step.timing.do_until_checkpoint_dsl
===================================

.. py:module:: step.timing.do_until_checkpoint_dsl

.. autoapi-nested-parse::

   Auto-generated step builders and DSL functions — DO NOT EDIT.

   Source: do_until_checkpoint.py



Classes
-------

.. autoapisummary::

   step.timing.do_until_checkpoint_dsl.DoUntilCheckpointBuilder


Functions
---------

.. autoapisummary::

   step.timing.do_until_checkpoint_dsl.do_until_checkpoint


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

.. py:class:: DoUntilCheckpointBuilder

   Bases: :py:obj:`raccoon.step.step_builder.StepBuilder`


   Builder for DoUntilCheckpoint. Auto-generated — do not edit.


   .. py:method:: checkpoint(value: float)


   .. py:method:: step(value)


.. py:function:: do_until_checkpoint(checkpoint: float = _UNSET, step=_UNSET)

   Run a step until a mission-relative time checkpoint, then cancel it.

   Starts executing ``step`` immediately and cancels it when the robot's
   global synchronizer clock reaches ``checkpoint`` seconds since mission
   start. If the step finishes before the checkpoint, execution continues
   without waiting. This is useful for time-boxing actions within a timed
   Botball run (e.g. "search for objects, but stop at T=45s no matter what").

   Prerequisites:
       The robot must have a ``synchronizer`` configured. The synchronizer
       clock starts when the mission begins.

   :param checkpoint: The mission-relative deadline (in seconds) at which ``step`` will be cancelled.
   :param step: The step to run. Will be cancelled if still active when the checkpoint time is reached.

   :returns: A DoUntilCheckpointBuilder (chainable via ``.checkpoint()``, ``.step()``, ``.on_anomaly()``, ``.skip_timing()``).

   Example::

       from raccoon.step.timing import do_until_checkpoint
       from raccoon.step.logic import loop_forever

       # Search for objects until T=45s, then move on
       search = loop_forever(seq([
           scan_for_object(),
           drive_forward(10),
       ]))
       seq([
           do_until_checkpoint(45.0, search),
           drive_to_start(),
       ])