feat: Decrease default profile check frequency to 10s

Revert multi-routine IFCB finish detection

src/phyto_arm/src/arm_esp.py

@@ -31,7 +31,7 @@ def get_next_task(self, last_task):
             return Task("profiler_peak", wait_seconds(esp_update_freq), peak_depth)
 
         # By default hold and wait a second
-        return Task('default_position_wait', wait_seconds(5), rospy.get_param('tasks/default_depth'))
+        return Task('default_position_wait', wait_seconds(10), rospy.get_param('tasks/default_depth'))
 
 # Global reference to arm state
 arm = None

src/phyto_arm/src/ifcb_runner.py

@@ -42,19 +42,6 @@ class IFCBState:
 
 state = IFCBState()
 
-# For detecting a finished sample on Acquire < 3.0
-def is_finished_pre_3_0(marker):
-    if marker is None:
-        return False
-    return marker['routine'] == 'runsample' and \
-       marker['kind'] == 'before' and \
-       marker['value'].get('StepType') == 'ChangeSpeed' and \
-       marker['value'].get('Arguments', []) == ['{#SamplingSpeed}']
-
-# For detecting a finished sample on Acquire >= 3.0
-def is_finished_post_3_0(msg):
-    return msg == ['reportevent', 'Finished: Run sample.\n']
-
 
 def on_ifcb_msg(msg):
     # Parse the message and see if it is a marker
@@ -76,9 +63,16 @@ def on_ifcb_msg(msg):
         state.ifcb_is_idle.set()
         return
 
-    # Detect when we can release our position hold. 
-    # API changes with Acquire 3.0 so we check for either finish message type.
-    if is_finished_pre_3_0(marker) or is_finished_post_3_0(parsed):
+    # Remaining behaviors depend on having a parsed marker
+    if marker is None:
+        return
+
+    # Detect when we can release our position hold
+    if marker['routine'] == 'runsample' and \
+       marker['kind'] == 'before' and \
+       marker['value'].get('StepType') == 'ChangeSpeed' and \
+       marker['value'].get('Arguments', []) == ['{#SamplingSpeed}']:
+
         rospy.loginfo('Should release position hold now')
 
         with state.position_hold_condition: