chore(busy_wait): renaming busy_wait into precise_sleep

benchmarks/audio/run_microphone_benchmark.py

@@ -29,7 +29,7 @@ from lerobot.microphones.utils import (
     make_microphones_from_configs,
 )
 from lerobot.utils.robot_utils import (
-    busy_wait,
+    precise_sleep,
 )
 
 
@@ -70,7 +70,7 @@ def main(
 
         # Record audio chunks
         for j in range(audio_chunks_number):
-            busy_wait(audio_chunks_duration)
+            precise_sleep(audio_chunks_duration)
 
             for microphone_key, microphone in microphones.items():
                 audio_chunk = microphone.read()

benchmarks/audio/run_tactile_benchmark.py

@@ -28,7 +28,7 @@ from lerobot.microphones.utils import (
     make_microphones_from_configs,
 )
 from lerobot.utils.robot_utils import (
-    busy_wait,
+    precise_sleep,
 )
 
 
@@ -59,7 +59,7 @@ def main(
     )
 
     # Record audio chunks
-    busy_wait(10.0)
+    precise_sleep(10.0)
 
     for sensor_key, sensor in sensors.items():
         data_chunk = sensor.read()

src/lerobot/microphones/portaudio/interface_sounddevice_sdk.py

@@ -21,7 +21,7 @@ from typing import Any
 import numpy as np
 from sounddevice import PortAudioError
 
-from lerobot.utils.robot_utils import busy_wait
+from lerobot.utils.robot_utils import precise_sleep
 
 
 # --- Interface definitions for InputStream ---
@@ -335,7 +335,7 @@ class FakeSounddeviceSDKAdapter(ISounddeviceSDK):
         def _streaming_loop(self):
             if self.callback is not None:
                 while not self._streaming_thread_stop_event.is_set():
-                    busy_wait(self.latency)
+                    precise_sleep(self.latency)
                     tmp_data = self._simulated_audio_data()
                     self.callback(
                         tmp_data,

src/lerobot/microphones/portaudio/microphone_portaudio.py

@@ -268,7 +268,7 @@ class PortAudioMicrophone(Microphone):
         self.audio_callback_start_event.clear()
 
         # Create and start an audio input stream with a recording callback
-        # Remark: this is done in a separate process so that audio recording is not impacted by the main thread CPU usage, especially the busy_wait function.
+        # Remark: this is done in a separate process so that audio recording is not impacted by the main thread CPU usage, especially the precise_sleep function.
         process_init_event = process_Event()
         self.record_process = Process(
             target=self._record_process,

src/lerobot/microphones/touchlab/sensor_touchlab.py

@@ -171,7 +171,7 @@ class TouchLabSensor(Microphone):
         self.audio_callback_start_event.clear()
 
         # Create and start an audio input stream with a recording callback
-        # Remark: this is done in a separate process so that audio recording is not impacted by the main thread CPU usage, especially the busy_wait function.
+        # Remark: this is done in a separate process so that audio recording is not impacted by the main thread CPU usage, especially the precise_sleep function.
         process_init_event = process_Event()
         self.record_process = Process(
             target=self._record_process,

src/lerobot/scripts/lerobot_record.py

@@ -363,7 +363,7 @@ def record_loop(
         # This initial wait might be longer than the audio chunk duration to
         # (1) ensure that the audio buffers are filled with enough data
         # (2) add additional initial samples to the dataset in case of variable audio chunk duration during training
-        busy_wait(DEFAULT_INITIAL_AUDIO_BUFFER_DURATION)
+        precise_sleep(DEFAULT_INITIAL_AUDIO_BUFFER_DURATION)
         for microphone_name, microphone in robot.microphones.items():
             audio_chunk = microphone.read()
             audio_buffer[microphone_name] = rolling_vstack(audio_buffer[microphone_name], audio_chunk)

tests/microphones/test_portaudio.py

@@ -33,7 +33,7 @@ from lerobot.utils.errors import (
     DeviceNotConnectedError,
     DeviceNotRecordingError,
 )
-from lerobot.utils.robot_utils import busy_wait
+from lerobot.utils.robot_utils import precise_sleep
 
 MODULE_PATH = "lerobot.microphones.portaudio.microphone_portaudio"
 RECORDING_DURATION = 1.0
@@ -302,7 +302,7 @@ def test_stop_recording_success(default_config, test_sdk, multiprocessing):
     microphone = PortAudioMicrophone(default_config, sounddevice_sdk=test_sdk)
     microphone.connect()
     microphone.start_recording(multiprocessing=multiprocessing)
-    busy_wait(RECORDING_DURATION)
+    precise_sleep(RECORDING_DURATION)
     microphone.stop_recording()
 
     assert not microphone.is_recording
@@ -316,7 +316,7 @@ def test_stop_writing_success(tmp_path, default_config, test_sdk, multiprocessin
     microphone = PortAudioMicrophone(default_config, sounddevice_sdk=test_sdk)
     microphone.connect()
     microphone.start_recording(output_file=tmp_path / "test.wav", multiprocessing=multiprocessing)
-    busy_wait(RECORDING_DURATION)
+    precise_sleep(RECORDING_DURATION)
     microphone.stop_recording()
 
     assert not microphone.is_recording
@@ -348,7 +348,7 @@ def test_disconnect_while_recording(default_config, test_sdk, multiprocessing):
     microphone = PortAudioMicrophone(default_config, sounddevice_sdk=test_sdk)
     microphone.connect()
     microphone.start_recording(multiprocessing=multiprocessing)
-    busy_wait(RECORDING_DURATION)
+    precise_sleep(RECORDING_DURATION)
     microphone.disconnect()
 
     assert not microphone.is_connected
@@ -362,7 +362,7 @@ def test_disconnect_while_writing(tmp_path, default_config, test_sdk, multiproce
     microphone = PortAudioMicrophone(default_config, sounddevice_sdk=test_sdk)
     microphone.connect()
     microphone.start_recording(output_file=tmp_path / "test.wav", multiprocessing=multiprocessing)
-    busy_wait(RECORDING_DURATION)
+    precise_sleep(RECORDING_DURATION)
     microphone.disconnect()
 
     assert not microphone.is_connected
@@ -378,7 +378,7 @@ def test_read_success(default_config, test_sdk, multiprocessing):
     microphone.connect()
     microphone.start_recording(multiprocessing=multiprocessing)
 
-    busy_wait(RECORDING_DURATION)
+    precise_sleep(RECORDING_DURATION)
 
     data = microphone.read()
 
@@ -398,7 +398,7 @@ def test_writing_success(tmp_path, default_config, test_sdk, multiprocessing):
     microphone.connect()
     microphone.start_recording(output_file=tmp_path / "test.wav", multiprocessing=multiprocessing)
 
-    busy_wait(RECORDING_DURATION)
+    precise_sleep(RECORDING_DURATION)
 
     microphone.stop_recording()
 
@@ -420,7 +420,7 @@ def test_read_while_writing(tmp_path, default_config, test_sdk, multiprocessing)
     microphone.connect()
     microphone.start_recording(output_file=tmp_path / "test.wav", multiprocessing=multiprocessing)
 
-    busy_wait(RECORDING_DURATION)
+    precise_sleep(RECORDING_DURATION)
 
     read_data = microphone.read()
     microphone.stop_recording()