wait_complete()

def gcode(self, s, data=None):
  time_start_RK = time.time() #RK debug
  self.command.mode(linuxcnc.MODE_MDI)
  self.command.wait_complete()
  max_idle_time_RK = time.time()-time_start_RK
  print('RK - 0, Workaround in ".../psng/python/base.py"') #RK debug
  print("RK - 1: %f ; switch to MDI time" %(max_idle_time_RK)) #RK debug
  for l in s.split("\n"):
    # Search for G1 followed by a space, otherwise we'll catch G10 too.
    if "G1 " in l:
    l += " F#<_ini[TOOLSENSOR]RAPID_SPEED>"
    self.command.mdi(l)
    time_start_RK = time.time() #RK debug
    a_RK = self.command.wait_complete()
    time_duration_RK = time.time()-time_start_RK
    print("RK - 2: %f ; %i ; %s" %(time_duration_RK, a_RK, l)) #RK debug
    if self.error_poll() == -1:
      return -1

  #RK debug
  while True:
    self.command.mdi(';workaround')
    time_start_RK = time.time()
    a_RK = self.command.wait_complete(5.0)
    time_duration_RK = time.time()-time_start_RK
    print("RK - 3: %f ; %i ; loop workaround" %(time_duration_RK, a_RK)) #RK debug
    if self.error_poll() == -1:
      return -1
    if time_duration_RK < max_idle_time_RK:
      break
    return 0

...
RK - 0, Workaround in ".../psng/python/base.py"
RK - 1: 0.041228 ; switch to MDI time
RK - 2: 0.010244 ; 1 ; G91
RK - 2: 0.142202 ; 1 ; G1 X15.000000 F#<_ini[TOOLSENSOR]RAPID_SPEED>
RK - 2: 0.132048 ; 1 ; G90
RK - 3: 0.142770 ; 1 ; loop workaround
RK - 3: 0.112120 ; 1 ; loop workaround
RK - 3: 0.142459 ; 1 ; loop workaround
RK - 3: 0.010268 ; 1 ; loop workaround
...

    @restore_task_mode
    def gcode(self, s, distance=None, data=None):
        self.command.mode(linuxcnc.MODE_MDI)
        self.timed_wait_complete()
        for l in s.split("\n"):
            # Search for G1 followed by a space, otherwise we'll catch G10 too.
            if "G1 " in l:
                l += " F#<_ini[TOOLSENSOR]RAPID_SPEED>"
            time_in = 5
            if distance is not None:
                # set a non-default wait limit for wait_complete()
                time_in = 1 + (distance / self.ps_rapid_speed ) * 60
            #print("probe_screen time_in=", time_in)
            #print("probe_screen:\n", l)
            self.command.mdi(l)
            self.timed_wait_complete()
            if self.error_poll() == -1:
                return -1
        
            self.stat.poll()
            # wait for the interpreter to return to idle state
            while self.stat.interp_state != linuxcnc.INTERP_IDLE:
                #print("probe_screen: interp_state=", self.stat.interp_state)
                if self.error_poll() == -1:
                    return -1
                self.command.wait_complete()
                self.stat.poll()
            self.command.wait_complete()
            if self.error_poll() == -1:
                return -1
        return 0

timeout = 600
result = self.command.wait_complete(timeout)
if result == -1:
       print( 'Command timed out: ({} second)'.format(timeout))