncio.sleep(0.5)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.5)  # Wait for 0.5 seconds before polling again
                     
                     status = await self.query_device_status()
                     if status == '`':
@@ -364,7 +371,7 @@ class RunzeSyringePumpAsync:
         if self._read_task:
             raise RunzeSyringePumpConnectionError
 
-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())
 
         try:
             await self.query_device_status()

unilabos/devices/virtual/virtual_centrifuge.py

@@ -3,10 +3,14 @@ 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
         if device_id is None and "id" in kwargs:
@@ -33,6 +37,9 @@ class VirtualCentrifuge:
             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"""
         self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
@@ -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({

unilabos/devices/virtual/virtual_column.py

@@ -2,9 +2,13 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualColumn:
     """Virtual column device for RunColumn protocol 🏛️"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and 'id' in kwargs:
@@ -28,6 +32,9 @@ class VirtualColumn:
         print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
         print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """Initialize virtual column 🚀"""
         self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
@@ -101,7 +108,7 @@ class VirtualColumn:
         step_time = separation_time / steps
         
         for i in range(steps):
-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)
             
             progress = (i + 1) / steps * 100
             volume_processed = (i + 1) * 5.0  # 假设每步处理5mL

unilabos/devices/virtual/virtual_filter.py

@@ -4,16 +4,19 @@ import time as time_module
 from typing import Dict, Any, Optional
 
 from unilabos.compile.utils.vessel_parser import get_vessel
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class VirtualFilter:
     """Virtual filter device - 完全按照 Filter.action 规范 🌊"""
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        if device_id is None and 'id' in kwargs:
-            device_id = kwargs.pop('id')
-        if config is None and 'config' in kwargs:
-            config = kwargs.pop('config')
+        if device_id is None and "id" in kwargs:
+            device_id = kwargs.pop("id")
+        if config is None and "config" in kwargs:
+            config = kwargs.pop("config")
 
         self.device_id = device_id or "unknown_filter"
         self.config = config or {}
@@ -21,29 +24,34 @@ class VirtualFilter:
         self.data = {}
 
         # 从config或kwargs中获取配置参数
-        self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
-        self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
-        self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
-        self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0)
+        self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
+        self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
+        self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
+        self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
 
         # 处理其他kwargs参数
-        skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'}
+        skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
         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 filter 🚀"""
         self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
 
         # 按照 Filter.action 的 feedback 字段初始化
-        self.data.update({
+        self.data.update(
+            {
                 "status": "Idle",
                 "progress": 0.0,  # Filter.action feedback
                 "current_temp": 25.0,  # Filter.action feedback
                 "filtered_volume": 0.0,  # Filter.action feedback
-            "message": "Ready for filtration"
-        })
+                "message": "Ready for filtration",
+            }
+        )
 
         self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
         return True
@@ -52,9 +60,7 @@ class VirtualFilter:
         """Cleanup virtual filter 🧹"""
         self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
 
-        self.data.update({
-            "status": "Offline"
-        })
+        self.data.update({"status": "Offline"})
 
         self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
         return True
@@ -67,7 +73,7 @@ class VirtualFilter:
         stir_speed: float = 300.0,
         temp: float = 25.0,
         continue_heatchill: bool = False,
-        volume: float = 0.0
+        volume: float = 0.0,
     ) -> bool:
         """Execute filter action - 完全按照 Filter.action 参数 🌊"""
         vessel_id, _ = get_vessel(vessel)
@@ -92,41 +98,34 @@ class VirtualFilter:
         if temp > self._max_temp or temp < 4.0:
             error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error: 温度超出范围 ⚠️",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
             return False
 
         if stir and stir_speed > self._max_stir_speed:
             error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error: 搅拌速度超出范围 ⚠️",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
             return False
 
         if volume > self._max_volume:
             error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error", "message": error_msg})
             return False
 
         # 开始过滤
         filter_volume = volume if volume > 0 else 50.0
         self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
 
-        self.data.update({
+        self.data.update(
+            {
                 "status": f"Running",
                 "current_temp": temp,
                 "filtered_volume": 0.0,
                 "progress": 0.0,
-            "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
-        })
+                "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
+            }
+        )
 
         try:
             # 过滤过程 - 实时更新进度
@@ -157,13 +156,15 @@ class VirtualFilter:
                     status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
                 status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
 
-                self.data.update({
+                self.data.update(
+                    {
                         "progress": progress,  # Filter.action feedback
                         "current_temp": temp,  # Filter.action feedback
                         "filtered_volume": current_filtered,  # Filter.action feedback
                         "status": "Running",
-                    "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
-                })
+                        "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
+                    }
+                )
 
                 # 进度日志（每25%打印一次）
                 if progress >= 25 and progress % 25 < 1:
@@ -172,7 +173,7 @@ class VirtualFilter:
                 if remaining <= 0:
                     break
 
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
 
             # 过滤完成
             final_temp = temp if continue_heatchill else 25.0
@@ -181,13 +182,15 @@ class VirtualFilter:
                 final_status += " | 🔥 继续加热搅拌"
                 self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
 
-            self.data.update({
+            self.data.update(
+                {
                     "status": final_status,
                     "progress": 100.0,  # Filter.action feedback
                     "current_temp": final_temp,  # Filter.action feedback
                     "filtered_volume": filter_volume,  # Filter.action feedback
-                "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
-            })
+                    "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
+                }
+            )
 
             self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
             self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
@@ -196,10 +199,7 @@ class VirtualFilter:
         except Exception as e:
             error_msg = f"过滤过程中发生错误: {str(e)} 💥"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error",
-                "message": f"❌ Filtration failed: {str(e)}"
-            })
+            self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
             return False
 
     # === 核心状态属性 - 按照 Filter.action feedback 字段 ===

unilabos/devices/virtual/virtual_heatchill.py

@@ -3,9 +3,13 @@ import logging
 import time as time_module  # 重命名time模块，避免与参数冲突
 from typing import Dict, Any
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualHeatChill:
     """Virtual heat chill device for HeatChillProtocol testing 🌡️"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and 'id' in kwargs:
@@ -35,6 +39,9 @@ class VirtualHeatChill:
         print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
         print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """Initialize virtual heat chill 🚀"""
         self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
@@ -177,7 +184,7 @@ class VirtualHeatChill:
                 break
             
             # 等待1秒后再次检查
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
         
         # 操作完成
         final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""

unilabos/devices/virtual/virtual_rotavap.py

@@ -3,13 +3,19 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+
 def debug_print(message):
     """调试输出 🔍"""
     print(f"🌪️ [ROTAVAP] {message}", flush=True)
 
+
 class VirtualRotavap:
     """Virtual rotary evaporator 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
         if device_id is None and "id" in kwargs:
@@ -38,12 +44,16 @@ class VirtualRotavap:
         print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
         print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     async def initialize(self) -> bool:
         """Initialize virtual rotary evaporator 🚀"""
         self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
 
         # 只保留核心状态
-        self.data.update({
+        self.data.update(
+            {
                 "status": "🏠 待机中",
                 "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
                 "current_temp": 25.0,
@@ -53,25 +63,30 @@ class VirtualRotavap:
                 "evaporated_volume": 0.0,
                 "progress": 0.0,
                 "remaining_time": 0.0,
-            "message": "🌪️ Ready for evaporation"
-        })
+                "message": "🌪️ Ready for evaporation",
+            }
+        )
 
         self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
-        self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM")
+        self.logger.info(
+            f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
+        )
         return True
 
     async def cleanup(self) -> bool:
         """Cleanup virtual rotary evaporator 🧹"""
         self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
 
-        self.data.update({
+        self.data.update(
+            {
                 "status": "💤 离线",
                 "rotavap_state": "Offline",
                 "current_temp": 25.0,
                 "rotation_speed": 0.0,
                 "vacuum_pressure": 1.0,
-            "message": "💤 System offline"
-        })
+                "message": "💤 System offline",
+            }
+        )
 
         self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
         return True
@@ -84,7 +99,7 @@ class VirtualRotavap:
         time: float = 180.0,
         stir_speed: float = 100.0,
         solvent: str = "",
-        **kwargs
+        **kwargs,
     ) -> bool:
         """Execute evaporate action - 简化版 🌪️"""
 
@@ -114,11 +129,11 @@ class VirtualRotavap:
             self.logger.info(f"🧪 识别到溶剂: {solvent}")
             # 根据溶剂调整参数
             solvent_lower = solvent.lower()
-            if any(s in solvent_lower for s in ['water', 'aqueous']):
+            if any(s in solvent_lower for s in ["water", "aqueous"]):
                 temp = max(temp, 80.0)
                 pressure = max(pressure, 0.2)
                 self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
-            elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+            elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
                 temp = min(temp, 50.0)
                 pressure = min(pressure, 0.05)
                 self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
@@ -136,46 +151,53 @@ class VirtualRotavap:
         if temp > self._max_temp or temp < 10.0:
             error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"❌ 错误: 温度超出范围",
                     "rotavap_state": "Error",
                     "current_temp": 25.0,
                     "progress": 0.0,
                     "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+                    "message": error_msg,
+                }
+            )
             return False
 
         if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
             error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"❌ 错误: 转速超出范围",
                     "rotavap_state": "Error",
                     "current_temp": 25.0,
                     "progress": 0.0,
                     "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+                    "message": error_msg,
+                }
+            )
             return False
 
         if pressure < 0.01 or pressure > 1.0:
             error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"❌ 错误: 压力超出范围",
                     "rotavap_state": "Error",
                     "current_temp": 25.0,
                     "progress": 0.0,
                     "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+                    "message": error_msg,
+                }
+            )
             return False
 
         # 开始蒸发 - 🔧 现在time已经确保是float类型
         self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
 
-        self.data.update({
+        self.data.update(
+            {
                 "status": f"🌪️ 蒸发中: {actual_vessel}",
                 "rotavap_state": "Evaporating",
                 "current_temp": temp,
@@ -185,8 +207,9 @@ class VirtualRotavap:
                 "remaining_time": time,
                 "progress": 0.0,
                 "evaporated_volume": 0.0,
-            "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
-        })
+                "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
+            }
+        )
 
         try:
             # 蒸发过程 - 实时更新进度
@@ -201,9 +224,9 @@ class VirtualRotavap:
                 progress = min(100.0, (elapsed / total_time) * 100)
 
                 # 模拟蒸发体积 - 根据溶剂类型调整
-                if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+                if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                     evaporated_vol = progress * 0.6  # 水系溶剂蒸发慢
-                elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+                elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                     evaporated_vol = progress * 1.0  # 易挥发溶剂蒸发快
                 else:
                     evaporated_vol = progress * 0.8  # 默认蒸发量
@@ -211,18 +234,22 @@ class VirtualRotavap:
                 # 🔧 更新状态 - 确保包含所有必需字段
                 status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
 
-                self.data.update({
+                self.data.update(
+                    {
                         "remaining_time": remaining,
                         "progress": progress,
                         "evaporated_volume": evaporated_vol,
                         "current_temp": temp,
                         "status": status_msg,
-                    "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining"
-                })
+                        "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
+                    }
+                )
 
                 # 进度日志（每25%打印一次）
                 if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
-                    self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨")
+                    self.logger.info(
+                        f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
+                    )
                     last_logged_progress = int(progress)
 
                 # 时间到了，退出循环
@@ -230,17 +257,18 @@ class VirtualRotavap:
                     break
 
                 # 每秒更新一次
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
 
             # 蒸发完成
-            if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+            if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                 final_evaporated = 60.0  # 水系溶剂
-            elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+            elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                 final_evaporated = 100.0  # 易挥发溶剂
             else:
                 final_evaporated = 80.0  # 默认
 
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
                     "rotavap_state": "Completed",
                     "evaporated_volume": final_evaporated,
@@ -249,8 +277,9 @@ class VirtualRotavap:
                     "remaining_time": 0.0,
                     "rotation_speed": 0.0,
                     "vacuum_pressure": 1.0,
-                "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}"
-            })
+                    "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
+                }
+            )
 
             self.logger.info(f"🎉 蒸发操作完成! ✨")
             self.logger.info(f"📊 蒸发结果:")
@@ -270,7 +299,8 @@ class VirtualRotavap:
             error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
             self.logger.error(f"❌ {error_msg}")
 
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"❌ 蒸发错误: {str(e)}",
                     "rotavap_state": "Error",
                     "current_temp": 25.0,
@@ -278,8 +308,9 @@ class VirtualRotavap:
                     "evaporated_volume": 0.0,
                     "rotation_speed": 0.0,
                     "vacuum_pressure": 1.0,
-                "message": f"❌ Evaporation failed: {str(e)}"
-            })
+                    "message": f"❌ Evaporation failed: {str(e)}",
+                }
+            )
             return False
 
     # === 核心状态属性 ===

unilabos/devices/virtual/virtual_separator.py

@@ -2,10 +2,14 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualSeparator:
     """Virtual separator device for SeparateProtocol testing"""
     
+    _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
         if device_id is None and "id" in kwargs:
@@ -36,6 +40,9 @@ class VirtualSeparator:
             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 separator"""
         print(f"=== VirtualSeparator {self.device_id} initialize() called! ===")
@@ -119,14 +126,14 @@ class VirtualSeparator:
         for repeat in range(repeats):
             # 搅拌阶段
             for progress in range(0, 51, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                 overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                 self.data["progress"] = overall_progress
                 self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
 
             # 静置分相阶段
             for progress in range(50, 101, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                 overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                 self.data["progress"] = overall_progress
                 self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"

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:
@@ -22,6 +27,9 @@ class VirtualSolenoidValve:
         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"""
         self._status = "Idle"
@@ -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):

unilabos/devices/virtual/virtual_solid_dispenser.py

@@ -3,6 +3,8 @@ import logging
 import re
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualSolidDispenser:
     """
     虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
@@ -13,6 +15,8 @@ class VirtualSolidDispenser:
     - 简单反馈：成功/失败 + 消息 📊
     """
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         self.device_id = device_id or "virtual_solid_dispenser"
         self.config = config or {}
@@ -32,6 +36,9 @@ class VirtualSolidDispenser:
         print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
         print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """初始化固体加样器 🚀"""
         self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
@@ -263,7 +270,7 @@ class VirtualSolidDispenser:
             
             for i in range(steps):
                 progress = (i + 1) / steps * 100
-                await asyncio.sleep(step_time)
+                await self._ros_node.sleep(step_time)
                 if i % 2 == 0:  # 每隔一步显示进度
                     self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")
             

unilabos/devices/virtual/virtual_stirrer.py

@@ -3,9 +3,13 @@ import logging
 import time as time_module
 from typing import Dict, Any
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualStirrer:
     """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and 'id' in kwargs:
@@ -34,6 +38,9 @@ class VirtualStirrer:
         print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
         print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """Initialize virtual stirrer 🚀"""
         self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
@@ -134,7 +141,7 @@ class VirtualStirrer:
             if remaining <= 0:
                 break
             
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
         
         self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
         
@@ -176,7 +183,7 @@ class VirtualStirrer:
                 if remaining <= 0:
                     break
                 
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
             
             self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")
         

unilabos/devices/virtual/virtual_transferpump.py

@@ -4,6 +4,8 @@ from enum import Enum
 from typing import Union, Optional
 import logging
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualPumpMode(Enum):
     Normal = 0
@@ -14,6 +16,8 @@ class VirtualPumpMode(Enum):
 class VirtualTransferPump:
     """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         """
         初始化虚拟转移泵
@@ -53,6 +57,9 @@ class VirtualTransferPump:
         print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
         print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """初始化虚拟泵 🚀"""
         self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -104,7 +111,7 @@ class VirtualTransferPump:
     async def _simulate_operation(self, duration: float):
         """模拟操作延时 ⏱️"""
         self._status = "Busy"
-        await asyncio.sleep(duration)
+        await self._ros_node.sleep(duration)
         self._status = "Idle"
     
     def _calculate_duration(self, volume: float, velocity: float = None) -> float:
@@ -223,7 +230,7 @@ class VirtualTransferPump:
                     
                     # 等待一小步时间
                     if i < steps and step_duration > 0:
-                        await asyncio.sleep(step_duration)
+                        await self._ros_node.sleep(step_duration)
             else:
                 # 移动距离很小，直接完成
                 self._position = target_position
@@ -341,7 +348,7 @@ class VirtualTransferPump:
         
         # 短暂停顿
         self.logger.debug("⏸️ 短暂停顿...")
-        await asyncio.sleep(0.1)
+        await self._ros_node.sleep(0.1)
         
         # 排液
         await self.dispense(volume, dispense_velocity)