e23b41e79a
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <steven.palma@huggingface.co> Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com> Co-authored-by: Pepijn <pepijn@huggingface.co>
45 lines
1.5 KiB
Python
45 lines
1.5 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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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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