adjust with_children param

modify devices to use correct executor (sleep, create_task)
support sleep and create_task in node
2025-12-15 13:44:39 +00:00 · 2025-11-03 16:31:37 +08:00 · 2025-11-03 15:49:11 +08:00 · 2025-11-03 15:42:12 +08:00
19 changed files with 855 additions and 617 deletions
--- a/test/registry/example_devices.py
+++ b/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

--- a/unilabos/devices/cnc/grbl_async.py
+++ b/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()
--- a/unilabos/devices/cnc/mock.py
+++ b/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
@@ -14,9 +16,14 @@ 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:
@@ -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"
--- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
+++ b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ b/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')}")
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
@@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import (
 from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash

 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode


 class PRCXIError(RuntimeError):
@@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
        )
        super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        super().post_init(ros_node)
+        self._unilabos_backend.post_init(ros_node)
+
    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
        return super().set_liquid(wells, liquid_names, volumes)

@@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):

    _num_channels = 8  # 默认通道数为 8
    _is_reset_ok = False
+    _ros_node: BaseROS2DeviceNode

    @property
    def is_reset_ok(self) -> bool:
@@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
        self._execute_setup = setup
        self.debug = debug

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
    def create_protocol(self, protocol_name):
        self.protocol_name = protocol_name
        self.steps_todo_list = []
@@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                self.api_client.call("IAutomation", "Reset")
                while not self.is_reset_ok:
                    print("Waiting for PRCXI9300 to reset...")
-                    await asyncio.sleep(1)
+                    await self._ros_node.sleep(1)
                print("PRCXI9300 reset successfully.")
        except ConnectionRefusedError as e:
            raise RuntimeError(
@@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
            tipspot_index = tipspot.parent.children.index(tipspot)
            tip_columns.append(tipspot_index // 8)
        if len(set(tip_columns)) != 1:
-            raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
+            raise ValueError(
+                "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
+            )
        PlateNo = plate_indexes[0] + 1
        hole_col = tip_columns[0] + 1
        hole_row = 1
@@ -1109,12 +1120,15 @@ class PRCXI9300Api:
            "LiquidDispensingMethod": liquid_method,
        }

+
 class DefaultLayout:

    def __init__(self, product_name: str = "PRCXI9300"):
        self.labresource = {}
        if product_name not in ["PRCXI9300", "PRCXI9320"]:
-            raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
+            raise ValueError(
+                f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
+            )

        if product_name == "PRCXI9300":
            self.rows = 2
@@ -1129,25 +1143,93 @@ class DefaultLayout:
            self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
            self.trash_slot = 16
            self.waste_liquid_slot = 12
-            self.default_layout =  {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
-            [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}},  # 这个设置成废液槽，用储液槽表示
-  {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
-]
-}
+            self.default_layout = {
+                "MatrixId": f"{time.time()}",
+                "MatrixName": f"{time.time()}",
+                "MatrixCount": 16,
+                "WorkTablets": [
+                    {
+                        "Number": 1,
+                        "Code": "T1",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 2,
+                        "Code": "T2",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 3,
+                        "Code": "T3",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 4,
+                        "Code": "T4",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 5,
+                        "Code": "T5",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 6,
+                        "Code": "T6",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 7,
+                        "Code": "T7",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 8,
+                        "Code": "T8",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 9,
+                        "Code": "T9",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 10,
+                        "Code": "T10",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 11,
+                        "Code": "T11",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 12,
+                        "Code": "T12",
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
+                    },  # 这个设置成废液槽，用储液槽表示
+                    {
+                        "Number": 13,
+                        "Code": "T13",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 14,
+                        "Code": "T14",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 15,
+                        "Code": "T15",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 16,
+                        "Code": "T16",
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
+                    },  # 这个设置成垃圾桶，用储液槽表示
+                ],
+            }

    def get_layout(self) -> Dict[str, Any]:
        return {
@@ -1155,7 +1237,7 @@ class DefaultLayout:
            "columns": self.columns,
            "layout": self.layout,
            "trash_slot": self.trash_slot,
-            "waste_liquid_slot": self.waste_liquid_slot
+            "waste_liquid_slot": self.waste_liquid_slot,
        }

    def get_trash_slot(self) -> int:
@@ -1178,17 +1260,19 @@ class DefaultLayout:
        reserved_positions = {12, 16}
        available_positions = [i for i in range(1, 17) if i not in reserved_positions]

-            # 计算总需求
+        # 计算总需求
        total_needed = sum(count for _, _, count in needs)
        if total_needed > len(available_positions):
-            raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
+            raise ValueError(
+                f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
+            )

            # 依次分配位置
        current_pos = 0
        for reagent_name, material_name, count in needs:

-            material_uuid = self.labresource[material_name]['uuid']
-            material_enum = self.labresource[material_name]['materialEnum']
+            material_uuid = self.labresource[material_name]["uuid"]
+            material_enum = self.labresource[material_name]["materialEnum"]

            for _ in range(count):
                if current_pos >= len(available_positions):
@@ -1196,17 +1280,18 @@ class DefaultLayout:

                position = available_positions[current_pos]
                # 找到对应的tablet并更新
-                for tablet in self.default_layout['WorkTablets']:
-                    if tablet['Number'] == position:
-                        tablet['Material']['uuid'] = material_uuid
-                        tablet['Material']['materialEnum'] = material_enum
-                        layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
+                for tablet in self.default_layout["WorkTablets"]:
+                    if tablet["Number"] == position:
+                        tablet["Material"]["uuid"] = material_uuid
+                        tablet["Material"]["materialEnum"] = material_enum
+                        layout_list.append(
+                            dict(reagent_name=reagent_name, material_name=material_name, positions=position)
+                        )
                        break
                current_pos += 1
        return self.default_layout, layout_list


-
 if __name__ == "__main__":
    # Example usage
    # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
@@ -1302,10 +1387,7 @@ if __name__ == "__main__":

    # # # plate2.set_well_liquids(plate_2_liquids)

-
-
-
-    # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, 
+    # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
    #                            timeout=10.0, setup=False, debug=False,
    #                            simulator=True,
    #                            matrix_id="71593",
@@ -1391,10 +1473,7 @@ if __name__ == "__main__":
    # # input("Press Enter to continue...")  # Wait for user input before proceeding
    # # print("PRCXI9300Handler initialized with deck and host settings.")

-
-
-### 9320 ###
-
+    ### 9320 ###

    deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)

@@ -1412,12 +1491,15 @@ if __name__ == "__main__":
        new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
        return new_plate

-    def get_tip_rack(name: str, child_prefix: str="tip") -> PRCXI9300Container:
+    def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
        tip_racks = opentrons_96_tiprack_10ul(name).serialize()
        tip_rack = PRCXI9300Container(
-            name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
-                k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
-            })
+            name=name,
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="tip_rack",
+            ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
        )
        tip_rack_serialized = tip_rack.serialize()
        tip_rack_serialized["parent_name"] = deck.name
@@ -1629,6 +1711,7 @@ if __name__ == "__main__":
    )
    backend: PRCXI9300Backend = handler.backend
    from pylabrobot.resources import set_volume_tracking
+
    set_volume_tracking(enabled=True)
    # res = backend.api_client.get_all_materials()
    asyncio.run(handler.setup())  # Initialize the handler and setup the connection
@@ -1640,10 +1723,10 @@ if __name__ == "__main__":

    for well in plate13.get_all_items():
        # well_pos = well.name.split("_")[1]       # 走一行
-        # if well_pos.startswith("A"):             
-        if well.name.startswith("PlateT13"):       # 走整个Plate
+        # if well_pos.startswith("A"):
+        if well.name.startswith("PlateT13"):  # 走整个Plate
            asyncio.run(handler.dispense([well], [0.01], [0]))
-        
+
    # asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
    # asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
    # asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
@@ -1652,26 +1735,25 @@ if __name__ == "__main__":
    asyncio.run(handler.run_protocol())
    time.sleep(5)
    os._exit(0)
-# 第一种情景：一个孔往多个孔加液
+    # 第一种情景：一个孔往多个孔加液
    # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
    # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
-# 第二个情景：多个孔往多个孔加液(但是个数得对应)
-    plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23)
-    plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
+    # 第二个情景：多个孔往多个孔加液(但是个数得对应)
+    plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23)
+    plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23)

    # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8

    # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8

-#     A = tree_to_list([resource_plr_to_ulab(deck)])
-#     # with open("deck.json", "w", encoding="utf-8") as f:
-#     #     json.dump(A, f, indent=4, ensure_ascii=False)
+    #     A = tree_to_list([resource_plr_to_ulab(deck)])
+    #     # with open("deck.json", "w", encoding="utf-8") as f:
+    #     #     json.dump(A, f, indent=4, ensure_ascii=False)

-#     print(plate11.get_well(0).tracker.get_used_volume())
-     # Initialize the backend and setup the connection
+    #     print(plate11.get_well(0).tracker.get_used_volume())
+    # Initialize the backend and setup the connection
    asyncio.run(handler.transfer_group("water", "master_mix", 10))  # Reset tip tracking

-
    # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
    # print(plate8.children[8])
    # asyncio.run(handler.run_protocol())
@@ -1685,121 +1767,118 @@ if __name__ == "__main__":
    # print(plate1.children[0])
    # asyncio.run(handler.discard_tips([0]))

-#     asyncio.run(handler.add_liquid(
-#     asp_vols=[10]*7,
-#     dis_vols=[10]*7,
-#     reagent_sources=plate11.children[:7],
-#     targets=plate1.children[2:9],
-#     use_channels=[0],
-#     flow_rates=[None] * 7,
-#     offsets=[Coordinate(0, 0, 0)] * 7,
-#     liquid_height=[None] * 7,
-#     blow_out_air_volume=[None] * 2,
-#     delays=None,
-#     mix_time=3,
-#     mix_vol=5,
-#     spread="custom",
-# ))
+    #     asyncio.run(handler.add_liquid(
+    #     asp_vols=[10]*7,
+    #     dis_vols=[10]*7,
+    #     reagent_sources=plate11.children[:7],
+    #     targets=plate1.children[2:9],
+    #     use_channels=[0],
+    #     flow_rates=[None] * 7,
+    #     offsets=[Coordinate(0, 0, 0)] * 7,
+    #     liquid_height=[None] * 7,
+    #     blow_out_air_volume=[None] * 2,
+    #     delays=None,
+    #     mix_time=3,
+    #     mix_vol=5,
+    #     spread="custom",
+    # ))

    # asyncio.run(handler.run_protocol())  # Run the protocol

+    # # #     asyncio.run(handler.transfer_liquid(
+    # # #     asp_vols=[10]*2,
+    # # #     dis_vols=[10]*2,
+    # # #     sources=plate11.children[:2],
+    # # #     targets=plate11.children[-2:],
+    # # #     use_channels=[0],
+    # # #     offsets=[Coordinate(0, 0, 0)] * 4,
+    # # #     liquid_height=[None] * 2,
+    # # #     blow_out_air_volume=[None] * 2,
+    # # #     delays=None,
+    # # #     mix_times=3,
+    # # #     mix_vol=5,
+    # # #     spread="wide",
+    # # #     tip_racks=[plate8]
+    # # # ))

+    # # #     asyncio.run(handler.remove_liquid(
+    # # #     vols=[10]*2,
+    # # #     sources=plate11.children[:2],
+    # # #     waste_liquid=plate11.children[43],
+    # # #     use_channels=[0],
+    # # #     offsets=[Coordinate(0, 0, 0)] * 4,
+    # # #     liquid_height=[None] * 2,
+    # # #     blow_out_air_volume=[None] * 2,
+    # # #     delays=None,
+    # # #     spread="wide"
+    # # # ))
+    # #     asyncio.run(handler.run_protocol())

+    # #     # asyncio.run(handler.discard_tips())
+    # #     # asyncio.run(handler.mix(well_containers.children[:8
+    # #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info

-# # #     asyncio.run(handler.transfer_liquid(
-# # #     asp_vols=[10]*2,
-# # #     dis_vols=[10]*2,
-# # #     sources=plate11.children[:2],
-# # #     targets=plate11.children[-2:],
-# # #     use_channels=[0],
-# # #     offsets=[Coordinate(0, 0, 0)] * 4,
-# # #     liquid_height=[None] * 2,
-# # #     blow_out_air_volume=[None] * 2,
-# # #     delays=None,
-# # #     mix_times=3,
-# # #     mix_vol=5,
-# # #     spread="wide",
-# # #     tip_racks=[plate8]
-# # # ))
-
-# # #     asyncio.run(handler.remove_liquid(
-# # #     vols=[10]*2,
-# # #     sources=plate11.children[:2],
-# # #     waste_liquid=plate11.children[43],
-# # #     use_channels=[0],
-# # #     offsets=[Coordinate(0, 0, 0)] * 4,
-# # #     liquid_height=[None] * 2,
-# # #     blow_out_air_volume=[None] * 2,
-# # #     delays=None,
-# # #     spread="wide"
-# # # ))
-# #     asyncio.run(handler.run_protocol())
-
-# #     # asyncio.run(handler.discard_tips())
-# #     # asyncio.run(handler.mix(well_containers.children[:8
-# #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-# #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-
-
-# #     # asyncio.run(handler.remove_liquid(
-# #     #     vols=[100]*16,
-# #     #     sources=well_containers.children[-16:],
-# #     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
-# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-# #     #     flow_rates=[None] * 32,
-# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
-# #     #     liquid_height=[None] * 32,
-# #     #     blow_out_air_volume=[None] * 32,
-# #     #     spread="wide",
-# #     # ))
-# #     # asyncio.run(handler.transfer_liquid(
-# #     #     asp_vols=[100]*16,
-# #     #     dis_vols=[100]*16,
-# #     #     tip_racks=[tip_rack],
-# #     #     sources=well_containers.children[-16:],
-# #     #     targets=well_containers.children[:16],
-# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
-# #     #     asp_flow_rates=[None] * 16,
-# #     #     dis_flow_rates=[None] * 16,
-# #     #     liquid_height=[None] * 32,
-# #     #     blow_out_air_volume=[None] * 32,
-# #     #     mix_times=3,
-# #     #     mix_vol=50,
-# #     #     spread="wide",
-# #     # ))
-#       # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-# #     # input("pick_up_tips add step")
-     #asyncio.run(handler.run_protocol())  # Run the protocol
-# #     # input("Running protocol...")
-# #     # input("Press Enter to continue...")  # Wait for user input before proceeding
-# #     # print("PRCXI9300Handler initialized with deck and host settings.")
-
-
-# 一些推荐版位组合的测试样例：
-
-# 一些推荐版位组合的测试样例：
+    # #     # asyncio.run(handler.remove_liquid(
+    # #     #     vols=[100]*16,
+    # #     #     sources=well_containers.children[-16:],
+    # #     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
+    # #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    # #     #     flow_rates=[None] * 32,
+    # #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+    # #     #     liquid_height=[None] * 32,
+    # #     #     blow_out_air_volume=[None] * 32,
+    # #     #     spread="wide",
+    # #     # ))
+    # #     # asyncio.run(handler.transfer_liquid(
+    # #     #     asp_vols=[100]*16,
+    # #     #     dis_vols=[100]*16,
+    # #     #     tip_racks=[tip_rack],
+    # #     #     sources=well_containers.children[-16:],
+    # #     #     targets=well_containers.children[:16],
+    # #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    # #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+    # #     #     asp_flow_rates=[None] * 16,
+    # #     #     dis_flow_rates=[None] * 16,
+    # #     #     liquid_height=[None] * 32,
+    # #     #     blow_out_air_volume=[None] * 32,
+    # #     #     mix_times=3,
+    # #     #     mix_vol=50,
+    # #     #     spread="wide",
+    # #     # ))
+    #       # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # #     # input("pick_up_tips add step")
+    # asyncio.run(handler.run_protocol())  # Run the protocol
+    # #     # input("Running protocol...")
+    # #     # input("Press Enter to continue...")  # Wait for user input before proceeding
+    # #     # print("PRCXI9300Handler initialized with deck and host settings.")

+    # 一些推荐版位组合的测试样例：

+    # 一些推荐版位组合的测试样例：

    with open("prcxi_material.json", "r") as f:
        material_info = json.load(f)

    layout = DefaultLayout("PRCXI9320")
    layout.add_lab_resource(material_info)
-    MatrixLayout_1, dict_1 = layout.recommend_layout([
-        ("reagent_1", "96 细胞培养皿", 3),
-        ("reagent_2", "12道储液槽", 1),
-        ("reagent_3", "200μL Tip头", 7),
-        ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+    MatrixLayout_1, dict_1 = layout.recommend_layout(
+        [
+            ("reagent_1", "96 细胞培养皿", 3),
+            ("reagent_2", "12道储液槽", 1),
+            ("reagent_3", "200μL Tip头", 7),
+            ("reagent_4", "10μL加长 Tip头", 1),
+        ]
+    )
    print(dict_1)
-    MatrixLayout_2, dict_2 = layout.recommend_layout([
-        ("reagent_1", "96深孔板", 4),
-        ("reagent_2", "12道储液槽", 1),
-        ("reagent_3", "200μL Tip头", 1),
-        ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+    MatrixLayout_2, dict_2 = layout.recommend_layout(
+        [
+            ("reagent_1", "96深孔板", 4),
+            ("reagent_2", "12道储液槽", 1),
+            ("reagent_3", "200μL Tip头", 1),
+            ("reagent_4", "10μL加长 Tip头", 1),
+        ]
+    )

 # with open("prcxi_material.json", "r") as f:
 #     material_info = json.load(f)
--- a/unilabos/devices/pump_and_valve/runze_async.py
+++ b/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()
--- a/unilabos/devices/virtual/virtual_centrifuge.py
+++ b/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({
--- a/unilabos/devices/virtual/virtual_column.py
+++ b/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
--- a/unilabos/devices/virtual/virtual_filter.py
+++ b/unilabos/devices/virtual/virtual_filter.py
@@ -4,70 +4,76 @@ 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 {}
        self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}")
        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({
-            "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"
-        })
-        
+        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",
+            }
+        )
+
        self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
        return True
-    
+
    async def cleanup(self) -> bool:
        """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
-    
+
    async def filter(
-        self, 
+        self,
        vessel: dict,
        filtrate_vessel: dict = {},
-        stir: bool = False, 
-        stir_speed: float = 300.0, 
-        temp: float = 25.0, 
-        continue_heatchill: bool = False, 
-        volume: float = 0.0
+        stir: bool = False,
+        stir_speed: float = 300.0,
+        temp: float = 25.0,
+        continue_heatchill: bool = False,
+        volume: float = 0.0,
    ) -> bool:
        """Execute filter action - 完全按照 Filter.action 参数 🌊"""
        vessel_id, _ = get_vessel(vessel)
@@ -79,59 +85,52 @@ class VirtualFilter:
            temp = 25.0  # 0度自动设置为室温
            self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠")
        elif temp < 4.0:
-            temp = 4.0   # 小于4度自动设置为4度
+            temp = 4.0  # 小于4度自动设置为4度
            self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
-        
+
        self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
        self.logger.info(f"  🌪️ 搅拌: {stir} ({stir_speed} RPM)")
        self.logger.info(f"  🌡️ 温度: {temp}°C")
        self.logger.info(f"  💧 体积: {volume}mL")
        self.logger.info(f"  🔥 保持加热: {continue_heatchill}")
-        
+
        # 验证参数
        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({
-            "status": f"Running",
-            "current_temp": temp,
-            "filtered_volume": 0.0,
-            "progress": 0.0,
-            "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
-        })
-        
+
+        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}",
+            }
+        )
+
        try:
            # 过滤过程 - 实时更新进度
            start_time = time_module.time()
-            
+
            # 根据体积和搅拌估算过滤时间
            base_time = filter_volume / 5.0  # 5mL/s 基础速度
            if stir:
@@ -140,78 +139,79 @@ class VirtualFilter:
            if temp > 50.0:
                base_time *= 0.7  # 高温加速过滤
                self.logger.info(f"🔥 高温加速过滤，预计时间减少30% ⚡")
-            
+
            filter_time = max(base_time, 10.0)  # 最少10秒
            self.logger.info(f"⏱️ 预计过滤时间: {filter_time:.1f}秒 ⌛")
-            
+
            while True:
                current_time = time_module.time()
                elapsed = current_time - start_time
                remaining = max(0, filter_time - elapsed)
                progress = min(100.0, (elapsed / filter_time) * 100)
                current_filtered = (progress / 100.0) * filter_volume
-                
+
                # 更新状态 - 按照 Filter.action feedback 字段
                status_msg = f"🌊 过滤中: {vessel}"
                if stir:
                    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({
-                    "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"
-                })
-                
+
+                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",
+                    }
+                )
+
                # 进度日志（每25%打印一次）
                if progress >= 25 and progress % 25 < 1:
                    self.logger.info(f"📊 过滤进度: {progress:.0f}% | 💧 {current_filtered:.1f}mL 完成 ✨")
-                
+
                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
            final_status = f"✅ 过滤完成: {vessel} | 💧 {filter_volume}mL → {filtrate_vessel}"
            if continue_heatchill:
                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({
-                "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}"
-            })
-            
+
+            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}",
+                }
+            )
+
            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 🏁")
            return True
-            
+
        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 ===
    @property
    def status(self) -> str:
        return self.data.get("status", "❓ Unknown")
-    
+
    @property
    def progress(self) -> float:
        """Filter.action feedback 字段 📊"""
        return self.data.get("progress", 0.0)
-    
+
    @property
    def current_temp(self) -> float:
        """Filter.action feedback 字段 🌡️"""
@@ -230,15 +230,15 @@ class VirtualFilter:
    @property
    def message(self) -> str:
        return self.data.get("message", "")
-    
+
    @property
    def max_temp(self) -> float:
        return self._max_temp
-    
+
    @property
    def max_stir_speed(self) -> float:
        return self._max_stir_speed
-    
+
    @property
    def max_volume(self) -> float:
-        return self._max_volume
+        return self._max_volume
--- a/unilabos/devices/virtual/virtual_heatchill.py
+++ b/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 ""
--- a/unilabos/devices/virtual/virtual_rotavap.py
+++ b/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:
@@ -38,56 +44,65 @@ 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({
-            "status": "🏠 待机中",
-            "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
-            "current_temp": 25.0,
-            "target_temp": 25.0,
-            "rotation_speed": 0.0,
-            "vacuum_pressure": 1.0,  # 大气压
-            "evaporated_volume": 0.0,
-            "progress": 0.0,
-            "remaining_time": 0.0,
-            "message": "🌪️ Ready for evaporation"
-        })
-        
+        self.data.update(
+            {
+                "status": "🏠 待机中",
+                "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "rotation_speed": 0.0,
+                "vacuum_pressure": 1.0,  # 大气压
+                "evaporated_volume": 0.0,
+                "progress": 0.0,
+                "remaining_time": 0.0,
+                "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({
-            "status": "💤 离线",
-            "rotavap_state": "Offline",
-            "current_temp": 25.0,
-            "rotation_speed": 0.0,
-            "vacuum_pressure": 1.0,
-            "message": "💤 System offline"
-        })
-        
+
+        self.data.update(
+            {
+                "status": "💤 离线",
+                "rotavap_state": "Offline",
+                "current_temp": 25.0,
+                "rotation_speed": 0.0,
+                "vacuum_pressure": 1.0,
+                "message": "💤 System offline",
+            }
+        )
+
        self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
        return True

    async def evaporate(
-        self, 
-        vessel: str, 
-        pressure: float = 0.1, 
-        temp: float = 60.0, 
+        self,
+        vessel: str,
+        pressure: float = 0.1,
+        temp: float = 60.0,
        time: float = 180.0,
        stir_speed: float = 100.0,
        solvent: str = "",
-        **kwargs
+        **kwargs,
    ) -> bool:
        """Execute evaporate action - 简化版 🌪️"""
-        
+
        # 🔧 新增：确保time参数是数值类型
        if isinstance(time, str):
            try:
@@ -98,31 +113,31 @@ class VirtualRotavap:
        elif not isinstance(time, (int, float)):
            self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
            time = 180.0
-        
+
        # 确保time是float类型; 并加速
        time = float(time) / 10.0
-        
+
        # 🔧 简化处理：如果vessel就是设备自己，直接操作
        if vessel == self.device_id:
            debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
            actual_vessel = self.device_id
        else:
            actual_vessel = vessel
-        
+
        # 参数预处理
        if solvent:
            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")
-        
+
        self.logger.info(f"🌪️ 开始蒸发操作: {actual_vessel}")
        self.logger.info(f"  🥽 容器: {actual_vessel}")
        self.logger.info(f"  🌡️ 温度: {temp}°C")
@@ -131,126 +146,140 @@ class VirtualRotavap:
        self.logger.info(f"  🌀 转速: {stir_speed} RPM")
        if solvent:
            self.logger.info(f"  🧪 溶剂: {solvent}")
-        
+
        # 验证参数
        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({
-                "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
-            })
+            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,
+                }
+            )
            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({
-                "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
-            })
+            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,
+                }
+            )
            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({
-                "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
-            })
+            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,
+                }
+            )
            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({
-            "status": f"🌪️ 蒸发中: {actual_vessel}",
-            "rotavap_state": "Evaporating",
-            "current_temp": temp,
-            "target_temp": temp,
-            "rotation_speed": stir_speed,
-            "vacuum_pressure": pressure,
-            "remaining_time": time,
-            "progress": 0.0,
-            "evaporated_volume": 0.0,
-            "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
-        })
+
+        self.data.update(
+            {
+                "status": f"🌪️ 蒸发中: {actual_vessel}",
+                "rotavap_state": "Evaporating",
+                "current_temp": temp,
+                "target_temp": temp,
+                "rotation_speed": stir_speed,
+                "vacuum_pressure": pressure,
+                "remaining_time": time,
+                "progress": 0.0,
+                "evaporated_volume": 0.0,
+                "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
+            }
+        )

        try:
            # 蒸发过程 - 实时更新进度
            start_time = time_module.time()
            total_time = time
            last_logged_progress = 0
-            
+
            while True:
                current_time = time_module.time()
                elapsed = current_time - start_time
                remaining = max(0, total_time - elapsed)
                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
-                
+
                # 🔧 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({
-                    "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"
-                })
-                
+
+                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",
+                    }
+                )
+
                # 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
                if remaining <= 0:
                    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({
-                "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
-                "rotavap_state": "Completed",
-                "evaporated_volume": final_evaporated,
-                "progress": 100.0,
-                "current_temp": temp,
-                "remaining_time": 0.0,
-                "rotation_speed": 0.0,
-                "vacuum_pressure": 1.0,
-                "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}"
-            })
+
+            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,
+                    "progress": 100.0,
+                    "current_temp": temp,
+                    "remaining_time": 0.0,
+                    "rotation_speed": 0.0,
+                    "vacuum_pressure": 1.0,
+                    "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:")
@@ -262,24 +291,26 @@ class VirtualRotavap:
            self.logger.info(f"  ⏱️ 总用时: {total_time:.0f}s")
            if solvent:
                self.logger.info(f"  🧪 处理溶剂: {solvent} 🏁")
-            
+
            return True

        except Exception as e:
            # 出错处理
            error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
            self.logger.error(f"❌ {error_msg}")
-            
-            self.data.update({
-                "status": f"❌ 蒸发错误: {str(e)}",
-                "rotavap_state": "Error",
-                "current_temp": 25.0,
-                "progress": 0.0,
-                "evaporated_volume": 0.0,
-                "rotation_speed": 0.0,
-                "vacuum_pressure": 1.0,
-                "message": f"❌ Evaporation failed: {str(e)}"
-            })
+
+            self.data.update(
+                {
+                    "status": f"❌ 蒸发错误: {str(e)}",
+                    "rotavap_state": "Error",
+                    "current_temp": 25.0,
+                    "progress": 0.0,
+                    "evaporated_volume": 0.0,
+                    "rotation_speed": 0.0,
+                    "vacuum_pressure": 1.0,
+                    "message": f"❌ Evaporation failed: {str(e)}",
+                }
+            )
            return False

    # === 核心状态属性 ===
--- a/unilabos/devices/virtual/virtual_separator.py
+++ b/unilabos/devices/virtual/virtual_separator.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 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
@@ -35,6 +39,9 @@ class VirtualSeparator:
        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 separator"""
@@ -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}%)"
--- a/unilabos/devices/virtual/virtual_solenoid_valve.py
+++ b/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):
--- a/unilabos/devices/virtual/virtual_solid_dispenser.py
+++ b/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}...")
            
--- a/unilabos/devices/virtual/virtual_stirrer.py
+++ b/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")
        
--- a/unilabos/devices/virtual/virtual_transferpump.py
+++ b/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)
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import (
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
-from rclpy.task import Task
+from rclpy.task import Task, Future
 from unilabos.utils.import_manager import default_manager
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
@@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        rclpy.get_global_executor().add_node(self)
        self.lab_logger().debug(f"ROS节点初始化完成")

+    async def sleep(self, rel_time: float, callback_group=None):
+        if callback_group is None:
+            callback_group = self.callback_group
+        await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group)
+
+    @classmethod
+    async def create_task(cls, func, trace_error=True, **kwargs) -> Task:
+        return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs)
+
    async def update_resource(self, resources: List["ResourcePLR"]):
        r = SerialCommand.Request()
        tree_set = ResourceTreeSet.from_plr_resources(resources)
@@ -647,7 +656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                    ].call_async(
                        SerialCommand.Request(
                            command=json.dumps(
-                                {"data": {"data": resources_uuid, "with_children": False}, "action": "get"}
+                                {"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"}
                            )
                        )
                    )  # type: ignore
@@ -1399,6 +1408,14 @@ class ROS2DeviceNode:
            future.add_done_callback(_handle_future_exception)
        return future

+    @classmethod
+    async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None):
+        future = Future()
+        timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock())
+        await future
+        timer.cancel()
+        node.destroy_timer(timer)
+
    @property
    def driver_instance(self):
        return self._driver_instance
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -18,7 +18,8 @@ from unilabos_msgs.srv import (
    ResourceDelete,
    ResourceUpdate,
    ResourceList,
-    SerialCommand, ResourceGet,
+    SerialCommand,
+    ResourceGet,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
Author	SHA1	Message	Date
Xuwznln	39bb7dc627	adjust with_children param	2025-11-03 16:31:37 +08:00
Xuwznln	0fda155f55	modify devices to use correct executor (sleep, create_task)	2025-11-03 15:49:11 +08:00
Xuwznln	6e3eacd2f0	support sleep and create_task in node	2025-11-03 15:42:12 +08:00