52 lines
1.6 KiB
Python
52 lines
1.6 KiB
Python
import platform
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import time
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def busy_wait(seconds):
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if platform.system() == "Darwin":
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# On Mac, `time.sleep` is not accurate and we need to use this while loop trick,
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# but it consumes CPU cycles.
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# TODO(rcadene): find an alternative: from python 11, time.sleep is precise
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end_time = time.perf_counter() + seconds
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while time.perf_counter() < end_time:
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pass
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else:
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# On Linux time.sleep is accurate
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if seconds > 0:
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time.sleep(seconds)
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def safe_disconnect(func):
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# TODO(aliberts): Allow to pass custom exceptions
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# (e.g. ThreadServiceExit, KeyboardInterrupt, SystemExit, UnpluggedError, DynamixelCommError)
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def wrapper(robot, *args, **kwargs):
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try:
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return func(robot, *args, **kwargs)
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except Exception as e:
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if robot.is_connected:
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robot.disconnect()
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raise e
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return wrapper
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class RobotDeviceNotConnectedError(Exception):
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"""Exception raised when the robot device is not connected."""
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def __init__(
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self, message="This robot device is not connected. Try calling `robot_device.connect()` first."
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):
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self.message = message
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super().__init__(self.message)
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class RobotDeviceAlreadyConnectedError(Exception):
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"""Exception raised when the robot device is already connected."""
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def __init__(
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self,
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message="This robot device is already connected. Try not calling `robot_device.connect()` twice.",
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):
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self.message = message
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super().__init__(self.message)
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