Removed unused code.

Author: stepjam

pyrep/__init__.py

@@ -1,6 +1,5 @@
 __version__ = '4.1.0.2'
 
 testing = False
-suppress_std_out_err = False
 
 from .pyrep import PyRep

pyrep/backend/utils.py

@@ -1,10 +1,5 @@
-import os
-import io
-import sys
-from contextlib import contextmanager
 from threading import Lock
 from typing import List, Tuple
-import pyrep
 from pyrep.backend import sim
 from pyrep.objects.object import Object
 from pyrep.objects.shape import Shape
@@ -79,63 +74,3 @@ def _is_in_ipython():
     except NameError:
         pass
     return False
-
-
-@contextmanager
-def suppress_std_out_and_err():
-    """Used for suppressing std out/err.
-
-    This is needed because the OMPL plugin outputs logging info even when
-    logging is turned off.
-    """
-    if not pyrep.suppress_std_out_err:
-        yield
-        return
-
-    try:
-        # If we are using an IDE, then this will fail
-        original_stdout_fd = sys.stdout.fileno()
-        original_stderr_fd = sys.stderr.fileno()
-    except io.UnsupportedOperation:
-        # Nothing we can do about this, just don't suppress
-        yield
-        return
-
-    if _is_in_ipython():
-        yield
-        return
-
-    with open(os.devnull, "w") as devnull:
-
-        devnull_fd = devnull.fileno()
-
-        def _redirect_stdout(to_fd):
-            sys.stdout.close()
-            os.dup2(to_fd, original_stdout_fd)
-            if pyrep.testing:
-                sys.stdout = io.TextIOWrapper(
-                    os.fdopen(original_stdout_fd, 'wb'))
-            else:
-                sys.stdout = os.fdopen(original_stdout_fd, 'w')
-
-        def _redirect_stderr(to_fd):
-            sys.stderr.close()
-            os.dup2(to_fd, original_stderr_fd)
-            if pyrep.testing:
-                sys.stderr = io.TextIOWrapper(
-                    os.fdopen(original_stderr_fd, 'wb'))
-            else:
-                sys.stderr = os.fdopen(original_stderr_fd, 'wb')
-
-        saved_stdout_fd = os.dup(original_stdout_fd)
-        # saved_stderr_fd = os.dup(original_stderr_fd)
-
-        try:
-            _redirect_stdout(devnull_fd)
-            # _redirect_stderr(devnull_fd)
-            yield
-            _redirect_stdout(saved_stdout_fd)
-            # _redirect_stderr(saved_stderr_fd)
-        finally:
-            os.close(saved_stdout_fd)
-            # os.close(saved_stderr_fd)

pyrep/robots/mobiles/mobile_base.py

@@ -130,14 +130,12 @@ def _get_nonlinear_path_points(self, position: List[float],
         handle_base = self.get_handle()
         handle_target_base = self.target_base.get_handle()
 
-        # Despite verbosity being set to 0, OMPL spits out a lot of text
-        with utils.suppress_std_out_and_err():
-            _, ret_floats, _, _ = utils.script_call(
-                'getNonlinearPathMobile@PyRep', PYREP_SCRIPT_TYPE,
-                ints=[handle_base, handle_target_base,
-                      self._collision_collection,
-                      int(ignore_collisions), path_pts], floats=[boundaries],
-                      strings=[algorithm.value])
+        _, ret_floats, _, _ = utils.script_call(
+            'getNonlinearPathMobile@PyRep', PYREP_SCRIPT_TYPE,
+            ints=[handle_base, handle_target_base,
+                  self._collision_collection,
+                  int(ignore_collisions), path_pts], floats=[boundaries],
+                  strings=[algorithm.value])
 
         # self.set_parent(None)
         # self.base_ref.set_parent(self)