script/local.py

@@ -32,6 +32,19 @@ run("motion/tools")
 run("imgproc/Utils")
 run("tools/Math")
 
+def system_check(robot_move=True):
+    if not air_pressure_ok.read():
+        raise Exception("Air pressure is not ok")
+    if not n2_pressure_ok.read():
+        raise Exception("N2 pressure is not ok")
+    if robot_move:
+        if not feedback_local_safety.read():
+            raise Exception("Local safety not released")
+        if not feedback_psys_safety.read():
+            raise Exception("Psys safety not released")
+        if not guiding_tool_park().read():
+            raise Exception("Guiding tool not parked")
+        
 
 ###################################################################################################
 #  Device initialization