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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)
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