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