wait¶

Runs in the client Sends nothing to the robot

Wait until the robot's status meets a condition of your own. predicate receives the latest status the robot sent: the dict latest_status() returns, with keys such as mode, state, homed, err, errors, exec_paused and control_holder. The call returns once predicate returns a true value. It checks it at once, then each time a new status arrives: the robot sends its status when it changes, checking 50 times a second. It sends no command. wait_mode(), wait_enabled(), wait_homed() and wait_error_reset() are built on it.

Syntax¶

robot.wait(predicate, timeout=10.0, what='wait')

Arguments¶

Name	Type	Default	Description
`predicate`	`Callable[[dict], bool]`	required	A function that takes the status dict and returns a true value when the wait is over. Read it with `s.get(...)`: before the first status arrives the dict is empty.
`timeout`	`float \| None`	`10.0`	Seconds to wait at most. `None` waits as long as it takes.
`what`	`str`	`'wait'`	A name for the wait in the `RobotTimeout` message, which reads " timed out".

Returns¶

Nothing.

Examples¶

robot.wait(lambda s: s.get("state") == "ENABLED" and s.get("homed"))
robot.wait(lambda s: not s.get("exec_paused"), timeout=30,
           what="wait_resumed")

Further details¶

Note

predicate gets a copy of the status, and the client takes in no new status until it returns: keep it short, and do not send commands from it. An exception it raises ends the wait and reaches the caller.

Exceptions¶

RobotTimeout: predicate was not true within timeout.
RobotConnectionError: The client is not connected, or lost its connection while waiting.