Since then Edwards has breached the order three times, not including the most recent offending on April 19, when he entered and crossed Wembley Park on his way to the dairy.
For one breach in 2012, he was sentenced to 18 months in prison, Judge Cameron said.
Edwards also has convictions for breaching home detention conditions.
Judge Cameron said he had received a letter from the Prisoners Aid and Rehabilitation Society, saying Edwards lived alone in accommodation he would lose if sent to prison.
"The manager advises if that were to happen then, once released from a term of imprisonment, he would come out with literally nothing," Judge Cameron said.
"He would have to dispose of his furniture and other possessions ... it would be exceedingly difficult to re-accommodate him."
Defence lawyer Debbie Goodlet called the offending a "low-end breach". Judge Cameron said he would not describe it as such, "because he is at high risk of reoffending and this condition, of course, is to protect children under 16 years".
He said the breach "must be treated seriously by the court".
"Having regard to all the circumstances of this offending, I will give this defendant one last opportunity."
Judge Cameron sentenced Edwards to six months' home detention.
"I warn Mr Edwards formally that if there were any further breaches of his extended supervision order, then he can expect a significant term of imprisonment."