await_until_stop()¶

This function waits for a navigation command to complete and raises an exception if no navigation command is currently running.

Reference¶

Arguments¶

None

Return¶

None

Exceptions¶

RayaNavNotLocated
RayaNavNoMapLoaded
RayaNavUnkownError

See the complete list of navigation exceptions

Usage Example¶

Code:

...
class RayaApplication(RayaApplicationBase):

    async def setup(self):
        self.nav = await self.enable_controller('navigation')
        ...

    async def loop(self):
        ...
           await self.nav.navigate_close_to_position(
                x=1.42,
                y=-2.96,
                min_radius=0.4,
                max_radius=0.8,
                pos_unit=POSITION_UNIT.METERS,
                callback_feedback=self.cb_nav_feedback,
                callback_finish=self.cb_nav_finish,
                wait=False,
            )
            await self.nav.await_until_stop()
            ...

    async def finish(self):
       ...