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):
       ...