40 lines
1.2 KiB
Python
40 lines
1.2 KiB
Python
import time
|
|
|
|
|
|
def busy_wait(seconds):
|
|
# if platform.system() == "Darwin":
|
|
# # On Mac, `time.sleep` is not accurate and we need to use this while loop trick,
|
|
# # but it consumes CPU cycles.
|
|
# # TODO(rcadene): find an alternative: from python 11, time.sleep is precise
|
|
# end_time = time.perf_counter() + seconds
|
|
# while time.perf_counter() < end_time:
|
|
# pass
|
|
# else:
|
|
# # On Linux time.sleep is accurate
|
|
# if seconds > 0:
|
|
# time.sleep(seconds)
|
|
|
|
if seconds > 0:
|
|
time.sleep(seconds)
|
|
|
|
|
|
class RobotDeviceNotConnectedError(Exception):
|
|
"""Exception raised when the robot device is not connected."""
|
|
|
|
def __init__(
|
|
self, message="This robot device is not connected. Try calling `robot_device.connect()` first."
|
|
):
|
|
self.message = message
|
|
super().__init__(self.message)
|
|
|
|
|
|
class RobotDeviceAlreadyConnectedError(Exception):
|
|
"""Exception raised when the robot device is already connected."""
|
|
|
|
def __init__(
|
|
self,
|
|
message="This robot device is already connected. Try not calling `robot_device.connect()` twice.",
|
|
):
|
|
self.message = message
|
|
super().__init__(self.message)
|