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| # Copyright 2024 The HuggingFace Inc. team. All rights reserved. | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| import platform | |
| 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) | |
| def safe_disconnect(func): | |
| # TODO(aliberts): Allow to pass custom exceptions | |
| # (e.g. ThreadServiceExit, KeyboardInterrupt, SystemExit, UnpluggedError, DynamixelCommError) | |
| def wrapper(robot, *args, **kwargs): | |
| try: | |
| return func(robot, *args, **kwargs) | |
| except Exception as e: | |
| if robot.is_connected: | |
| robot.disconnect() | |
| raise e | |
| return wrapper | |
| 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) | |