async def build(cls, hardware: ThreadManager):
lights_on = hardware.get_lights()['rails']
await hardware.cache_instruments()
await hardware.set_lights(rails=True)
await hardware.home()
return cls(hardware=hardware, lights_on_before=lights_on)
async def get_robot_light_state(
hardware: ThreadManager = Depends(get_hardware)) \
-> control.RobotLightState:
light_state = hardware.get_lights() # type: ignore
return control.RobotLightState(on=light_state.get('rails', False))
async def toggle_lights(hardware: ThreadManager, *args):
light_state = hardware.get_lights()
await hardware.set_lights(rails=not light_state.get('rails', False))