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31 lines
947 B
Python
31 lines
947 B
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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