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))