def blink(self, color, iterations, period):
with self.error_animation_lock:
command = LedUserRequest()
command.animation_mode.animation = LedRingAnimation.FLASHING
command.colors = [color]
command.iterations = iterations
command.period = period
self.start_led_ring_thread(command)
try:
if self.led_ring_animation_thread.is_alive():
self.led_ring_animation_thread.join()
except RuntimeError:
pass
def shutdown(self):
if not self.__is_shutdown:
self.robot_status_subscriber.unregister()
self.stop_led_ring_thread()
self.user_animation_lock.acquire()
command = LedUserRequest()
command.colors = [WHITE]
command.iterations = 1
command.period = 2
self.breath_animation(command)
self.blink(WHITE, 8, 0.5)
self.error_animation_lock.acquire()
self.none_animation(None)
self.__is_shutdown = True