wait_mode¶

Runs in the client Sends nothing to the robot

Wait until the robot is in a given mode. It waits until the robot's status shows mode, and sends no command: change the mode first, with enter_exec_mode(), enter_idle_mode() or the like, or call those with wait=True to do both. It returns at once when the latest status already shows mode. The robot sends its status when it changes, checking 50 times a second, so a mode that lasts less than about 20 ms can pass unseen.

Syntax¶

robot.wait_mode(mode, timeout=10.0)

Arguments¶

Name	Type	Default	Description
`mode`	`str`	required	The mode, as the robot names it: `"IDLE"`, `"EXEC"`, `"JOG"`, `"HOMING"`, `"RTI"`, `"SOFT_RTI"`, `"SAFETY_STOP"`, `"FLASHING"`, `"ACTIVE_ERROR"` or `"BOOTING"`. Spelled any other way, for example in lower case, it never matches, and the wait runs into its timeout.
`timeout`	`float \| None`	`10.0`	Seconds to wait at most. `None` waits as long as it takes.

Returns¶

Nothing.

Examples¶

robot.enter_exec_mode()
robot.wait_mode("EXEC")

Exceptions¶

RobotTimeout: The robot did not report mode within timeout.
RobotConnectionError: The client is not connected, or lost its connection while waiting.