step.timing.do_until_checkpoint

Classes

DoUntilCheckpoint

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

Module Contents

class step.timing.do_until_checkpoint.DoUntilCheckpoint(checkpoint: float, step)

Bases: step.Step

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.

Parameters:

• checkpoint – The mission-relative deadline (in seconds) at which step will be cancelled.

• step – The step to run. Will be cancelled if still active when the checkpoint time is reached.

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(),
])

checkpoint

step

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.

async run_step(robot: GenericRobot) → None

Record the wrapper step, then execute the child until the checkpoint.