Startup

script/tasks/ColdPositionTimeout.py

@@ -0,0 +1,23 @@
+cold_position_timeout = int(get_setting("cold_position_timeout"))
+if cold_position_timeout > 0:    
+    if robot.last_command_position == "cold":         
+        if (time.time() - robot.last_command_timestamp)  > cold_position_timeout:  
+            if robot.is_cold():
+                log("Detected cold position timeout", False)
+                if get_context().state == State.Ready:
+                    if robot.state == State.Ready:
+                        if feedback_psys_safety.take() == True:
+                            #TODO: Chan
+                            get_context().evalLine("dry(wait_cold = -1)") #Dry and park : use get_context().evalLine to change application state
+                        else:
+                            raise Exception("Cannot clear cold position: feedback_psys_safety = False ")                        
+                    else: 
+                        raise Exception("Cannot clear cold position: robot state: " + str(robot.state))                        
+                else:
+                    raise Exception("Cannot clear cold position: system state: " + str(get_context().state))
+                 
+                            
+
+
+
+