step.timeout_or

Classes

TimeoutOr

Run a step with a time limit; execute a fallback step if it times out.

Functions

timeout_or(→ TimeoutOr)

Run a step with a time limit, executing a fallback step if it times out.

Module Contents

class step.timeout_or.TimeoutOr(step: step.Step, seconds: float | int, fallback: step.Step)

Bases: step.Step

Run a step with a time limit; execute a fallback step if it times out.

step

seconds

fallback

collected_resources() → frozenset[str]

step.timeout_or.timeout_or(step: step.Step, seconds: float | int, fallback: step.Step) → TimeoutOr

Run a step with a time limit, executing a fallback step if it times out.

Executes step normally and enforces a maximum wall-clock duration. If the step completes within the budget it finishes successfully and the fallback is never run. If step exceeds the time limit it is cancelled and fallback is executed in its place.

This is useful when a motion step might stall (e.g., a drive that never reaches its target) and you want a recovery action rather than simply logging an error and moving on.

Parameters:

• step – The primary step to execute under a time constraint. Must be a valid Step instance.

• seconds – Maximum allowed execution time in seconds. Must be positive.

• fallback – The step to execute when step times out.

Returns:

A TimeoutOr step instance.

Example:

from raccoon.step import timeout_or
from raccoon.step.motion import drive_forward, drive_backward

# Try driving forward 30 cm; if stuck after 3 s, back up 5 cm instead
timeout_or(
    drive_forward(30),
    seconds=3.0,
    fallback=drive_backward(5),
)