step.timing.wait_for_checkpoint
===============================

.. py:module:: step.timing.wait_for_checkpoint


Classes
-------

.. autoapisummary::

   step.timing.wait_for_checkpoint.WaitForCheckpoint


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

.. py:class:: WaitForCheckpoint(checkpoint_seconds: Union[float, int])

   Bases: :py:obj:`raccoon.ui.UIStep`


   Wait until a mission-relative time checkpoint is reached.

   Pauses execution until the robot's global synchronizer clock reaches
   the specified number of seconds since mission start. While waiting,
   a full-screen countdown UI shows the remaining time. If the
   checkpoint time has already passed, the step returns immediately
   without showing any UI. This is useful for synchronizing actions to
   absolute times within a timed Botball run (e.g. "at T=20s, start
   collecting").

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

   :param checkpoint_seconds: The mission-relative time (in seconds) to
                              wait for. Must be non-negative.

   Example::

       from raccoon.step.timing import wait_for_checkpoint

       seq([
           drive_forward(50),
           # Ensure we don't start the next action before T=10s
           wait_for_checkpoint(10.0),
           pick_up_tribble(),
           # Gate the final action to T=25s
           wait_for_checkpoint(25.0),
           drive_to_bin(),
       ])


   .. py:attribute:: checkpoint_seconds