step.base
=========

.. py:module:: step.base


Attributes
----------

.. autoapisummary::

   step.base.StepAnomalyCallback


Classes
-------

.. autoapisummary::

   step.base.Step


Module Contents
---------------

.. py:data:: StepAnomalyCallback

.. py:class:: Step

   Bases: :py:obj:`raccoon.class_name_logger.ClassNameLogger`


   Base async action executed by missions and higher-level step combinators.


   .. py:method:: required_resources() -> frozenset[str]

      Return the hardware resources this step requires exclusive access to.

      For leaf steps (drive, motor, servo), return the resources this step
      directly uses.  Composite steps override ``collected_resources``
      instead to include children — ``required_resources`` stays empty for
      composites because they don't touch hardware themselves.



   .. py:method:: collected_resources() -> frozenset[str]

      Return all resources this step *and its children* require.

      Used by ``validate_no_overlap`` for static conflict detection at
      construction time.  Leaf steps don't need to override this — the
      default delegates to ``required_resources``.  Composite steps
      override to union their children's collected resources.



   .. py:method:: resolve() -> Step

      Return the concrete Step that should actually execute.

      Default returns ``self``. ``StepBuilder`` overrides this to call
      ``_build()`` so that fluent-DSL builders are converted into the
      underlying Step at composite-construction time. Composite steps
      call ``resolve()`` on their children before storing them so that
      ``validate_no_overlap`` and ``collected_resources`` see the real
      resource sets, not empty builder placeholders.



   .. py:method:: run_step(robot: raccoon.robot.api.GenericRobot) -> None
      :async:


      Execute the step with logging and optional timing instrumentation.

      When a per-step ``_anomaly_callback`` is set and a timing baseline
      exists, a background watchdog fires the callback as soon as the
      elapsed time exceeds the anomaly upper bound — even while the step
      is still running.



   .. py:method:: to_simulation_step() -> step.model.SimulationStep

      Convert this step to a simulation-friendly summary.

      The default implementation uses timing history only when it can query
      the tracker synchronously; otherwise it returns conservative defaults.
      Override in subclasses that know their motion delta or exact duration.