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76 prevent user from instanciating two reachySDK #98

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Nov 2, 2023
Merged

76 prevent user from instanciating two reachySDK #98

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14 changes: 14 additions & 0 deletions src/reachy_v2_sdk/reachy_sdk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,20 @@
# from .dynamixel_motor import DynamixelMotor


def singleton(cls: Any, *args: Any, **kw: Any) -> Any:
instances = {}

def _singleton(*args: Any, **kw: Any) -> Any:
if cls not in instances:
instances[cls] = cls(*args, **kw)
else:
raise ConnectionError("Cannot open 2 robot connections in the same kernel.")
return instances[cls]

return _singleton


@singleton
class ReachySDK:
"""The ReachySDK class handles the connection with your robot.

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