scope robot_safetyKeyReleaser.

static int #interval = 30000;
static Map<Int, Long> #keysPressed = syncMap();

static ReliableSingleThread #rst = rstWithDelay(interval+500, r doIt);

static ReliableSingleThread robot_safetyKeyReleaser() {
  ret rst;
}

svoid #doIt {
  for (int key, long since : cloneMap(keysPressed)) {
    if (elapsedMS(since) >= interval) {
      print("WARNING: Robot safety release of key " + key);
      robot_keyRelease(key);
    }
  }
}

end scope