Hello,
Short update on the "Python 3 support" front.
We've rebased our work on the trunk of ROS, and I'm happy to annonce
that the 'ros stack' test suite now almost pass on both Python 2.6 and 3.1:
$ cd $ROS_ROOT
$ rosmake -t
I say 'almost' because the test_rospack still fails with this error:
[test_rospack.test_utest/test_ran][FAILURE]-------------------------------------
Unable to find test results for TEST-test_utest.xml, test did not
run. Expected results in .ros/test_results/test_rospack/TEST-test_utest.xml
which does not seem to be related to the port to Python 3 (but I may be
wrong: it may be some side-effect...)
Porting what we did on the rospy package to the SVN trunk is still pending.
Be aware that the new version requires Python >= 2.6 (but I think it was
already assumed from the syntax I saw in the original files).
I had some issues with regexp in junitxml.py:_read_file_safe_xml() so I
commented it out for now.
I've re-organized the GIT repos by stacks, and the changes to the ros
stack are here:
http://code.in.tum.de/indefero/index.php//p/rospy3-stacks-ros/source/tree/master/
Find attached the (huge) patch against SVN trunk.
Comments most welcome!
Severin
--
Séverin Lemaignan - lemaigna@in.tum.de
[00] PhD student on Cognitive Robotics
/|__|\ Technische Uni München - IAS group / LAAS-CNRS - RIS group
'' +498928917780 / +33561337844
http://www.laas.fr/~slemaign
Index: test/test_rosdep/test/test_rosdep_core.py
===================================================================
--- test/test_rosdep/test/test_rosdep_core.py (revision 12349)
+++ test/test_rosdep/test/test_rosdep_core.py (working copy)
@@ -139,8 +139,8 @@
rd.what_needs(["boost"])
rd.depdb(['rosdep'])
rd.where_defined(['boost'])
- except:
- self.fail("test Rosdep improperly Raised an exception.")
+ except Exception as e:
+ self.fail("test Rosdep improperly Raised an exception: %s"%str(e))
def test_Rosdep_tripwire(self):
rd = rosdep.core.Rosdep(["rosdep"], "rosdep", robust=False)
@@ -149,9 +149,8 @@
rd.what_needs(["boost"])
rd.depdb(['rosdep'])
rd.where_defined(['boost'])
- except:
- self.fail("test Rosdep improperly Raised an exception.")
-
+ except Exception as e:
+ self.fail("test Rosdep improperly Raised an exception: %s"%str(e))
Index: tools/rosmake/src/rosmake/package_stats.py
===================================================================
--- tools/rosmake/src/rosmake/package_stats.py (revision 12349)
+++ tools/rosmake/src/rosmake/package_stats.py (working copy)
@@ -30,8 +30,8 @@
# Author Tully
Foote/tfoote@willowgarage.com
-from __future__ import with_statement
+
import os
import sys, string
import subprocess
@@ -50,8 +50,8 @@
osd = roslib.os_detect.OSDetect()
self.os_name = osd.get_name()
self.os_version = osd.get_version()
- except roslib.os_detect.OSDetectException, ex:
- print >> sys.stderr, "Could not detect OS. platform detection will not work"
+ except roslib.os_detect.OSDetectException as ex:
+ sys.stderr.write("Could not detect OS. platform detection will not work\n")
else:
self.os_name = os_name
self.os_version = os_version
@@ -71,7 +71,7 @@
return self.paths[package]
def register_blacklisted(self, blacklisted_package, dependent_package):
- if dependent_package in self.blacklisted.keys():
+ if dependent_package in list(self.blacklisted.keys()):
self.blacklisted[dependent_package].append(blacklisted_package)
else:
self.blacklisted[dependent_package] = [blacklisted_package]
Index: tools/rosmake/src/rosmake/parallel_build.py
===================================================================
--- tools/rosmake/src/rosmake/parallel_build.py (revision 12349)
+++ tools/rosmake/src/rosmake/parallel_build.py (working copy)
@@ -30,8 +30,8 @@
# Author Tully
Foote/tfoote@willowgarage.com
-from __future__ import with_statement
+
import os
import re
import distutils.version
@@ -52,7 +52,7 @@
"""
# Linux, Unix and MacOS:
if hasattr(os, "sysconf"):
- if os.sysconf_names.has_key("SC_NPROCESSORS_ONLN"):
+ if "SC_NPROCESSORS_ONLN" in os.sysconf_names:
# Linux & Unix:
ncpus = os.sysconf("SC_NPROCESSORS_ONLN")
if isinstance(ncpus, int) and ncpus > 0:
@@ -60,7 +60,7 @@
else: # OSX:
return int(os.popen2("sysctl -n hw.ncpu")[1].read())
# Windows:
- if os.environ.has_key("NUMBER_OF_PROCESSORS"):
+ if "NUMBER_OF_PROCESSORS" in os.environ:
ncpus = int(os.environ["NUMBER_OF_PROCESSORS"]);
if ncpus > 0:
return ncpus
@@ -216,7 +216,7 @@
self.built.append(package)
else:
self.failed.append(package)
- if package in self._started.keys():
+ if package in list(self._started.keys()):
self._started.pop(package)
else:
pass #used early on print "\n\n\nERROR THIS SHOULDN't RETURN %s\n\n\n"%package
Index: tools/rosmake/src/rosmake/__init__.py
===================================================================
--- tools/rosmake/src/rosmake/__init__.py (revision 12349)
+++ tools/rosmake/src/rosmake/__init__.py (working copy)
@@ -31,5 +31,5 @@
is very likely to change in future releases and is not stable.
"""
-from rosmake import RosMakeAll
+from .rosmake import RosMakeAll
Index: tools/rosmake/src/rosmake/rosmake.py
===================================================================
--- tools/rosmake/src/rosmake/rosmake.py (revision 12349)
+++ tools/rosmake/src/rosmake/rosmake.py (working copy)
@@ -30,8 +30,8 @@
# Author Tully
Foote/tfoote@willowgarage.com
-from __future__ import with_statement
+
import os
import re
import distutils.version
@@ -47,15 +47,20 @@
import traceback
import math
import signal
-import exceptions
+try:
+ from exceptions import SystemExit #Python 2.x
+except ImportError:
+ pass #Python 3.x (in Python 3, 'exceptions' is always imported)
+
+
from operator import itemgetter
-import parallel_build
-import package_stats
-
from optparse import OptionParser
+from . import parallel_build
+from . import package_stats
+
import rosdep
def make_command():
@@ -121,7 +126,7 @@
def __exit__(self, mtype, value, tb):
self.shutdown()
if value:
- if not mtype == type(exceptions.SystemExit()):
+ if not mtype == type(SystemExit()):
traceback.print_exception(mtype, value, tb)
else:
sys.exit(value)
@@ -133,7 +138,7 @@
self.running = False
break
self.set_status_from_cache()
- if len(self.pkg_start_times.keys()) > 0:
+ if len(list(self.pkg_start_times.keys())) > 0:
n = self.terminal_width() - len(self.status)
status = self.status
if n > 0:
@@ -152,7 +157,7 @@
def rosmake_pkg_times_to_string(self, start_times):
threads = []
- for p, t in sorted(start_times.iteritems(), key=itemgetter(1)):
+ for p, t in sorted(iter(start_times.items()), key=itemgetter(1)):
threads.append("[ %s: %.1f sec ]"%(p, time.time() - t))
return " ".join(threads)
@@ -191,7 +196,7 @@
def print_full_verbose(self, s):
if self.full_verbose:
- print "[ rosmake ] %s"%s
+ print("[ rosmake ] %s"%s)
def print_tail(self, s, tail_lines=40):
lines = s.splitlines()
@@ -200,13 +205,13 @@
num_lines = min(len(lines), tail_lines)
if num_lines == tail_lines:
- print "[ rosmake ] Last %d lines"%num_lines
+ print("[ rosmake ] Last %d lines"%num_lines)
else:
- print "[ rosmake ] All %d lines"%num_lines
- print "{" + "-"*79
- for l in xrange(-num_lines, -1):
- print " %s"%lines[l]
- print "-"*79 + "}"
+ print("[ rosmake ] All %d lines"%num_lines)
+ print("{" + "-"*79)
+ for l in range(-num_lines, -1):
+ print(" %s"%lines[l])
+ print("-"*79 + "}")
def _print_status(self, s):
sys.stdout.write("%s\r"%(s))
@@ -246,6 +251,7 @@
class RosMakeAll:
def __init__(self):
+
self._result_lock = threading.Lock()
self.printer = Printer()
self.result = {}
@@ -271,7 +277,7 @@
@return: number of packages that were built
@rtype: int
"""
- return len(self.result[argument].keys())
+ return len(list(self.result[argument].keys()))
def update_status(self, argument, start_times, right):
self.printer.rosmake_cache_info(argument, start_times, right)
@@ -286,7 +292,7 @@
try:
r = rosdep.core.Rosdep(packages, robust=True)
(output, scripts) = r.check()
- except roslib.exceptions.ROSLibException, ex:
+ except roslib.exceptions.ROSLibException as ex:
return ("rosdep ABORTED: %s"%ex, '')
if len(scripts) > 0:
@@ -312,9 +318,9 @@
return None
else:
return "%s"%error
- except rosdep.core.RosdepException, e:
+ except rosdep.core.RosdepException as e:
return "%s"%e
- except roslib.exceptions.ROSLibException, ex:
+ except roslib.exceptions.ROSLibException as ex:
return "%s"%ex
def build_or_recurse(self,p):
@@ -325,7 +331,7 @@
try: # append it ot the list only if present
self.get_path(p)
self.build_list.append(p)
- except roslib.packages.InvalidROSPkgException, ex:
+ except roslib.packages.InvalidROSPkgException as ex:
if not self.robust_build:
self.printer.print_all("Exiting due to missing package: %s"%ex)
sys.exit(-1)
@@ -337,11 +343,11 @@
self.profile[argument] = {}
self.output[argument] = {}
with self._result_lock:
- if argument not in self.result.keys():
+ if argument not in list(self.result.keys()):
self.result[argument] = {}
cts = []
- for i in xrange(0, threads):
+ for i in range(0, threads):
ct = parallel_build.CompileThread(str(i), build_queue, self, argument)
#print "TTTH starting thread ", ct
ct.start()
@@ -361,7 +367,7 @@
#print "All threads joined"
all_pkgs_passed = True
with self._result_lock:
- for v in self.result[argument].values():
+ for v in list(self.result[argument].values()):
all_pkgs_passed = v and all_pkgs_passed
build_passed = build_queue.succeeded() and all_pkgs_passed
@@ -372,7 +378,7 @@
def _subprocess_setup(self):
# Python installs a SIGPIPE handler by default. This is usually not
# what non-Python subprocesses expect.
- signal.signal(signal.SIGPIPE, signal.SIG_DFL)
+ signal.signal(signal.SIGPIPE, signal.SIG_DFL)
def _build_package(self, package, argument=None):
"""
@@ -429,7 +435,7 @@
with self._result_lock:
self.result[argument][p] = True
- num_warnings = len(re.findall("warning:", pstd_out))
+ num_warnings = len(re.findall("warning:", pstd_out.decode("utf-8")))
if num_warnings > 0:
return_string = ("[PASS] [ %.2f seconds ] -- WARNING: %d compiler warnings"%(self.profile[argument][p], num_warnings))
else:
@@ -437,8 +443,8 @@
self.output_to_file(p, log_type, pstd_out, num_warnings > 0)
else:
success = False
- no_target = len(re.findall("No rule to make target", pstd_out)) > 0
- interrupt = len(re.findall("Interrupt", pstd_out)) > 0
+ no_target = len(re.findall("No rule to make target", pstd_out.decode("utf-8"))) > 0
+ interrupt = len(re.findall("Interrupt", pstd_out.decode("utf-8"))) > 0
if no_target:
return_string = ( "[SKIP] No rule to make target %s"%( argument))
success = True
@@ -450,7 +456,7 @@
self.result[argument][p] = True if no_target else False
if success == False: #don't print tail if [SKIP] target
- self.printer.print_tail( pstd_out)
+ self.printer.print_tail( pstd_out.decode("utf-8"))
self.output_to_file(p, log_type, pstd_out, always_print= not (no_target or interrupt))
return (success, return_string)
@@ -461,7 +467,7 @@
return_string += why
return(error, return_string)
return (True, return_string) # this means that we didn't error in any case above
- except roslib.packages.InvalidROSPkgException, ex:
+ except roslib.packages.InvalidROSPkgException as ex:
with self._result_lock:
self.result[argument][p] = False
self.printer.print_verbose ("[SKIP] Package not found\n")
@@ -478,7 +484,7 @@
if not os.path.exists (package_log_dir):
roslib.rosenv.makedirs_with_parent_perms(package_log_dir)
with open(std_out_filename, 'w') as stdout_file:
- stdout_file.write(stdout)
+ stdout_file.write(str(stdout))
print_string = "Output from build of package %s written to:\n[ rosmake ] %s"%(package, std_out_filename)
if always_print:
self.printer.print_all(print_string)
@@ -490,13 +496,13 @@
return
self.printer.print_all("Results:")
- if 'clean' in self.result.keys():
+ if 'clean' in list(self.result.keys()):
self.printer.print_all("Cleaned %d packages."%len(self.result['clean']))
- if None in self.result.keys():
- build_failure_count = len([p for p in self.result[None].keys() if self.result[None][p] == False])
+ if None in list(self.result.keys()):
+ build_failure_count = len([p for p in list(self.result[None].keys()) if self.result[None][p] == False])
self.printer.print_all("Built %d packages with %d failures."%(len(self.result[None]), build_failure_count))
- if 'test' in self.result.keys():
- test_failure_count = len([p for p in self.result['test'].keys() if self.result['test'][p] == False])
+ if 'test' in list(self.result.keys()):
+ test_failure_count = len([p for p in list(self.result['test'].keys()) if self.result['test'][p] == False])
self.printer.print_all("Tested %d packages with %d failures."%(len(self.result['test']), test_failure_count))
self.printer.print_all("Summary output to directory")
self.printer.print_all("%s"%self.log_dir)
@@ -509,43 +515,43 @@
- if None in self.result.keys():
- if len(self.result[None].keys()) > 0:
+ if None in list(self.result.keys()):
+ if len(list(self.result[None].keys())) > 0:
buildfail_filename = os.path.join(log_dir, "buildfailures.txt")
with open(buildfail_filename, 'w') as bf:
bf.write("Build failures:\n")
for key in self.build_list:
- if key in self.result[None].keys() and self.result[None][key] == False:
+ if key in list(self.result[None].keys()) and self.result[None][key] == False:
bf.write("%s\n"%key)
- if None in self.output.keys():
+ if None in list(self.output.keys()):
buildfail_context_filename = os.path.join(log_dir, "buildfailures-with-context.txt")
with open(buildfail_context_filename, 'w') as bfwc:
bfwc.write("Build failures with context:\n")
for key in self.build_list:
- if key in self.result[None].keys() and self.result[None][key] == False:
+ if key in list(self.result[None].keys()) and self.result[None][key] == False:
bfwc.write("---------------------\n")
bfwc.write("%s\n"%key)
if key in self.output[None]:
bfwc.write(self.output[None][key])
- if "test" in self.result.keys():
- if len(self.result["test"].keys()) > 0:
+ if "test" in list(self.result.keys()):
+ if len(list(self.result["test"].keys())) > 0:
testfail_filename = os.path.join(log_dir, "testfailures.txt")
with open(testfail_filename, 'w') as btwc:
btwc.write("Test failures:\n")
for key in self.build_list:
- if key in self.result["test"].keys() and self.result["test"][key] == False:
+ if key in list(self.result["test"].keys()) and self.result["test"][key] == False:
btwc.write("%s\n"%key)
- if "test" in self.output.keys():
+ if "test" in list(self.output.keys()):
testfail_filename = os.path.join(log_dir, "testfailures-with-context.txt")
with open(testfail_filename, 'w') as btwc:
btwc.write("Test failures with context:\n")
for key in self.build_list:
- if key in self.result["test"].keys() and self.result["test"][key] == False:
+ if key in list(self.result["test"].keys()) and self.result["test"][key] == False:
btwc.write("%s\n"%key)
if key in self.output["test"]:
- btwc.write(self.output["test"][key])
+ btwc.write(str(self.output["test"][key]))
profile_filename = os.path.join(log_dir, "profile.txt")
with open(profile_filename, 'w') as pf:
@@ -565,26 +571,26 @@
test_time = 0.0
build_time = 0.0
- if None in self.result.keys():
- if key in self.result[None].keys():
+ if None in list(self.result.keys()):
+ if key in list(self.result[None].keys()):
if self.result[None][key] == True:
build_result = 1
else:
build_result = 2
- if "test" in self.profile.keys():
- if key in self.result["test"].keys():
+ if "test" in list(self.profile.keys()):
+ if key in list(self.result["test"].keys()):
if self.result["test"][key] == True:
test_result = 1
else:
test_result = 2
- if None in self.profile.keys():
- if key in self.profile[None].keys():
+ if None in list(self.profile.keys()):
+ if key in list(self.profile[None].keys()):
build_time = self.profile[None][key]
- if "test" in self.profile.keys():
- if key in self.profile["test"].keys():
+ if "test" in list(self.profile.keys()):
+ if key in list(self.profile["test"].keys()):
test_time = self.profile["test"][key]
@@ -616,11 +622,11 @@
self.printer.print_verbose(pstd_out)
if command_line.returncode:
- print >> sys.stderr, "Failed to build %s"%pkg_name
- print >> sys.stderr, "Error:\n{{{\n%s\n}}}"%pstd_out
+ sys.stderr.write("Failed to build %s\n"%pkg_name)
+ sys.stderr.write("Error:\n{{{\n%s\n}}}\n"%pstd_out)
sys.exit(-1)
self.printer.print_all("Finished <<< %s"%pkg)
- except KeyboardInterrupt, ex:
+ except KeyboardInterrupt as ex:
self.printer.print_all("Keyboard interrupt caught in pkg %s"%pkg)
return False
return True
@@ -775,7 +781,7 @@
else:
self.printer.print_all("No package selected and the current directory is not the correct path for package '%s'."%p)
- except roslib.packages.InvalidROSPkgException, ex:
+ except roslib.packages.InvalidROSPkgException as ex:
try:
stack_dir = roslib.stacks.get_stack_dir(p)
if os.path.samefile(stack_dir, '.'):
@@ -911,7 +917,7 @@
self.printer.print_verbose ("Building packages %s"% self.build_list)
build_queue = parallel_build.BuildQueue(self.build_list, self.dependency_tracker, robust_build = options.robust or options.best_effort)
build_queue.register_prebuilt(["rospack"])
- if None not in self.result.keys():
+ if None not in list(self.result.keys()):
self.result[None] = {}
if 'rospack' in self.build_list:
self.result[None]["rospack"] = True
Index: tools/rospack/rospack_lite.py
===================================================================
--- tools/rospack/rospack_lite.py (revision 12349)
+++ tools/rospack/rospack_lite.py (working copy)
@@ -4,13 +4,13 @@
import sys, os
if len(sys.argv) < 2:
- print >> sys.stderr, "this version only supports 'find', 'list', and 'list-names'"
+ sys.stderr.write("this version only supports 'find', 'list', and 'list-names'\n")
exit(1);
command = sys.argv[1]
if not 'ROS_ROOT' in os.environ:
- print >> sys.stderr, "ROS_ROOT is not defined in the environment"
+ sys.stderr.write("ROS_ROOT is not defined in the environment\n")
exit(1)
s = [ os.environ['ROS_ROOT'] ] # stack of paths to crawl
if 'ROS_PACKAGE_PATH' in os.environ:
@@ -33,17 +33,17 @@
s.append(c)
if command == 'list':
- for k, v in pkgs.iteritems():
- print "%s %s" % (k, v)
+ for k, v in pkgs.items():
+ print("%s %s" % (k, v))
elif command == 'list-names':
- for k, v in pkgs.iteritems():
- print k
+ for k, v in pkgs.items():
+ print(k)
elif command == 'find':
if len(sys.argv) < 3:
- print >> sys.stderr, "syntax: rospack find PACKAGE"
+ sys.stderr.write("syntax: rospack find PACKAGE\n")
exit(1)
if sys.argv[2] in pkgs:
- print pkgs[sys.argv[2]]
+ print(pkgs[sys.argv[2]])
else:
- print >> sys.stderr, "rospack lite, python style!\nsupported commands:\nrospack find PACKAGE\nrospack list\nrospack list-names\n"
+ sys.stderr.write("rospack lite, python style!\nsupported commands:\nrospack find PACKAGE\nrospack list\nrospack list-names\n\n")
Index: tools/rosunit/scripts/pycoverage_to_html.py
===================================================================
--- tools/rosunit/scripts/pycoverage_to_html.py (revision 12349)
+++ tools/rosunit/scripts/pycoverage_to_html.py (working copy)
@@ -38,21 +38,21 @@
currently a no-frills backend tool.
"""
-from __future__ import with_statement
+
import sys
import roslib
try:
import coverage
-except ImportError, e:
- print >> sys.stderr, "ERROR: cannot import python-coverage, coverage report will not run.\nTo install coverage, run 'easy_install coverage'"
+except ImportError as e:
+ sys.stderr.write("ERROR: cannot import python-coverage, coverage report will not run.\nTo install coverage, run 'easy_install coverage'\n")
sys.exit(1)
def coverage_html():
import os.path
if not os.path.isfile('.coverage-modules'):
- print >> sys.stderr, "No .coverage-modules file; nothing to do"
+ sys.stderr.write("No .coverage-modules file; nothing to do\n")
return
with open('.coverage-modules','r') as f:
@@ -68,16 +68,16 @@
roslib.load_manifest(base)
__import__(m)
except:
- print >> sys.stderr, "WARN: cannot import %s"%base
+ sys.stderr.write("WARN: cannot import %s\n"%base)
- print "Generating for\n"+'\n'.join([" * %s"%m for m in modules])
+ print("Generating for\n"+'\n'.join([" * %s"%m for m in modules]))
# load the module instances to pass to coverage so it can generate annotation html reports
mods = []
# TODO: rewrite, buggy
for m in modules:
- mods.extend([v for v in sys.modules.values() if v and v.__name__.startswith(m) and not v in mods])
+ mods.extend([v for v in list(sys.modules.values()) if v and v.__name__.startswith(m) and not v in mods])
# dump the output to covhtml directory
cov.html_report(mods, directory="covhtml")
Index: tools/rosunit/scripts/clean_junit_xml.py
===================================================================
--- tools/rosunit/scripts/clean_junit_xml.py (revision 12349)
+++ tools/rosunit/scripts/clean_junit_xml.py (working copy)
@@ -33,8 +33,8 @@
#
# Revision $Id$
-from __future__ import with_statement
+
"""
clean_junit_xml.py is a simple script that takes all the xml-formatted
Ant JUnit XML test output in test_results and aggregates them into
@@ -53,10 +53,10 @@
def prepare_dirs(output_dir_name):
test_results_dir = roslib.rosenv.get_test_results_dir()
- print "will read test results from", test_results_dir
+ print("will read test results from", test_results_dir)
output_dir = os.path.join(test_results_dir, output_dir_name)
if not os.path.exists(output_dir):
- print "creating directory", output_dir
+ print("creating directory", output_dir)
os.makedirs(output_dir)
return test_results_dir, output_dir
@@ -67,7 +67,7 @@
for d in os.listdir(test_results_dir):
if filter and d in filter:
continue
- print "looking at", d
+ print("looking at", d)
test_dir = os.path.join(test_results_dir, d)
if not os.path.isdir(test_dir):
continue
@@ -84,23 +84,23 @@
result = junitxml.read(file, test_name)
output_path = os.path.join(output_dir, "%s.xml"%test_name)
with open(output_path, 'w') as f:
- print "re-writing", output_path
+ print("re-writing", output_path)
f.write(result.xml().encode('utf-8'))
- except Exception, e:
- print >> sys.stderr, "ignoring [%s]: %s"%(file, e)
+ except Exception as e:
+ sys.stderr.write("ignoring [%s]: %s\n"%(file, e))
def main():
- print "[clean_junit_xml]: STARTING"
+ print("[clean_junit_xml]: STARTING")
output_dir_name = '_hudson'
test_results_dir, output_dir = prepare_dirs(output_dir_name)
- print "[clean_junit_xml]: writing aggregated test results to %s"%output_dir
+ print("[clean_junit_xml]: writing aggregated test results to %s"%output_dir)
clean_results(test_results_dir, output_dir, [output_dir_name, '.svn'])
- print "[clean_junit_xml]: FINISHED"
+ print("[clean_junit_xml]: FINISHED")
if __name__ == '__main__':
main()
Index: tools/rosunit/scripts/check_test_ran.py
===================================================================
--- tools/rosunit/scripts/check_test_ran.py (revision 12349)
+++ tools/rosunit/scripts/check_test_ran.py (working copy)
@@ -37,7 +37,7 @@
Writes a test failure out to test file if it doesn't exist.
"""
-from __future__ import with_statement
+
PKG='rosunit'
NAME="check_test_ran.py"
import roslib; roslib.load_manifest(PKG)
@@ -48,12 +48,13 @@
import rosunit
def usage():
- print >> sys.stderr, """Usage:
+ sys.stderr.write("""Usage:
\t%s test-file.xml
or
\t%s --rostest pkg-name test-file.xml
-"""%(NAME, NAME)
- print sys.argv
+
+"""%(NAME, NAME))
+ print(sys.argv)
sys.exit(os.EX_USAGE)
def check_main():
@@ -76,13 +77,13 @@
usage()
test_file = sys.argv[1]
- print "Checking for test results in %s"%test_file
+ print("Checking for test results in %s"%test_file)
if not os.path.exists(test_file):
if not os.path.exists(os.path.dirname(test_file)):
os.makedirs(os.path.dirname(test_file))
- print "Cannot find results, writing failure results to", test_file
+ print("Cannot find results, writing failure results to", test_file)
with open(test_file, 'w') as f:
test_name = os.path.basename(test_file)
Index: tools/rosunit/scripts/summarize_results.py
===================================================================
--- tools/rosunit/scripts/summarize_results.py (revision 12349)
+++ tools/rosunit/scripts/summarize_results.py (working copy)
@@ -44,45 +44,43 @@
import os
import sys
-import cStringIO
import roslib.rospack
import rosunit.junitxml as junitxml
def create_summary(result, packages):
- buff = cStringIO.StringIO()
- buff.write('-'*80+'\n')
- buff.write('\033[1m[AGGREGATED TEST RESULTS SUMMARY]\033[0m\n\n')
+ buff = '-'*80 + '\n'
+ buff += '\033[1m[AGGREGATED TEST RESULTS SUMMARY]\033[0m\n\n'
errors_failures = [r for r in result.test_case_results if r.errors or r.failures]
if errors_failures:
- buff.write('ERRORS/FAILURES:\n')
+ buff += 'ERRORS/FAILURES:\n'
for tc_result in errors_failures:
- buff.write(tc_result.description)
+ buff += tc_result.description
- buff.write("PACKAGES: \n%s\n\n"%'\n'.join([" * %s"%p for p in packages]))
+ buff += "PACKAGES: \n%s\n\n"%'\n'.join([" * %s"%p for p in packages])
- buff.write('\nSUMMARY\n')
+ buff += '\nSUMMARY\n'
if (result.num_errors + result.num_failures) == 0:
- buff.write("\033[32m * RESULT: SUCCESS\033[0m\n")
+ buff += "\033[32m * RESULT: SUCCESS\033[0m\n"
else:
- buff.write("\033[1;31m * RESULT: FAIL\033[0m\n")
+ buff += "\033[1;31m * RESULT: FAIL\033[0m\n"
# TODO: still some issues with the numbers adding up if tests fail to launch
# number of errors from the inner tests, plus add in count for tests
# that didn't run properly ('result' object).
- buff.write(" * TESTS: %s\n"%result.num_tests)
+ buff += " * TESTS: %s\n"%result.num_tests
if result.num_errors:
- buff.write("\033[1;31m * ERRORS: %s\033[0m\n"%result.num_errors)
+ buff += "\033[1;31m * ERRORS: %s\033[0m\n"%result.num_errors
else:
- buff.write(" * ERRORS: 0\n")
+ buff += " * ERRORS: 0\n"
if result.num_failures:
- buff.write("\033[1;31m * FAILURES: %s\033[0m\n"%result.num_failures)
+ buff += "\033[1;31m * FAILURES: %s\033[0m\n"%result.num_failures
else:
- buff.write(" * FAILURES: 0\n")
- return buff.getvalue()
+ buff += " * FAILURES: 0\n"
+ return buff
def main():
from optparse import OptionParser
@@ -103,7 +101,7 @@
packages = [p for p in packages if p]
result = junitxml.read_all(packages)
- print create_summary(result, packages)
+ print(create_summary(result, packages))
if result.num_errors or result.num_failures:
sys.exit(1)
Index: tools/rosunit/scripts/test_results_dir.py
===================================================================
--- tools/rosunit/scripts/test_results_dir.py (revision 12349)
+++ tools/rosunit/scripts/test_results_dir.py (working copy)
@@ -39,4 +39,4 @@
"""
import roslib.rosenv
-print roslib.rosenv.get_test_results_dir()
+print(roslib.rosenv.get_test_results_dir())
Index: tools/rosunit/src/rosunit/core.py
===================================================================
--- tools/rosunit/src/rosunit/core.py (revision 12349)
+++ tools/rosunit/src/rosunit/core.py (working copy)
@@ -32,7 +32,7 @@
#
# Revision $Id$
-import os
+import os, sys
import logging
import roslib.rosenv
@@ -45,19 +45,21 @@
if args:
msg = msg%args
_logger.info(msg)
- print "[ROSUNIT]"+msg
+ print("[ROSUNIT]"+msg)
def printlog_bold(msg, *args):
if args:
msg = msg%args
_logger.info(msg)
- print '\033[1m[ROSUNIT]%s\033[0m'%msg
+ #print('\033[1m[ROSUNIT]%s\033[0m'%msg)
+ # For now, removing the ANSI sequence that corrupt the XML result files when running tests
+ print('[ROSUNIT]%s'%msg)
def printerrlog(msg, *args):
if args:
msg = msg%args
_logger.error(msg)
- print >> sys.stderr, "[ROSUNIT]"+msg
+ sys.stderr.write("[ROSUNIT] " + msg + "\n")
def xml_results_file(test_pkg, test_name, is_rostest=False):
"""
@@ -130,7 +132,7 @@
elif os.path.isfile(test_dir):
raise Exception("ERROR: cannot run test suite, file is preventing creation of test dir: %s"%test_dir)
- print "[ROSUNIT] Outputting test results to %s"%results_file
+ print("[ROSUNIT] Outputting test results to %s"%results_file)
outstream = open(results_file, 'w')
return XMLTestRunner(stream=outstream)
Index: tools/rosunit/src/rosunit/pyunit.py
===================================================================
--- tools/rosunit/src/rosunit/pyunit.py (revision 12349)
+++ tools/rosunit/src/rosunit/pyunit.py (working copy)
@@ -109,10 +109,10 @@
_cov.load()
_cov.start()
except coverage.CoverageException:
- print >> sys.stderr, "WARNING: you have an older version of python-coverage that is not support. Please update to the version provided by 'easy_install coverage'"
- except ImportError, e:
- print >> sys.stderr, """WARNING: cannot import python-coverage, coverage tests will not run.
-To install coverage, run 'easy_install coverage'"""
+ sys.stderr.write("WARNING: you have an older version of python-coverage that is not support. Please update to the version provided by 'easy_install coverage'\n")
+ except ImportError as e:
+ sys.stderr.write("""WARNING: cannot import python-coverage, coverage tests will not run.
+To install coverage, run 'easy_install coverage'\n""")
def stop_coverage(packages, html=None):
"""
@@ -148,23 +148,23 @@
# iterate over packages to generate per-package console reports
for package in packages:
pkg = __import__(package)
- m = [v for v in sys.modules.values() if v and v.__name__.startswith(package)]
+ m = [v for v in list(sys.modules.values()) if v and v.__name__.startswith(package)]
all_mods.extend(m)
# generate overall report and per module analysis
_cov.report(m, show_missing=0)
for mod in m:
res = _cov.analysis(mod)
- print "\n%s:\nMissing lines: %s"%(res[0], res[3])
+ print("\n%s:\nMissing lines: %s"%(res[0], res[3]))
if html:
- print "="*80+"\ngenerating html coverage report to %s\n"%html+"="*80
+ print("="*80+"\ngenerating html coverage report to %s\n"%html+"="*80)
_cov.html_report(all_mods, directory=html)
- except ImportError, e:
- print >> sys.stderr, "WARNING: cannot import '%s', will not generate coverage report"%package
- except ImportError, e:
- print >> sys.stderr, """WARNING: cannot import python-coverage, coverage tests will not run.
-To install coverage, run 'easy_install coverage'"""
+ except ImportError as e:
+ sys.stderr.write("WARNING: cannot import '%s', will not generate coverage report\n"%package)
+ except ImportError as e:
+ sys.stderr.write("""WARNING: cannot import python-coverage, coverage tests will not run.
+To install coverage, run 'easy_install coverage'\n""")
Index: tools/rosunit/src/rosunit/baretest.py
===================================================================
--- tools/rosunit/src/rosunit/baretest.py (revision 12349)
+++ tools/rosunit/src/rosunit/baretest.py (working copy)
@@ -38,7 +38,12 @@
"""
import os
-import cStringIO
+
+try:
+ from cStringIO import StringIO # Python 2.x
+except ImportError:
+ from io import StringIO # Python 3.x
+
import unittest
import logging
import time
@@ -142,7 +147,7 @@
raise TestTimeoutException("test max time allotted")
time.sleep(0.1)
- except TestTimeoutException, e:
+ except TestTimeoutException as e:
if self.retry:
timeout_failure = True
else:
@@ -241,7 +246,8 @@
if not os.path.exists(log_dir):
try:
os.makedirs(log_dir)
- except OSError, (errno, msg):
+ except OSError as err:
+ (errno, msg) = err.args
if errno == 13:
raise RLException("unable to create directory for log file [%s].\nPlease check permissions."%log_dir)
else:
@@ -295,7 +301,7 @@
# _configure_logging() can mutate self.args
try:
logfileout, logfileerr = self._configure_logging()
- except Exception, e:
+ except Exception as e:
_logger.error(traceback.format_exc())
printerrlog("[%s] ERROR: unable to configure logging [%s]"%(self.name, str(e)))
# it's not safe to inherit from this process as
@@ -317,7 +323,8 @@
try:
self.popen = subprocess.Popen(self.args, cwd=cwd, stdout=logfileout, stderr=logfileerr, env=full_env, close_fds=True, preexec_fn=os.setsid)
- except OSError, (errno, msg):
+ except OSError as err:
+ (errno, msg) = err.args
self.started = True # must set so is_alive state is correct
_logger.error("OSError(%d, %s)", errno, msg)
if errno == 8: #Exec format error
@@ -431,7 +438,7 @@
#self.popen.wait()
#os.wait()
_logger.info("process[%s]: sent SIGKILL", self.name)
- except OSError, e:
+ except OSError as e:
if e.args[0] == 3:
printerrlog("no [%s] process with pid [%s]"%(self.name, pid))
else:
@@ -486,7 +493,7 @@
# (i.e. doesn't check for actual test success). The 'r' result
# object contains results of the actual tests.
- buff = cStringIO.StringIO()
+ buff = StringIO()
buff.write("[%s]"%(runner_name)+'-'*71+'\n\n')
for tc_result in junit_results.test_case_results:
buff.write(tc_result.description)
@@ -520,14 +527,14 @@
for tc_result in runner_results.failures:
buff.write(" * " +tc_result[0]._testMethodName + "\n")
- print buff.getvalue()
+ print(buff.getvalue())
def print_unittest_summary(result):
"""
Print summary of python unittest result to stdout
@param result: test results
"""
- buff = cStringIO.StringIO()
+ buff = StringIO()
buff.write("-------------------------------------------------------------\nSUMMARY:\n")
if result.wasSuccessful():
buff.write("\033[32m * RESULT: SUCCESS\033[0m\n")
@@ -536,5 +543,5 @@
buff.write(" * TESTS: %s\n"%result.testsRun)
buff.write(" * ERRORS: %s [%s]\n"%(len(result.errors), ', '.join([e[0]._testMethodName for e in result.errors])))
buff.write(" * FAILURES: %s [%s]\n"%(len(result.failures), ','.join([e[0]._testMethodName for e in result.failures])))
- print buff.getvalue()
+ print(buff.getvalue())
Index: tools/rosunit/src/rosunit/pmon.py
===================================================================
--- tools/rosunit/src/rosunit/pmon.py (revision 12349)
+++ tools/rosunit/src/rosunit/pmon.py (working copy)
@@ -36,14 +36,19 @@
Process monitor
"""
-from __future__ import with_statement
+
import os
import sys
import time
import traceback
import logging
-import Queue
+
+try:
+ import queue
+except ImportError:
+ import Queue as queue
+
import atexit
from threading import Thread, RLock, Lock
@@ -51,6 +56,15 @@
_logger = logging.getLogger("rosunit")
+def isstring(s):
+ """Small helper version to check an object is a string in a way that works
+ for both Python 2 and 3
+ """
+ try:
+ return isinstance(s, basestring)
+ except NameError:
+ return isinstance(s, str)
+
class PmonException(Exception): pass
class FatalProcessLaunch(PmonException):
@@ -112,7 +126,7 @@
else:
_logger.debug("shutdown_process_monitor: ProcessMonitor shutdown succeeded")
return True
- except Exception, e:
+ except Exception as e:
return False
_shutdown_lock = Lock()
@@ -341,7 +355,7 @@
method was called.
@rtype: bool
"""
- if not isinstance(name, basestring):
+ if not isstring(name):
raise PmonException("kill_process takes in a process name but was given: %s"%name)
_logger.debug("ProcessMonitor.kill_process[%s]"%name)
printlog("[%s] kill requested"%name)
@@ -436,7 +450,7 @@
for l in self.listeners:
l.process_died(p.name, p.exit_code)
- except Exception, e:
+ except Exception as e:
traceback.print_exc()
#don't respawn as this is an internal error
dead.append(p)
@@ -482,7 +496,7 @@
self.is_shutdown = True
# killall processes on run exit
- q = Queue.Queue()
+ q = queue.Queue()
q.join()
with self.plock:
@@ -559,7 +573,7 @@
p = q.get(False)
_kill_process(p, self.errors)
q.task_done()
- except Queue.Empty:
+ except queue.Empty:
pass
Index: tools/rosunit/src/rosunit/junitxml.py
===================================================================
--- tools/rosunit/src/rosunit/junitxml.py (revision 12349)
+++ tools/rosunit/src/rosunit/junitxml.py (working copy)
@@ -39,7 +39,12 @@
import os
import sys
-import cStringIO
+
+try:
+ from cStringIO import StringIO # Python 2.x
+except ImportError:
+ from io import StringIO # Python 3.x
+
import string
import codecs
import re
@@ -69,14 +74,14 @@
'error' result container
"""
def xml(self):
- return u'<error type="%s"><![CDATA[%s]]></error>'%(self.type, self.text)
+ return '<error type="%s"><![CDATA[%s]]></error>'%(self.type, self.text)
class TestFailure(TestInfo):
"""
'failure' result container
"""
def xml(self):
- return u'<failure type="%s"><![CDATA[%s]]></failure>'%(self.type, self.text)
+ return '<failure type="%s"><![CDATA[%s]]></failure>'%(self.type, self.text)
class TestCaseResult(object):
@@ -153,7 +158,7 @@
self.errors.append(error)
def xml(self):
- return u' <testcase classname="%s" name="%s" time="%s">\n'%(self.classname, self.name, self.time)+\
+ return ' <testcase classname="%s" name="%s" time="%s">\n'%(self.classname, self.name, self.time)+\
'\n '.join([f.xml() for f in self.failures])+\
'\n '.join([e.xml() for e in self.errors])+\
' </testcase>'
@@ -198,7 +203,7 @@
"""
@return: document as unicode (UTF-8 declared) XML according to Ant JUnit spec
"""
- return u'<?xml version="1.0" encoding="utf-8"?>'+\
+ return '<?xml version="1.0" encoding="utf-8"?>'+\
'<testsuite name="%s" tests="%s" errors="%s" failures="%s" time="%s">'%\
(self.name, self.num_tests, self.num_errors, self.num_failures, self.time)+\
'\n'.join([tc.xml() for tc in self.test_case_results])+\
@@ -207,7 +212,10 @@
'</testsuite>'
def _text(tag):
- return reduce(lambda x, y: x + y, [c.data for c in tag.childNodes if c.nodeType in [DomNode.TEXT_NODE, DomNode.CDATA_SECTION_NODE]], "").strip()
+ res = ""
+ for n in [c.data for c in tag.childNodes if c.nodeType in [DomNode.TEXT_NODE, DomNode.CDATA_SECTION_NODE]]:
+ res += n.strip()
+ return res
def _load_suite_results(test_suite_name, test_suite, result):
nodes = [n for n in test_suite.childNodes \
@@ -260,17 +268,6 @@
x = TestError(d.getAttribute('type') or '', text)
tc_result.add_error(x)
-## #603: unit test suites are not good about screening out illegal
-## unicode characters. This little recipe I from http://boodebr.org/main/python/all-about-python-and-unicode#UNI_XML
-## screens these out
-RE_XML_ILLEGAL = u'([\u0000-\u0008\u000b-\u000c\u000e-\u001f\ufffe-\uffff])' + \
- u'|' + \
- u'([%s-%s][^%s-%s])|([^%s-%s][%s-%s])|([%s-%s]$)|(^[%s-%s])' % \
- (unichr(0xd800),unichr(0xdbff),unichr(0xdc00),unichr(0xdfff),
- unichr(0xd800),unichr(0xdbff),unichr(0xdc00),unichr(0xdfff),
- unichr(0xd800),unichr(0xdbff),unichr(0xdc00),unichr(0xdfff))
-_safe_xml_regex = re.compile(RE_XML_ILLEGAL)
-
def _read_file_safe_xml(test_file):
"""
read in file, screen out unsafe unicode characters
@@ -286,9 +283,24 @@
f = codecs.open(test_file, "r", "iso8859-1" )
x = f.read()
- for match in _safe_xml_regex.finditer(x):
- x = x[:match.start()] + "?" + x[match.end():]
- return x.encode("utf-8")
+ ## #603: unit test suites are not good about screening out illegal
+ ## unicode characters. This little recipe I from http://boodebr.org/main/python/all-about-python-and-unicode#UNI_XML
+ ## screens these out
+
+ if sys.version_info[0] < 3:
+ #~ RE_XML_ILLEGAL = '([\u0000-\u0008\u000b-\u000c\u000e-\u001f\ufffe-\uffff])' + \
+ #~ '|' + \
+ #~ '([%s-%s][^%s-%s])|([^%s-%s][%s-%s])|([%s-%s]$)|(^[%s-%s])' % \
+ #~ (chr(0xd800),chr(0xdbff),chr(0xdc00),chr(0xdfff),
+ #~ chr(0xd800),chr(0xdbff),chr(0xdc00),chr(0xdfff),
+ #~ chr(0xd800),chr(0xdbff),chr(0xdc00),chr(0xdfff))
+ #~ _safe_xml_regex = re.compile(RE_XML_ILLEGAL)
+ #~
+ #~ for match in _safe_xml_regex.finditer(x):
+ #~ x = x[:match.start()] + "?" + x[match.end():]
+ return x.encode("utf-8")
+ else: #Python 3 unicode support *should* handle everything. Not throughfully tested however :-)
+ return x
finally:
f.close()
@@ -305,18 +317,18 @@
try:
xml_str = _read_file_safe_xml(test_file)
test_suite = parseString(xml_str).getElementsByTagName('testsuite')
- except Exception, e:
+ except Exception as e:
import traceback
traceback.print_exc()
- print "WARN: cannot read test result file [%s]: %s"%(test_file, str(e))
+ print("WARN: cannot read test result file [%s]: %s"%(test_file, str(e)))
return Result(test_name, 0, 0, 0)
if not test_suite:
- print "WARN: test result file [%s] contains no results"%test_file
+ print("WARN: test result file [%s] contains no results"%test_file)
return Result(test_name, 0, 0, 0)
test_suite = test_suite[0]
vals = [test_suite.getAttribute(attr) for attr in ['errors', 'failures', 'tests']]
vals = [v or 0 for v in vals]
- err, fail, tests = [string.atoi(val) for val in vals]
+ err, fail, tests = [int(val) for val in vals]
result = Result(test_name, err, fail, tests)
result.time = test_suite.getAttribute('time') or 0.0
@@ -410,32 +422,31 @@
# (i.e. doesn't check for actual test success). The 'r' result
# object contains results of the actual tests.
- buff = cStringIO.StringIO()
- buff.write("[%s]"%runner_name+'-'*71+'\n\n')
+ buff = "[%s]"%runner_name+'-'*71+'\n\n'
for tc_result in junit_results.test_case_results:
- buff.write(tc_result.description)
+ buff += tc_result.description
- buff.write('\nSUMMARY\n')
+ buff += '\nSUMMARY\n'
if (junit_results.num_errors + junit_results.num_failures) == 0:
- buff.write("\033[32m * RESULT: SUCCESS\033[0m\n")
+ buff += "\033[32m * RESULT: SUCCESS\033[0m\n"
else:
- buff.write("\033[1;31m * RESULT: FAIL\033[0m\n")
+ buff += "\033[1;31m * RESULT: FAIL\033[0m\n"
# TODO: still some issues with the numbers adding up if tests fail to launch
# number of errors from the inner tests, plus add in count for tests
# that didn't run properly ('result' object).
- buff.write(" * TESTS: %s\n"%junit_results.num_tests)
+ buff += " * TESTS: %s\n"%junit_results.num_tests
num_errors = junit_results.num_errors
if num_errors:
- buff.write("\033[1;31m * ERRORS: %s\033[0m\n"%num_errors)
+ buff += "\033[1;31m * ERRORS: %s\033[0m\n"%num_errors
else:
- buff.write(" * ERRORS: 0\n")
+ buff += " * ERRORS: 0\n"
num_failures = junit_results.num_failures
if num_failures:
- buff.write("\033[1;31m * FAILURES: %s\033[0m\n"%num_failures)
+ buff += "\033[1;31m * FAILURES: %s\033[0m\n"%num_failures
else:
- buff.write(" * FAILURES: 0\n")
+ buff += " * FAILURES: 0\n"
- print buff.getvalue()
+ print(buff)
Index: tools/rosunit/src/rosunit/xmlrunner.py
===================================================================
--- tools/rosunit/src/rosunit/xmlrunner.py (revision 12349)
+++ tools/rosunit/src/rosunit/xmlrunner.py (working copy)
@@ -13,12 +13,15 @@
import time
import traceback
import unittest
-from StringIO import StringIO
+
+try:
+ from cStringIO import StringIO # Python 2.x
+except ImportError:
+ from io import StringIO # Python 3.x
+
from xml.sax.saxutils import escape
-from StringIO import StringIO
-
class _TestInfo(object):
"""Information about a particular test.
@@ -357,7 +360,7 @@
"""
class TestTest(unittest.TestCase):
def test_foo(self):
- print "Test"
+ print("Test")
self._try_test_run(TestTest, """<testsuite errors="0" failures="0" name="unittest.TestSuite" tests="1" time="0.000">
<testcase classname="__main__.TestTest" name="test_foo" time="0.000"></testcase>
<system-out><![CDATA[Test
@@ -373,7 +376,7 @@
"""
class TestTest(unittest.TestCase):
def test_foo(self):
- print >>sys.stderr, "Test"
+ sys.stderr.write("Test\n")
self._try_test_run(TestTest, """<testsuite errors="0" failures="0" name="unittest.TestSuite" tests="1" time="0.000">
<testcase classname="__main__.TestTest" name="test_foo" time="0.000"></testcase>
<system-out><![CDATA[]]></system-out>
Index: tools/rosunit/src/rosunit/rosunit_main.py
===================================================================
--- tools/rosunit/src/rosunit/rosunit_main.py (revision 12349)
+++ tools/rosunit/src/rosunit/rosunit_main.py (working copy)
@@ -32,8 +32,8 @@
#
# Revision $Id$
-from __future__ import with_statement
+
import os
import sys
import time
@@ -56,7 +56,7 @@
logfile_basename = 'rosunit-%s.log'%(test_name)
logfile_name = roslib.roslogging.configure_logging('rosunit-%s'%(test_name), filename=logfile_basename)
if logfile_name:
- print "... logging to %s"%logfile_name
+ print("... logging to %s"%logfile_name)
return logfile_name
def rosunitmain():
@@ -122,10 +122,10 @@
if not options.text_mode:
print_runner_summary(runner_result, results)
else:
- print "WARNING: overall test result is not accurate when --text is enabled"
+ print("WARNING: overall test result is not accurate when --text is enabled")
if logfile_name:
- print "rosunit log file is in %s"%logfile_name
+ print("rosunit log file is in %s"%logfile_name)
if not runner_result.wasSuccessful():
sys.exit(1)
Index: tools/rosboost_cfg/src/rosboost_cfg/rosboost_cfg.py
===================================================================
--- tools/rosboost_cfg/src/rosboost_cfg/rosboost_cfg.py (revision 12349)
+++ tools/rosboost_cfg/src/rosboost_cfg/rosboost_cfg.py (working copy)
@@ -38,8 +38,12 @@
import subprocess
import platform
from optparse import OptionParser
-from cStringIO import StringIO
+try:
+ from cStringIO import StringIO # Python 2.x
+except ImportError:
+ from io import StringIO # Python 3.x
+
lib_suffix = "so"
if (sys.platform == "darwin"):
lib_suffix = "dylib"
@@ -60,12 +64,12 @@
boost_version.append(0)
def print_usage_and_exit():
- print >> sys.stderr, "Usage: rosboost-cfg --lflags [thread,regex,graph,...]"
- print >> sys.stderr, " rosboost-cfg --cflags"
- print >> sys.stderr, " rosboost-cfg --libs [thread,regex,graph,...]"
- print >> sys.stderr, " rosboost-cfg --include_dirs"
- print >> sys.stderr, " rosboost-cfg --lib_dirs"
- print >> sys.stderr, " rosboost-cfg --root"
+ print("Usage: rosboost-cfg --lflags [thread,regex,graph,...]")
+ print(" rosboost-cfg --cflags")
+ print(" rosboost-cfg --libs [thread,regex,graph,...]")
+ print(" rosboost-cfg --include_dirs")
+ print(" rosboost-cfg --lib_dirs")
+ print(" rosboost-cfg --root")
sys.exit(1)
class BoostError(Exception):
@@ -270,19 +274,18 @@
return ' -l%s'%(os.path.splitext(lib)[0][len('lib'):])
def lflags(ver, libs):
- s = StringIO()
- print >> s, lib_dir_flags(ver),
+ s= lib_dir_flags(ver) + " "
for lib in libs:
- print >> s, lib_flags(ver, lib),
+ s += lib_flags(ver, lib) + " "
- return s.getvalue()
+ return s
def libs(ver, libs):
- s = StringIO()
+ s = ""
for lib in libs:
- print >> s, find_lib(ver, lib, True),
+ s += find_lib(ver, lib, True) + " "
- return s.getvalue()
+ return s
def lib_dirs(ver):
if (ver.is_default_search_location or no_L_or_I):
@@ -319,7 +322,7 @@
if (options.print_versions):
check_one_option(options, 'print_versions')
for ver in find_versions(search_paths(options.sysroot)):
- print '%s.%s.%s root=%s include_dir=%s'%(ver.major, ver.minor, ver.patch, ver.root, ver.include_dir)
+ print('%s.%s.%s root=%s include_dir=%s'%(ver.major, ver.minor, ver.patch, ver.root, ver.include_dir))
return
ver = find_boost(search_paths(options.sysroot))
@@ -330,7 +333,7 @@
if (options.version):
check_one_option(options, 'version')
- print '%s.%s.%s root=%s include_dir=%s'%(ver.major, ver.minor, ver.patch, ver.root, ver.include_dir)
+ print('%s.%s.%s root=%s include_dir=%s'%(ver.major, ver.minor, ver.patch, ver.root, ver.include_dir))
return
if (ver.major < 1 or (ver.major == 1 and ver.minor < 37)):
@@ -360,7 +363,7 @@
else:
print_usage_and_exit()
- print output.strip()
+ print(output.strip())
if __name__ == "__main__":
main()
Index: tools/rosboost_cfg/src/rosboost_cfg/__init__.py
===================================================================
--- tools/rosboost_cfg/src/rosboost_cfg/__init__.py (revision 12349)
+++ tools/rosboost_cfg/src/rosboost_cfg/__init__.py (working copy)
@@ -30,4 +30,4 @@
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
-from rosboost_cfg import *
+from .rosboost_cfg import *
Index: tools/rosdep/src/rosdep/core.py
===================================================================
--- tools/rosdep/src/rosdep/core.py (revision 12349)
+++ tools/rosdep/src/rosdep/core.py (working copy)
@@ -32,8 +32,8 @@
#Library and command-line tool for calculating rosdeps.
#"""
-from __future__ import with_statement
+
import roslib.rospack
import roslib.stacks
import roslib.manifest
@@ -58,7 +58,7 @@
yaml.add_constructor(
- u'tag:yaml.org,2002:float',
+ 'tag:yaml.org,2002:float',
yaml.constructor.Constructor.construct_yaml_str)
class YamlCache:
@@ -83,8 +83,8 @@
self._yaml_cache[path] = yaml.load(yaml_text)
return self._yaml_cache[path]
- except yaml.YAMLError, exc:
- print >> sys.stderr, "Failed parsing yaml while processing %s\n"%path, exc
+ except yaml.YAMLError as exc:
+ sys.stderr.write("Failed parsing yaml while processing %s: %s\n"%(path, exc))
#sys.exit(1) # not a breaking error
self._yaml_cache[path] = {}
return {}
@@ -128,7 +128,7 @@
if type(os_specific) == type("String"):
return os_specific
else:# it must be a map of versions
- if self.os_version in os_specific.keys():
+ if self.os_version in list(os_specific.keys()):
return os_specific[self.os_version]
#print >> sys.stderr, "failed to find definition of %s for OS(%s) Version(%s) within '''%s'''. Defined in file %s"%(rosdep_name, self.os_name, self.os_version, os_specific, source_path)
return False
@@ -173,9 +173,9 @@
try:
rosdep_dependent_packages = ros_package_proxy.depends([package])[package]
#print "package", package, "needs", rosdep_dependent_packages
- except KeyError, ex:
- print "Depends Failed on package", ex
- print " The errors was in ", ros_package_proxy.depends([package])
+ except KeyError as ex:
+ print("Depends Failed on package", ex)
+ print(" The errors was in ", ros_package_proxy.depends([package]))
rosdep_dependent_packages = []
#print "Dependents of", package, rosdep_dependent_packages
rosdep_dependent_packages.append(package)
@@ -186,25 +186,25 @@
stack = None
try:
stack = roslib.stacks.stack_of(p)
- except roslib.packages.InvalidROSPkgException, ex:
- print >> sys.stderr, "Failed to find stack for package [%s]"%p
+ except roslib.packages.InvalidROSPkgException as ex:
+ sys.stderr.write("Failed to find stack for package [%s]\n"%p)
pass
if stack:
try:
paths.add( os.path.join(roslib.stacks.get_stack_dir(stack), "rosdep.yaml"))
- except AttributeError, ex:
- print "Stack [%s] could not be found"%(stack)
+ except AttributeError as ex:
+ print("Stack [%s] could not be found"%(stack))
for s in self.yaml_cache.get_rosstack_depends(stack):
try:
paths.add( os.path.join(roslib.stacks.get_stack_dir(s), "rosdep.yaml"))
- except AttributeError, ex:
- print "Stack [%s] dependency of [%s] could not be found"%(s, stack)
+ except AttributeError as ex:
+ print("Stack [%s] dependency of [%s] could not be found"%(s, stack))
else:
try:
paths.add( os.path.join(roslib.packages.get_pkg_dir(p), "rosdep.yaml"))
- except roslib.packages.InvalidROSPkgException, ex:
- print >> sys.stderr, "Failed to load rosdep.yaml for package [%s]:%s"%(p, ex)
+ except roslib.packages.InvalidROSPkgException as ex:
+ sys.stderr.write("Failed to load rosdep.yaml for package [%s]:%s"%(p, ex))
pass
for path in paths:
self.insert_map(self.parse_yaml(path), path)
@@ -225,7 +225,7 @@
if override:
- print >>sys.stderr, "ROSDEP_OVERRIDE: %s being overridden with %s from %s"%(key, yaml_dict[key], source_path)
+ sys.stderr.write("ROSDEP_OVERRIDE: %s being overridden with %s from %s"%(key, yaml_dict[key], source_path))
self.rosdep_source[key].append("Overriding with "+source_path)
self.rosdep_map[key] = rosdep_entry
else:
@@ -258,7 +258,7 @@
if rosdep in self.rosdep_map:
return self.rosdep_map[rosdep]
else:
- print >> sys.stderr, "Failed to find rosdep %s for package %s on OS:%s version:%s"%(rosdep, self.package, self.os_name, self.os_version)
+ sys.stderr.write("Failed to find rosdep %s for package %s on OS:%s version:%s"%(rosdep, self.package, self.os_name, self.os_version))
return False
def get_map(self):
@@ -307,7 +307,7 @@
yc = YamlCache(self.osi.get_name(), self.osi.get_version())
start_time = time.time()
if "ROSDEP_DEBUG" in os.environ:
- print "Generating package list and scripts for %d rosdeps. This may take a few seconds..."%len(self.packages)
+ print("Generating package list and scripts for %d rosdeps. This may take a few seconds..."%len(self.packages))
for p in self.packages:
rdlp = RosdepLookupPackage(self.osi.get_name(), self.osi.get_version(), p, yc)
for r in self.rosdeps[p]:
@@ -325,11 +325,11 @@
if not self.robust:
raise RosdepException("ABORTING: Rosdeps %s could not be resolved"%failed_rosdeps)
else:
- print >> sys.stderr, "WARNING: Rosdeps %s could not be resolved"%failed_rosdeps
+ sys.stderr.write("WARNING: Rosdeps %s could not be resolved"%failed_rosdeps)
time_delta = (time.time() - start_time)
if "ROSDEP_DEBUG" in os.environ:
- print "Done loading rosdeps in %f seconds, averaging %f per rosdep."%(time_delta, time_delta/len(self.packages))
+ print("Done loading rosdeps in %f seconds, averaging %f per rosdep."%(time_delta, time_delta/len(self.packages)))
return (list(set(native_packages)), list(set(scripts)))
@@ -348,8 +348,8 @@
scripts = []
try:
native_packages, scripts = self.get_packages_and_scripts()
- except RosdepException, e:
- print >> sys.stderr, e
+ except RosdepException as e:
+ sys.stderr.write(str(e) + "\n")
pass
undetected = self.osi.get_os().strip_detected_packages(native_packages)
return_str = ""
@@ -378,7 +378,7 @@
fh.write(script)
fh.flush()
- print "rosdep executing this script:\n{{{\n%s\n}}}"%script
+ print("rosdep executing this script:\n{{{\n%s\n}}}"%script)
p= subprocess.Popen(['bash', fh.name], stderr=subprocess.PIPE )
(out, err) = p.communicate()
if p.returncode != 0:
Index: tools/rosdep/src/rosdep/freebsd.py
===================================================================
--- tools/rosdep/src/rosdep/freebsd.py (revision 12349)
+++ tools/rosdep/src/rosdep/freebsd.py (working copy)
@@ -31,7 +31,7 @@
import os
import roslib.os_detect
-import base_rosdep
+from . import base_rosdep
###### FreeBSD SPECIALIZATION #########################
def port_detect(p):
@@ -63,7 +63,7 @@
return "#No Packages to install"
if default_yes:
import sys
- print >> sys.stderr, "pkg_add does not have a default_yes option, continuing without"
+ sys.stderr.write("pkg_add does not have a default_yes option, continuing without\n")
return "#Packages\nsudo /usr/sbin/pkg_add -r " + ' '.join(packages)
###### END FreeBSD SPECIALIZATION ########################
Index: tools/rosdep/src/rosdep/gentoo.py
===================================================================
--- tools/rosdep/src/rosdep/gentoo.py (revision 12349)
+++ tools/rosdep/src/rosdep/gentoo.py (working copy)
@@ -26,7 +26,7 @@
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
-from __future__ import with_statement
+
import os.path
import roslib.os_detect
import subprocess
@@ -67,6 +67,6 @@
elif equery_available():
return "#Packages\nsudo emerge " + ' '.join(packages)
else:
- return "#Packages\nsudo emerge -u " + ' '.join(packages)
+ return "#Packages\nsudo emerge -u " + ' '.join(packages)
###### END Gentoo SPECIALIZATION ########################
Index: tools/rosdep/src/rosdep/arch.py
===================================================================
--- tools/rosdep/src/rosdep/arch.py (revision 12349)
+++ tools/rosdep/src/rosdep/arch.py (working copy)
@@ -28,8 +28,8 @@
# Author Tully
Foote/tfoote@willowgarage.com
-from __future__ import with_statement
-from linux_helpers import *
+
+from .linux_helpers import *
import os
import rosdep.base_rosdep
@@ -58,7 +58,7 @@
if os_list[0] == "Linux" and os_list[1] == "Arch":
return os_list[2]
except:
- print "Arch failed to get version"
+ print("Arch failed to get version")
return False
return False
Index: tools/rosdep/src/rosdep/cygwin.py
===================================================================
--- tools/rosdep/src/rosdep/cygwin.py (revision 12349)
+++ tools/rosdep/src/rosdep/cygwin.py (working copy)
@@ -51,6 +51,6 @@
###### END Cygwin SPECIALIZATION ########################
if __name__ == '__main__':
- print "cygwin installed?", Cygwin().check_presence()
- print "test port_detect(true)", port_detect('cygwin');
- print "version", Cygwin().get_version()
+ print("cygwin installed?", Cygwin().check_presence())
+ print("test port_detect(true)", port_detect('cygwin'));
+ print("version", Cygwin().get_version())
Index: tools/rosdep/src/rosdep/main.py
===================================================================
--- tools/rosdep/src/rosdep/main.py (revision 12349)
+++ tools/rosdep/src/rosdep/main.py (working copy)
@@ -108,9 +108,9 @@
rdargs = roslib.packages.list_pkgs()
(verified_packages, rejected_packages) = roslib.stacks.expand_to_packages(rdargs)
-
+
if len(rejected_packages) > 0:
- print "Warning: could not identify %s as a package"%rejected_packages
+ print("Warning: could not identify %s as a package"%rejected_packages)
if len(verified_packages) == 0:
parser.error("No Valid Packages listed")
@@ -121,60 +121,60 @@
### Find all dependencies
try:
r = core.Rosdep(verified_packages, robust=options.robust)
- except roslib.os_detect.OSDetectException, ex:
- print "rosdep ABORTING. Failed to detect OS: %s"%ex
+ except roslib.os_detect.OSDetectException as ex:
+ print("rosdep ABORTING. Failed to detect OS: %s"%ex)
return 1
- except roslib.exceptions.ROSLibException, ex:
- print "rosdep ABORTING: %s"%ex
+ except roslib.exceptions.ROSLibException as ex:
+ print("rosdep ABORTING: %s"%ex)
return 1
if options.verbose:
- print "Detected OS: " + r.osi.get_name()
- print "Detected Version: " + r.osi.get_version()
+ print("Detected OS: " + r.osi.get_name())
+ print("Detected Version: " + r.osi.get_version())
try:
if command == "generate_bash" or command == "satisfy":
- print r.generate_script(include_duplicates=options.include_duplicates, default_yes=options.default_yes)
+ print(r.generate_script(include_duplicates=options.include_duplicates, default_yes=options.default_yes))
return 0
elif command == "install":
error = r.install(options.include_duplicates, options.default_yes)
if error:
- print >> sys.stderr, "rosdep install ERROR:\n%s"%error
+ sys.stderr.write("rosdep install ERROR:\n%s"%error)
return 1
else:
return 0
- except core.RosdepException, e:
- print >> sys.stderr, "ERROR: %s"%e
+ except core.RosdepException as e:
+ sys.stderr.write("ERROR: %s"%e)
return 1
try:
if command == "depdb":
- print r.depdb(verified_packages)
+ print(r.depdb(verified_packages))
return 0
elif command == "what_needs":
- print '\n'.join(r.what_needs(rdargs))
+ print('\n'.join(r.what_needs(rdargs)))
return 0
elif command == "where_defined":
- print r.where_defined(rdargs)
+ print(r.where_defined(rdargs))
return 0
elif command == "check":
return_val = 0
(output, scripts) = r.check()
if len(rejected_packages) > 0:
- print >> sys.stderr, "Arguments %s are not packages"%rejected_packages
+ sys.stderr.write("Arguments %s are not packages"%rejected_packages)
return_val = 1
if len(output) != 0:
- print >> sys.stderr, output
+ sys.stderr.write(output + "\n")
return 1
if len(scripts)>0:
- print >> sys.stderr, scripts
+ sys.stderr.write(scripts + "\n")
# not an error condition
return return_val
- except core.RosdepException, e:
- print >> sys.stderr, str(e)
+ except core.RosdepException as e:
+ sys.stderr.write(str(e) + "\n")
return 1
Index: bin/rosmake
===================================================================
--- bin/rosmake (revision 12349)
+++ bin/rosmake (working copy)
@@ -29,8 +29,8 @@
# Author Tully
Foote/tfoote@willowgarage.com
-from __future__ import with_statement
+
import os
import sys
import subprocess
@@ -43,11 +43,11 @@
#cmd = ["make", "-C", os.path.join(os.environ["ROS_ROOT"], "tools/rospack")] Doesn't work with cmake 2.6, will trigger rebuilds due to different paths. Fixed in 2.8.
cmd = ["bash", "-c", "cd %s && make"%(os.path.join(os.environ["ROS_ROOT"], "tools/rospack"))]
if subprocess.call(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE) :
- print "Rospack failed to build"
+ print("Rospack failed to build")
return False
if subprocess.call(["which", "rospack"], stdout=subprocess.PIPE, stderr=subprocess.PIPE):
- print "Rospack not in path. Please add ROS_ROOT/bin to PATH"
+ print("Rospack not in path. Please add ROS_ROOT/bin to PATH")
return False
return True
@@ -71,6 +71,6 @@
for t in threading.enumerate():
if t != threading.currentThread():
# Join all threads before exiting
- print "Cleaning up thread", t
+ print("Cleaning up thread", t)
t.join()
sys.exit(result)
Index: core/rosbuild/private.cmake
===================================================================
--- core/rosbuild/private.cmake (revision 12349)
+++ core/rosbuild/private.cmake (working copy)
@@ -380,7 +380,7 @@
macro(_rosbuild_get_clock var)
execute_process(
- COMMAND python -c "import time; print time.time()"
+ COMMAND python -c "import time; print(time.time())"
OUTPUT_VARIABLE ${var}
ERROR_VARIABLE _time_error
RESULT_VARIABLE _time_failed
@@ -414,7 +414,7 @@
# Call Python to compare the provided time to the latest mtime on all
# the files
execute_process(
- COMMAND python -c "import os; print 1 if set(${_pylist}) != set(${_cached_pylist}) or ${_t} < max(os.stat(f).st_mtime for f in ${_pylist}) else 0;"
+ COMMAND python -c "import os; print(1 if set(${_pylist}) != set(${_cached_pylist}) or ${_t} < max(os.stat(f).st_mtime for f in ${_pylist}) else 0);"
OUTPUT_VARIABLE ${var}
ERROR_VARIABLE _mtime_error
RESULT_VARIABLE _mtime_failed
Index: core/roslib/src/ros/__init__.py
===================================================================
--- core/roslib/src/ros/__init__.py (revision 12349)
+++ core/roslib/src/ros/__init__.py (working copy)
@@ -52,7 +52,7 @@
import roslib.packages
try:
roslib.load_manifest(name.split('.')[0])
- except roslib.packages.InvalidROSPkgException, e:
+ except roslib.packages.InvalidROSPkgException as e:
raise ImportError("Cannot import module '%s': \n%s"%(name, str(e)))
return __import__(name)
Index: core/roslib/src/roslib/substitution_args.py
===================================================================
--- core/roslib/src/roslib/substitution_args.py (revision 12349)
+++ core/roslib/src/roslib/substitution_args.py (working copy)
@@ -38,8 +38,12 @@
"""
import os
-import cStringIO
+try:
+ from cStringIO import StringIO # Python 2.x
+except ImportError:
+ from io import StringIO # Python 3.x
+
import roslib.exceptions
import roslib.names
import roslib.packages
@@ -66,7 +70,7 @@
raise SubstitutionException("$(env var) command only accepts one argument [%s]"%a)
try:
return resolved.replace("$(%s)"%a, os.environ[args[0]])
- except KeyError, e:
+ except KeyError as e:
raise SubstitutionException("environment variable %s is not set"%str(e))
def _optenv(resolved, a, args, context):
@@ -224,7 +228,7 @@
@return: list of arguments
@rtype: [str]
"""
- buff = cStringIO.StringIO()
+ buff = StringIO()
args = []
state = _OUT
for c in arg_str:
Index: core/roslib/src/roslib/stacks.py
===================================================================
--- core/roslib/src/roslib/stacks.py (revision 12349)
+++ core/roslib/src/roslib/stacks.py (working copy)
@@ -147,8 +147,10 @@
except KeyError:
pass
_update_stack_cache() #update cache
- val = _dir_cache.get(stack, None)
- if val is None:
+
+ try:
+ val = _dir_cache[stack]
+ except KeyError:
raise InvalidROSStackException("Cannot location installation of stack %s. ROS_ROOT[%s] ROS_PACKAGE_PATH[%s]"%(stack, env[ROS_ROOT], env.get(ROS_PACKAGE_PATH, '')))
return val
@@ -179,7 +181,7 @@
if os.path.exists(os.path.join(ros_root, 'stack.xml')):
_dir_cache['ros'] = ros_root
pkg_dirs.remove(ros_root)
-
+
# pass in accumulated stacks list to each call. This ensures
# precedence (i.e. that stacks first on pkg_dirs path win).
stacks = []
@@ -198,7 +200,7 @@
@rtype: [str]
"""
_update_stack_cache()
- return _dir_cache.keys()
+ return list(_dir_cache.keys())
def list_stacks_by_path(path, stacks=None, cache=None):
"""
@@ -272,7 +274,7 @@
if not n in package_list:
try:
valid.extend(roslib.stacks.packages_of(n))
- except roslib.stacks.InvalidROSStackException, e:
+ except roslib.stacks.InvalidROSStackException as e:
invalid.append(n)
else:
valid.append(n)
Index: core/roslib/src/roslib/network.py
===================================================================
--- core/roslib/src/roslib/network.py (revision 12349)
+++ core/roslib/src/roslib/network.py (working copy)
@@ -45,12 +45,15 @@
import os
import socket
-import string
import struct
import sys
import platform
-import urlparse
+try:
+ import urllib.parse as urlparse
+except ImportError:
+ import urlparse
+
import roslib.exceptions
import roslib.rosenv
@@ -97,7 +100,7 @@
raise ValueError('not a valid URL')
if ':' in p[1]:
hostname, port = p[1].split(':')
- port = string.atoi(port)
+ port = int(port)
else:
hostname, port = p[1], 80
return hostname, port
@@ -384,7 +387,7 @@
@return: header encoded as byte string
@rtype: str
"""
- fields = ["%s=%s"%(k,v) for k,v in header.iteritems()]
+ fields = ["%s=%s"%(k,v) for k,v in header.items()]
s = ''.join(["%s%s"%(struct.pack('<I', len(f)), f) for f in fields])
return struct.pack('<I', len(s)) + s
Index: core/roslib/src/roslib/gentools.py
===================================================================
--- core/roslib/src/roslib/gentools.py (revision 12349)
+++ core/roslib/src/roslib/gentools.py (working copy)
@@ -44,8 +44,13 @@
# generator library is rospy.genpy.
import sys
-import cStringIO
+try:
+ from cStringIO import StringIO # Python 2.x
+except ImportError:
+ from io import StringIO # Python 3.x
+
+
import roslib.msgs
import roslib.names
import roslib.packages
@@ -101,7 +106,7 @@
# #1554: need to suppress computation of files in dynamic generation case
compute_files = 'files' in get_deps_dict
- buff = cStringIO.StringIO()
+ buff = StringIO()
for c in spec.constants:
buff.write("%s %s=%s\n"%(c.type, c.name, c.val_text))
@@ -218,7 +223,7 @@
@return: concatenated text for msg/srv file and embedded msg/srv types.
@rtype: str
"""
- buff = cStringIO.StringIO()
+ buff = StringIO()
sep = '='*80+'\n'
# write the text of the top-level type
Index: core/roslib/src/roslib/stack_manifest.py
===================================================================
--- core/roslib/src/roslib/stack_manifest.py (revision 12349)
+++ core/roslib/src/roslib/stack_manifest.py (working copy)
@@ -82,7 +82,7 @@
Stack '%(stack_dir)s' is improperly configured: no manifest file is present.
"""%locals())
return p
- except roslib.stacks.InvalidROSStackException, e:
+ except roslib.stacks.InvalidROSStackException as e:
if required:
raise
Index: core/roslib/src/roslib/srvs.py
===================================================================
--- core/roslib/src/roslib/srvs.py (revision 12349)
+++ core/roslib/src/roslib/srvs.py (working copy)
@@ -39,8 +39,12 @@
import os
import re
-import cStringIO
+try:
+ from cStringIO import StringIO # Python 2.x
+except ImportError:
+ from io import StringIO # Python 3.x
+
import roslib.exceptions
import roslib.msgs
import roslib.names
@@ -136,9 +140,9 @@
try:
spec = load_from_file(srv_file(package, t), package)
specs.append(spec)
- except Exception, e:
+ except Exception as e:
failures.append(t)
- print "ERROR: unable to load %s"%t
+ print("ERROR: unable to load %s"%t)
return specs, failures
##
@@ -148,8 +152,8 @@
# @return roslib.MsgSpec: Message type name and message specification
# @throws roslib.MsgSpecException: if syntax errors or other problems are detected in file
def load_from_string(text, package_context='', full_name='', short_name=''):
- text_in = cStringIO.StringIO()
- text_out = cStringIO.StringIO()
+ text_in = StringIO()
+ text_out = StringIO()
accum = text_in
for l in text.split('\n'):
l = l.split(COMMENTCHAR)[0].strip() #strip comments
@@ -172,9 +176,9 @@
def load_from_file(file, package_context=''):
if VERBOSE:
if package_context:
- print "Load spec from", file, "into namespace [%s]"%package_context
+ print("Load spec from", file, "into namespace [%s]"%package_context)
else:
- print "Load spec from", file
+ print("Load spec from", file)
fileName = os.path.basename(file)
type_ = fileName[:-len(EXT)]
base_type_ = type_
Index: core/roslib/src/roslib/manifestlib.py
===================================================================
--- core/roslib/src/roslib/manifestlib.py (revision 12349)
+++ core/roslib/src/roslib/manifestlib.py (working copy)
@@ -54,10 +54,18 @@
class ManifestException(roslib.exceptions.ROSLibException): pass
+def isstring(s):
+ """Small helper version to check an object is a string in a way that works
+ for both Python 2 and 3
+ """
+ try:
+ return isinstance(s, basestring)
+ except NameError:
+ return isinstance(s, str)
+
# TODO: this is all needlessly complicated in and indirect. Now that
# we are more commited to our manifest spec, this can be more direct
# (and unit tested)
-
def check_optional(name, allowXHTML=False):
"""
Validator for optional elements.
@@ -81,7 +89,7 @@
def check(n, filename):
n = n.getElementsByTagName(name)
if not n:
- print >> sys.stderr, "Invalid manifest file[%s]: missing required '%s' element"%(filename, name)
+ sys.stderr.write("Invalid manifest file[%s]: missing required '%s' element\n"%(filename, name))
return ''
if len(n) != 1:
raise ManifestException("Invalid manifest file: must have only one '%s' element"%name)
@@ -99,7 +107,7 @@
platforms = [e for e in n.getElementsByTagName(name)]
try:
vals = [(p.attributes['os'].value, p.attributes['version'].value, p.getAttribute('notes')) for p in platforms]
- except KeyError, e:
+ except KeyError as e:
raise ManifestException("<platform> tag is missing required '%s' attribute"%str(e))
return [Platform(*v) for v in vals]
return check
@@ -139,7 +147,7 @@
def _attrs(node):
attrs = {}
- for k in node.attributes.keys():
+ for k in list(node.attributes.keys()):
attrs[k] = node.attributes.get(k).value
return attrs
@@ -211,7 +219,7 @@
@return: export instance represented as manifest XML
@rtype: str
"""
- attrs = ' '.join([' %s="%s"'%(k,v) for k,v in self.attrs.iteritems()])
+ attrs = ' '.join([' %s="%s"'%(k,v) for k,v in self.attrs.items()])
if self.str:
return '<%s%s>%s</%s>'%(self.tag, attrs, self.str, self.tag)
else:
@@ -233,11 +241,11 @@
@param notes: (optional) notes about platform support
@type notes: str
"""
- if not os or not isinstance(os, basestring):
+ if not os or not isstring(os):
raise ValueError("bad 'os' attribute")
- if not version or not isinstance(version, basestring):
+ if not version or not isstring(version):
raise ValueError("bad 'version' attribute")
- if notes and not isinstance(notes, basestring):
+ if notes and not isstring(notes):
raise ValueError("bad 'notes' attribute")
self.os = os
self.version = version
@@ -276,7 +284,7 @@
@param package: package name. must be non-empty
@type package: str
"""
- if not package or not isinstance(package, basestring):
+ if not package or not isstring(package):
raise ValueError("bad 'package' attribute")
self.package = package
def __str__(self):
@@ -305,7 +313,7 @@
@param stack: stack name. must be non-empty
@type stack: str
"""
- if not stack or not isinstance(stack, basestring):
+ if not stack or not isstring(stack):
raise ValueError("bad 'stack' attribute")
self.stack = stack
self.annotation = None
@@ -340,7 +348,7 @@
@param name: dependency name. Must be non-empty.
@type name: str
"""
- if not name or not isinstance(name, basestring):
+ if not name or not isstring(name):
raise ValueError("bad 'name' attribute")
self.name = name
def xml(self):
@@ -363,9 +371,9 @@
@param url: URL associated with version control. must be non empty
@type url: str
"""
- if not type_ or not isinstance(type_, basestring):
+ if not type_ or not isstring(type_):
raise ValueError("bad 'type' attribute")
- if not url is None and not isinstance(url, basestring):
+ if not url is None and not isstring(url):
raise ValueError("bad 'url' attribute")
self.type = type_
self.url = url
@@ -441,7 +449,7 @@
review = ' <review status="%s" notes="%s" />'%(self.status, self.notes)
- fields = filter(lambda x: x, [desc, author, license, review, url, logo, depends, rosdeps, platforms, exports, versioncontrol])
+ fields = [x for x in [desc, author, license, review, url, logo, depends, rosdeps, platforms, exports, versioncontrol] if x]
return "<%s>\n"%self._type + "\n".join(fields) + "\n</%s>"%self._type
def _get_text(nodes):
@@ -471,7 +479,7 @@
f.close()
try:
return parse(m, text, file)
- except ManifestException, e:
+ except ManifestException as e:
raise ManifestException("Invalid manifest file [%s]: %s"%(os.path.abspath(file), e))
def parse(m, string, filename='string'):
@@ -486,7 +494,7 @@
"""
try:
d = dom.parseString(string)
- except Exception, e:
+ except Exception as e:
raise ManifestException("invalid XML: %s"%e)
p = d.getElementsByTagName(m._type)
if len(p) != 1:
Index: core/roslib/src/roslib/msg/_Clock.py
===================================================================
--- core/roslib/src/roslib/msg/_Clock.py (revision 12349)
+++ core/roslib/src/roslib/msg/_Clock.py (working copy)
@@ -54,8 +54,8 @@
try:
_x = self
buff.write(_struct_2I.pack(_x.clock.secs, _x.clock.nsecs))
- except struct.error, se: self._check_types(se)
- except TypeError, te: self._check_types(te)
+ except struct.error as se: self._check_types(se)
+ except TypeError as te: self._check_types(te)
def deserialize(self, str):
"""
@@ -73,7 +73,7 @@
(_x.clock.secs, _x.clock.nsecs,) = _struct_2I.unpack(str[start:end])
self.clock.canon()
return self
- except struct.error, e:
+ except struct.error as e:
raise roslib.message.DeserializationError(e) #most likely buffer underfill
@@ -88,8 +88,8 @@
try:
_x = self
buff.write(_struct_2I.pack(_x.clock.secs, _x.clock.nsecs))
- except struct.error, se: self._check_types(se)
- except TypeError, te: self._check_types(te)
+ except struct.error as se: self._check_types(se)
+ except TypeError as te: self._check_types(te)
def deserialize_numpy(self, str, numpy):
"""
@@ -109,7 +109,7 @@
(_x.clock.secs, _x.clock.nsecs,) = _struct_2I.unpack(str[start:end])
self.clock.canon()
return self
- except struct.error, e:
+ except struct.error as e:
raise roslib.message.DeserializationError(e) #most likely buffer underfill
_struct_I = roslib.message.struct_I
Index: core/roslib/src/roslib/msg/__init__.py
===================================================================
--- core/roslib/src/roslib/msg/__init__.py (revision 12349)
+++ core/roslib/src/roslib/msg/__init__.py (working copy)
@@ -1,3 +1,3 @@
-from _Header import *
-from _Log import *
-from _Clock import *
+from ._Header import *
+from ._Log import *
+from ._Clock import *
Index: core/roslib/src/roslib/msg/_Log.py
===================================================================
--- core/roslib/src/roslib/msg/_Log.py (revision 12349)
+++ core/roslib/src/roslib/msg/_Log.py (working copy)
@@ -137,8 +137,8 @@
for val1 in self.topics:
length = len(val1)
buff.write(struct.pack('<I%ss'%length, length, val1))
- except struct.error, se: self._check_types(se)
- except TypeError, te: self._check_types(te)
+ except struct.error as se: self._check_types(se)
+ except TypeError as te: self._check_types(te)
def deserialize(self, str):
"""
@@ -194,7 +194,7 @@
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.topics = []
- for i in xrange(0, length):
+ for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
@@ -203,7 +203,7 @@
val1 = str[start:end]
self.topics.append(val1)
return self
- except struct.error, e:
+ except struct.error as e:
raise roslib.message.DeserializationError(e) #most likely buffer underfill
@@ -240,8 +240,8 @@
for val1 in self.topics:
length = len(val1)
buff.write(struct.pack('<I%ss'%length, length, val1))
- except struct.error, se: self._check_types(se)
- except TypeError, te: self._check_types(te)
+ except struct.error as se: self._check_types(se)
+ except TypeError as te: self._check_types(te)
def deserialize_numpy(self, str, numpy):
"""
@@ -299,7 +299,7 @@
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.topics = []
- for i in xrange(0, length):
+ for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
@@ -308,7 +308,7 @@
val1 = str[start:end]
self.topics.append(val1)
return self
- except struct.error, e:
+ except struct.error as e:
raise roslib.message.DeserializationError(e) #most likely buffer underfill
_struct_I = roslib.message.struct_I
Index: core/roslib/src/roslib/msg/_Header.py
===================================================================
--- core/roslib/src/roslib/msg/_Header.py (revision 12349)
+++ core/roslib/src/roslib/msg/_Header.py (working copy)
@@ -74,8 +74,10 @@
_x = self.frame_id
length = len(_x)
buff.write(struct.pack('<I%ss'%length, length, _x))
- except struct.error, se: self._check_types(se)
- except TypeError, te: self._check_types(te)
+ except struct.error as se:
+ self._check_types(se)
+ except TypeError as te:
+ self._check_types(te)
def deserialize(self, str):
"""
@@ -99,7 +101,7 @@
self.frame_id = str[start:end]
self.stamp.canon()
return self
- except struct.error, e:
+ except struct.error as e:
raise roslib.message.DeserializationError(e) #most likely buffer underfill
@@ -117,8 +119,10 @@
_x = self.frame_id
length = len(_x)
buff.write(struct.pack('<I%ss'%length, length, _x))
- except struct.error, se: self._check_types(se)
- except TypeError, te: self._check_types(te)
+ except struct.error as se:
+ self._check_types(se)
+ except TypeError as te:
+ self._check_types(te)
def deserialize_numpy(self, str, numpy):
"""
@@ -144,7 +148,7 @@
self.frame_id = str[start:end]
self.stamp.canon()
return self
- except struct.error, e:
+ except struct.error as e:
raise roslib.message.DeserializationError(e) #most likely buffer underfill
_struct_I = roslib.message.struct_I
Index: core/roslib/src/roslib/launcher.py
===================================================================
--- core/roslib/src/roslib/launcher.py (revision 12349)
+++ core/roslib/src/roslib/launcher.py (working copy)
@@ -89,7 +89,7 @@
paths.append(e.replace('${prefix}', pkg_dir))
else:
dirs = [os.path.join(pkg_dir, d) for d in ['src', 'lib']]
- paths.extend(filter(os.path.isdir, dirs))
+ paths.extend(list(filter(os.path.isdir, dirs)))
def _generate_python_path(pkg, depends, env=os.environ):
"""
@@ -120,7 +120,7 @@
continue
try: #add sub-dependencies to paths and depends
paths.extend(_generate_python_path(d.package, depends, env))
- except roslib.packages.InvalidROSPkgException, e:
+ except roslib.packages.InvalidROSPkgException as e:
# translate error message to give more context
raise roslib.packages.InvalidROSPkgException("While loading package '%s': %s"%(d.package, str(e)))
except:
Index: core/roslib/src/roslib/scriptutil.py
===================================================================
--- core/roslib/src/roslib/scriptutil.py (revision 12349)
+++ core/roslib/src/roslib/scriptutil.py (working copy)
@@ -128,14 +128,18 @@
@return: XML-RPC proxy to ROS master
@rtype: xmlrpclib.ServerProxy
"""
- import xmlrpclib
+ try:
+ import xmlrpc.client as xmlrpcclient #Python 3.x
+ except ImportError:
+ import xmlrpclib as xmlrpcclient #Python 2.x
+
# #1730 validate URL for better error messages
uri = roslib.rosenv.get_master_uri()
try:
roslib.network.parse_http_host_and_port(uri)
except ValueError:
raise roslib.exceptions.ROSLibException("invalid master URI: %s"%uri)
- return xmlrpclib.ServerProxy(uri)
+ return xmlrpcclient.ServerProxy(uri)
def get_param_server():
@@ -194,7 +198,7 @@
# Pretty-print a string version of the commands
def quote(s):
return '"%s"'%s if ' ' in s else s
- print "Okay to execute:\n\n%s\n(y/n)?"%('\n'.join([' '.join([quote(s) for s in c]) for c in cmds]))
+ print("Okay to execute:\n\n%s\n(y/n)?"%('\n'.join([' '.join([quote(s) for s in c]) for c in cmds])))
while 1:
input = sys.stdin.readline().strip()
if input in ['y', 'n']:
Index: core/roslib/src/roslib/rospack.py
===================================================================
--- core/roslib/src/roslib/rospack.py (revision 12349)
+++ core/roslib/src/roslib/rospack.py (working copy)
@@ -49,7 +49,7 @@
@raise roslib.exceptions.ROSLibException: if rospack command fails
"""
rospack_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin', 'rospack')
- val = (subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip()
+ val = (bytes.decode(subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0]) or '').strip()
if val.startswith('rospack:'): #rospack error message
raise roslib.exceptions.ROSLibException(val)
return val
@@ -110,7 +110,7 @@
@raise roslib.exceptions.ROSLibException: if rosstack command fails
"""
rosstack_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin', 'rosstack')
- val = (subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip()
+ val = (bytes.decode(subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0]) or '').strip()
if val.startswith('rosstack:'): #rospack error message
raise roslib.exceptions.ROSLibException(val)
return val
Index: core/roslib/src/roslib/names.py
===================================================================
--- core/roslib/src/roslib/names.py (revision 12349)
+++ core/roslib/src/roslib/names.py (working copy)
@@ -55,6 +55,15 @@
REMAP = ":="
ANYTYPE = '*'
+def isstring(s):
+ """Small helper version to check an object is a string in a way that works
+ for both Python 2 and 3
+ """
+ try:
+ return isinstance(s, basestring) #Python 2.x
+ except NameError:
+ return isinstance(s, str) #Python 3.x
+
def get_ros_namespace(env=None, argv=None):
"""
@param env: environment dictionary (defaults to os.environ)
@@ -142,7 +151,7 @@
"map name to its namespace"
if name is None:
raise ValueError('name')
- if not isinstance(name, basestring):
+ if not isstring(name):
raise TypeError('name')
if not name:
return SEP
@@ -194,7 +203,7 @@
else:
mappings[src] = dst
except:
- print >> sys.stderr, "ERROR: Invalid remapping argument '%s'"%arg
+ sys.stderr.write("ERROR: Invalid remapping argument '%s'\n"%arg)
return mappings
#######################################################################
@@ -268,7 +277,7 @@
def _is_safe_name(name, type_name):
#windows long-file name length is 255
- if not isinstance(name, basestring) or not name or len(name) > 255:
+ if not isstring(name) or not name or len(name) > 255:
return False
return is_legal_resource_name(name)
@@ -289,7 +298,7 @@
@type name: str
"""
# resource names can be unicode due to filesystem
- if name is None or not isinstance(name, basestring):
+ if name is None or not isstring(name):
return False
m = RESOURCE_NAME_LEGAL_CHARS_P.match(name)
# '//' check makes sure there isn't double-slashes
@@ -308,7 +317,7 @@
@type name: str
"""
# should we enforce unicode checks?
- if name is None or not isinstance(name, basestring):
+ if name is None or not isstring(name):
return False
# empty string is a legal name as it resolves to namespace
if name == '':
@@ -322,7 +331,7 @@
Validates that name is a legal base name for a graph resource. A base name has
no namespace context, e.g. "node_name".
"""
- if name is None or not isinstance(name, basestring):
+ if name is None or not isstring(name):
return False
m = BASE_NAME_LEGAL_CHARS_P.match(name)
return m is not None and m.group(0) == name
@@ -334,7 +343,7 @@
no package context, e.g. "String".
"""
# resource names can be unicode due to filesystem
- if name is None or not isinstance(name, basestring):
+ if name is None or not isstring(name):
return False
m = BASE_NAME_LEGAL_CHARS_P.match(name)
return m is not None and m.group(0) == name
@@ -395,7 +404,7 @@
@type id: str
"""
import socket, random
- name = "%s_%s_%s_%s"%(id, socket.gethostname(), os.getpid(), random.randint(0, sys.maxint))
+ name = "%s_%s_%s_%s"%(id, socket.gethostname(), os.getpid(), random.randint(0, sys.maxsize))
# RFC 952 allows hyphens, IP addrs can have '.'s, both
# of which are illegal for ROS names. For good
# measure, screen ipv6 ':'.
Index: core/roslib/src/roslib/xmlrpc.py
===================================================================
--- core/roslib/src/roslib/xmlrpc.py (revision 12349)
+++ core/roslib/src/roslib/xmlrpc.py (working copy)
@@ -43,20 +43,43 @@
import logging
import socket
import string
-import thread
+
+try:
+ import _thread
+except ImportError:
+ import thread as _thread
+
import traceback
-from SimpleXMLRPCServer import SimpleXMLRPCServer, SimpleXMLRPCRequestHandler
-import SocketServer
+try:
+ from xmlrpc.server import SimpleXMLRPCServer, SimpleXMLRPCRequestHandler #Python 3.x
+except ImportError:
+ from SimpleXMLRPCServer import SimpleXMLRPCServer #Python 2.x
+ from SimpleXMLRPCServer import SimpleXMLRPCRequestHandler #Python 2.x
+
+try:
+ import socketserver
+except ImportError:
+ import SocketServer as socketserver
+
import roslib.network
import roslib.exceptions
+def isstring(s):
+ """Small helper version to check an object is a string in a way that works
+ for both Python 2 and 3
+ """
+ try:
+ return isinstance(s, basestring)
+ except NameError:
+ return isinstance(s, str)
+
class SilenceableXMLRPCRequestHandler(SimpleXMLRPCRequestHandler):
def log_message(self, format, *args):
if DEBUG:
SimpleXMLRPCRequestHandler.log_message(self, format, *args)
-class ThreadingXMLRPCServer(SocketServer.ThreadingMixIn, SimpleXMLRPCServer):
+class ThreadingXMLRPCServer(socketserver.ThreadingMixIn, SimpleXMLRPCServer):
"""
Adds ThreadingMixin to SimpleXMLRPCServer to support multiple concurrent
requests via threading. Also makes logging toggleable.
@@ -80,7 +103,7 @@
if logger:
logger.error(traceback.format_exc())
-class ForkingXMLRPCServer(SocketServer.ForkingMixIn, SimpleXMLRPCServer):
+class ForkingXMLRPCServer(socketserver.ForkingMixIn, SimpleXMLRPCServer):
"""
Adds ThreadingMixin to SimpleXMLRPCServer to support multiple concurrent
requests via forking. Also makes logging toggleable.
@@ -126,8 +149,8 @@
self.handler = rpc_handler
self.uri = None # initialize the property now so it can be tested against, will be filled in later
self.server = None
- if port and isinstance(port, basestring):
- port = string.atoi(port)
+ if port and isstring(port):
+ port = int(port)
self.port = port
self.is_shutdown = False
self.on_run_error = on_run_error
@@ -153,7 +176,7 @@
"""
Initiate a thread to run the XML RPC server. Uses thread.start_new_thread.
"""
- thread.start_new_thread(self.run, ())
+ _thread.start_new_thread(self.run, ())
def set_uri(self, uri):
"""
@@ -167,7 +190,7 @@
def run(self):
try:
self._run()
- except Exception, e:
+ except Exception as e:
if self.on_run_error is not None:
self.on_run_error(e)
else:
@@ -219,13 +242,14 @@
self.server.register_multicall_functions()
self.server.register_instance(self.handler)
- except socket.error, (n, errstr):
+ except socket.error as e:
+ (n, errstr) = e
if n == 98:
msg = "ERROR: Unable to start XML-RPC server, port %s is already in use"%self.port
else:
msg = "ERROR: Unable to start XML-RPC server: %s"%errstr
logger.error(msg)
- print msg
+ print(msg)
raise #let higher level catch this
if self.handler is not None:
Index: core/roslib/src/roslib/manifest.py
===================================================================
--- core/roslib/src/roslib/manifest.py (revision 12349)
+++ core/roslib/src/roslib/manifest.py (working copy)
@@ -93,7 +93,7 @@
Package '%(package_dir)s' is improperly configured: no manifest file is present.
"""%locals())
return p
- except roslib.packages.InvalidROSPkgException, e:
+ except roslib.packages.InvalidROSPkgException as e:
if required:
raise
Index: core/roslib/src/roslib/os_detect.py
===================================================================
--- core/roslib/src/roslib/os_detect.py (revision 12349)
+++ core/roslib/src/roslib/os_detect.py (working copy)
@@ -36,8 +36,8 @@
command-line tool.
"""
-from __future__ import with_statement
+
import roslib.exceptions
import roslib.rospack
import roslib.stacks
@@ -192,7 +192,7 @@
if os_list[0] == "Fedora" and os_list[1] == "release":
return os_list[2]
except:
- print "Fedora failed to get version"
+ print("Fedora failed to get version")
return False
return False
@@ -228,7 +228,7 @@
if os_list and os_list[2] == "Enterprise":
return os_list[6]
except:
- print "Rhel failed to get version"
+ print("Rhel failed to get version")
return False
return False
@@ -290,7 +290,7 @@
if os_list[0] == "Linux" and os_list[1] == "Arch":
return os_list[2]
except:
- print "Arch failed to get version"
+ print("Arch failed to get version")
return False
return False
@@ -349,7 +349,7 @@
if os_list[0] == "Gentoo" and os_list[1] == "Base":
return os_list[4]
except:
- print >> sys.stderr, "Gentoo failed to get version"
+ sys.stderr.write("Gentoo failed to get version\n")
return False
return False
@@ -388,7 +388,7 @@
else:
return False
except:
- print >> sys.stderr, "FreeBSD failed to get version"
+ sys.stderr.write("FreeBSD failed to get version\n")
return False
return False
@@ -407,7 +407,7 @@
def check_presence(self):
try:
(self._os_name, self._os_version) = os.environ["ROS_OS_OVERRIDE"].split(':')
- print >> sys.stderr, "Using environment variable ROS_OS_OVERRIDE name = %s version = %s"%(self._os_name, self._os_version)
+ sys.stderr.write("Using environment variable ROS_OS_OVERRIDE name = %s version = %s\n"%(self._os_name, self._os_version))
return True
except:
return False
Index: core/roslib/src/roslib/msgs.py
===================================================================
--- core/roslib/src/roslib/msgs.py (revision 12349)
+++ core/roslib/src/roslib/msgs.py (working copy)
@@ -38,7 +38,11 @@
Implements: U{http://ros.org/wiki/msg}
"""
-import cStringIO
+try:
+ from cStringIO import StringIO # Python 2.x
+except ImportError:
+ from io import StringIO # Python 3.x
+
import os
import itertools
import sys
@@ -234,7 +238,7 @@
@rtype: str
"""
if buff is None:
- buff = cStringIO.StringIO()
+ buff = StringIO()
for c in spec.constants:
buff.write("%s%s %s=%s\n"%(indent, c.type, c.name, c.val_text))
for type_, name in zip(spec.types, spec.names):
@@ -310,7 +314,7 @@
@return: zip list of types and names (e.g. [('int32', 'x'), ('int32', 'y')]
@rtype: [(str,str),]
"""
- return zip(self.types, self.names)
+ return list(zip(self.types, self.names))
def parsed_fields(self):
"""
@@ -373,7 +377,7 @@
header = os.path.join(roslib_dir, roslib.packages.MSG_DIR, fname)
if not os.path.isfile(header):
- print >> sys.stderr, "ERROR: cannot locate %s. Excepted to find it at '%s'"%(fname, header)
+ sys.stderr.write("ERROR: cannot locate %s. Excepted to find it at '%s'\n"%(fname, header))
return False
# register Header under both contexted and de-contexted name
@@ -382,7 +386,7 @@
register('std_msgs/'+HEADER, spec)
# backwards compat, REP 100
register('roslib/'+HEADER, spec)
- for k, spec in EXTENDED_BUILTINS.iteritems():
+ for k, spec in EXTENDED_BUILTINS.items():
register(k, spec)
_initialized = True
@@ -440,9 +444,9 @@
try:
typespec = load_from_file(msg_file(package, t), package)
specs.append(typespec)
- except Exception, e:
+ except Exception as e:
failures.append(t)
- print "ERROR: unable to load %s"%t
+ print("ERROR: unable to load %s"%t)
return specs, failures
def load_package_dependencies(package, load_recursive=False):
@@ -457,7 +461,7 @@
global _loaded_packages
_init()
if VERBOSE:
- print "Load dependencies for package", package
+ print("Load dependencies for package", package)
if not load_recursive:
manifest_file = roslib.manifest.manifest_file(package, True)
@@ -470,7 +474,7 @@
failures = []
for d in depends:
if VERBOSE:
- print "Load dependency", d
+ print("Load dependency", d)
#check if already loaded
# - we are dependent on manifest.getAll returning first-order dependencies first
if d in _loaded_packages or d == package:
@@ -495,19 +499,19 @@
global _loaded_packages
_init()
if VERBOSE:
- print "Load package", package
+ print("Load package", package)
#check if already loaded
# - we are dependent on manifest.getAll returning first-order dependencies first
if package in _loaded_packages:
if VERBOSE:
- print "Package %s is already loaded"%package
+ print("Package %s is already loaded"%package)
return
_loaded_packages.append(package)
specs, failed = get_pkg_msg_specs(package)
if VERBOSE:
- print "Package contains the following messages: %s"%specs
+ print("Package contains the following messages: %s"%specs)
for key, spec in specs:
#register spec under both local and fully-qualified key
register(key, spec)
@@ -588,7 +592,7 @@
l = orig_line.split(COMMENTCHAR)[0].strip() #strip comments
if not l:
continue #ignore empty lines
- splits = filter(lambda s: s, [x.strip() for x in l.split(" ")]) #split type/name, filter out empties
+ splits = [s for s in [x.strip() for x in l.split(" ")] if s] #split type/name, filter out empties
type_ = splits[0]
if not is_valid_msg_type(type_):
raise MsgSpecException("%s is not a legal message type"%type_)
@@ -608,7 +612,7 @@
val = splits[1]
try:
val_converted = _convert_val(type_, val)
- except Exception, e:
+ except Exception as e:
raise MsgSpecException("Invalid declaration: %s"%e)
constants.append(Constant(type_, name, val_converted, val.strip()))
else:
@@ -640,9 +644,9 @@
"""
if VERBOSE:
if package_context:
- print "Load spec from", file_path, "into package [%s]"%package_context
+ print("Load spec from", file_path, "into package [%s]"%package_context)
else:
- print "Load spec from", file_path
+ print("Load spec from", file_path)
file_name = os.path.basename(file_path)
type_ = file_name[:-len(EXT)]
@@ -660,7 +664,7 @@
try:
text = f.read()
return (type_, load_from_string(text, package_context, type_, base_type_))
- except MsgSpecException, e:
+ except MsgSpecException as e:
raise MsgSpecException('%s: %s'%(file_name, e))
finally:
f.close()
@@ -725,7 +729,7 @@
registered. NOTE: builtin types are not registered.
@rtype: bool
"""
- return REGISTERED_TYPES.has_key(msg_type_name)
+ return msg_type_name in REGISTERED_TYPES
def get_registered(msg_type_name, default_package=None):
"""
@@ -753,6 +757,6 @@
@type msg_spec: L{MsgSpec}
"""
if VERBOSE:
- print "Register msg %s"%msg_type_name
+ print("Register msg %s"%msg_type_name)
REGISTERED_TYPES[msg_type_name] = msg_spec
Index: core/roslib/src/roslib/resources.py
===================================================================
--- core/roslib/src/roslib/resources.py (revision 12349)
+++ core/roslib/src/roslib/resources.py (working copy)
@@ -81,8 +81,8 @@
if include_depends:
depends = _get_manifest_by_dir(package_dir).depends
dirs = [roslib.packages.get_pkg_subdir(d.package, subdir, False) for d in depends]
- dirs = filter(lambda dir: dir and os.path.isdir(dir), dirs)
- for (dep, dir) in itertools.izip(depends, dirs):
+ dirs = [dir for dir in dirs if dir and os.path.isdir(dir)]
+ for (dep, dir) in zip(depends, dirs):
resources.extend(\
[roslib.names.resource_name(dep.package, f, my_pkg=package) \
for f in os.listdir(dir) if rfilter(os.path.join(dir, f))])
Index: core/roslib/src/roslib/roslogging.py
===================================================================
--- core/roslib/src/roslib/roslogging.py (revision 12349)
+++ core/roslib/src/roslib/roslogging.py (working copy)
@@ -80,7 +80,7 @@
makedirs_with_parent_perms(logfile_dir)
except OSError:
# cannot print to screen because command-line tools with output use this
- print >> sys.stderr, "WARNING: cannot create log directory [%s]. Please set %s to a writable location."%(logfile_dir, ROS_LOG_DIR)
+ sys.stderr.write("WARNING: cannot create log directory [%s]. Please set %s to a writable location.\n"%(logfile_dir, ROS_LOG_DIR))
return None
elif os.path.isfile(logfile_dir):
raise roslib.exceptions.ROSLibException("Cannot save log files: file [%s] is in the way"%logfile_dir)
@@ -92,7 +92,7 @@
if not os.path.isfile(config_file):
# logging is considered soft-fail
- print >> sys.stderr, "WARNING: cannot load logging configuration file, logging is disabled"
+ sys.stderr.write("WARNING: cannot load logging configuration file, logging is disabled\n")
return log_filename
# pass in log_filename as argument to pylogging.conf
Index: core/roslib/src/roslib/rosenv.py
===================================================================
--- core/roslib/src/roslib/rosenv.py (revision 12349)
+++ core/roslib/src/roslib/rosenv.py (working copy)
@@ -80,31 +80,31 @@
env = os.environ
p = None
try:
- if not env.has_key(ROS_ROOT):
- raise ROSEnvException, """
+ if ROS_ROOT not in env:
+ raise ROSEnvException("""
The %(ROS_ROOT)s environment variable has not been set.
Please set to the location of your ROS installation
before continuing.
-"""%globals()
+"""%globals())
p = env[ROS_ROOT]
#Test:
# 1. Is a path
# 2. Is a directory
if not os.path.exists(p):
- raise ROSEnvException, """
+ raise ROSEnvException("""
The %s environment variable has not been set properly:
%s does not exist.
Please update your ROS installation before continuing.
-"""%(ROS_ROOT, p)
+"""%(ROS_ROOT, p))
if not os.path.isdir(p):
- raise ROSEnvException, """
+ raise ROSEnvException("""
The %s environment variable has not been set properly:
%s is not a directory.
Please update your ROS installation before continuing.
-"""%(ROS_ROOT, p)
+"""%(ROS_ROOT, p))
return p
- except Exception, e:
+ except Exception as e:
if required:
raise
return p
@@ -121,7 +121,7 @@
env = os.environ
try:
return env[ROS_PACKAGE_PATH]
- except KeyError, e:
+ except KeyError as e:
if required:
raise ROSEnvException("%s has not been configured"%ROS_PACKAGE_PATH)
@@ -158,7 +158,7 @@
raise ROSEnvException("__master remapping argument '%s' improperly specified"%arg)
return val
return env[ROS_MASTER_URI]
- except KeyError, e:
+ except KeyError as e:
if required:
raise ROSEnvException("%s has not been configured"%ROS_MASTER_URI)
Index: core/roslib/src/roslib/packages.py
===================================================================
--- core/roslib/src/roslib/packages.py (revision 12349)
+++ core/roslib/src/roslib/packages.py (working copy)
@@ -42,8 +42,8 @@
in very experimental.
"""
-from __future__ import with_statement
+
import os
import sys
import stat
@@ -220,11 +220,11 @@
# rospack_cache as it will corrupt list_pkgs() otherwise.
#_pkg_dir_cache[package] = (pkg_dir, ros_root, ros_package_path)
return pkg_dir
- except OSError, e:
+ except OSError as e:
if required:
raise InvalidROSPkgException("Environment configuration is invalid: cannot locate rospack (%s)"%e)
return None
- except Exception, e:
+ except Exception as e:
if required:
raise
return None
@@ -264,7 +264,7 @@
Please check permissions and try again.
"""%locals())
return dir
- except Exception, e:
+ except Exception as e:
if required:
raise
return None
@@ -399,9 +399,9 @@
# cache in most optimal way
cache = _pkg_dir_cache
if cache:
- return cache.keys()
+ return list(cache.keys())
if _update_rospack_cache():
- return cache.keys()
+ return list(cache.keys())
else:
import warnings
warnings.warn("pkg_dirs argument is deprecated. Please use list_pkgs_by_path() instead", DeprecationWarning, stacklevel=2)
@@ -572,7 +572,7 @@
manifests = [load_manifest(p) for p in packages]
import itertools
map = {}
- for pkg, m in itertools.izip(packages, manifests):
+ for pkg, m in zip(packages, manifests):
map[pkg] = [d.name for d in m.rosdeps]
return map
Index: core/roslib/src/roslib/genpy.py
===================================================================
--- core/roslib/src/roslib/genpy.py (revision 12349)
+++ core/roslib/src/roslib/genpy.py (working copy)
@@ -58,7 +58,10 @@
import traceback
import struct
-from cStringIO import StringIO
+try:
+ from cStringIO import StringIO # Python 2.x
+except ImportError:
+ from io import StringIO # Python 3.x
import roslib.exceptions
import roslib.gentools
@@ -108,7 +111,7 @@
}
## Simple types are primitives with fixed-serialization length
-SIMPLE_TYPES = SIMPLE_TYPES_DICT.keys()
+SIMPLE_TYPES = list(SIMPLE_TYPES_DICT.keys())
def is_simple(type_):
"""
@@ -743,7 +746,7 @@
except MsgGenerationException:
raise #re-raise
- except Exception, e:
+ except Exception as e:
raise MsgGenerationException(e) #wrap
def complex_serializer_generator(package, type_, name, serialize, is_numpy):
@@ -1179,17 +1182,17 @@
# types. The types have to be registered globally in order for
# message generation of dependents to work correctly.
roslib.msgs.reinit()
- for t, spec in specs.iteritems():
+ for t, spec in specs.items():
roslib.msgs.register(t, spec)
# process actual MsgSpecs: we accumulate them into a single file,
# rewriting the generated text as needed
buff = StringIO()
- for t, spec in specs.iteritems():
+ for t, spec in specs.items():
pkg, s_type = roslib.names.package_resource_name(t)
# dynamically generate python message code
for l in msg_generator(pkg, s_type, spec):
- l = _gen_dyn_modify_references(l, specs.keys())
+ l = _gen_dyn_modify_references(l, list(specs.keys()))
buff.write(l + '\n')
full_text = buff.getvalue()
@@ -1212,7 +1215,7 @@
# finally, retrieve the message classes from the dynamic module
messages = {}
- for t in specs.iterkeys():
+ for t in specs.keys():
pkg, s_type = roslib.names.package_resource_name(t)
try:
messages[t] = getattr(mod, _gen_dyn_name(pkg, s_type))
Index: core/roslib/src/roslib/rostime.py
===================================================================
--- core/roslib/src/roslib/rostime.py (revision 12349)
+++ core/roslib/src/roslib/rostime.py (working copy)
@@ -126,7 +126,7 @@
@return: time as nanoseconds
@rtype: long
"""
- return self.secs * long(1e9) + self.nsecs
+ return self.secs * int(1e9) + self.nsecs
def __hash__(self):
"""
@@ -140,7 +140,7 @@
def __repr__(self):
return "rostime.TVal[%d]"%self.to_nsec()
- def __nonzero__(self):
+ def __bool__(self):
"""
Check if time value is zero
"""
@@ -418,7 +418,7 @@
@rtype: L{Duration}
"""
t = type(val)
- if t in (int, long):
+ if t in (int, int):
return Duration(self.secs * val, self.nsecs * val)
elif t == float:
return Duration.from_sec(self.to_sec() * val)
@@ -434,7 +434,7 @@
@rtype: L{Duration}
"""
t = type(val)
- if t in (int, long):
+ if t in (int, int):
return Duration(self.secs // val, self.nsecs // val)
elif t == float:
return Duration.from_sec(self.to_sec() // val)
@@ -451,7 +451,7 @@
"""
# unlike __floordiv__, this uses true div for float arg
t = type(val)
- if t in (int, long):
+ if t in (int, int):
return Duration(self.secs // val, self.nsecs // val)
elif t == float:
return Duration.from_sec(self.to_sec() / val)
@@ -467,7 +467,7 @@
@rtype: L{Duration}
"""
t = type(val)
- if t in (int, long):
+ if t in (int, int):
return Duration(self.secs / val, self.nsecs / val)
elif t == float:
return Duration.from_sec(self.to_sec() / val)
Index: core/roslib/src/roslib/params.py
===================================================================
--- core/roslib/src/roslib/params.py (revision 12349)
+++ core/roslib/src/roslib/params.py (working copy)
@@ -37,7 +37,7 @@
"""
import sys
-import xmlrpclib
+from . import xmlrpc
import roslib.rosenv
from roslib.names import REMAP
@@ -55,8 +55,8 @@
"""
try:
import yaml
- except ImportError, e:
- print >> sys.stderr, "Cannot import yaml. Please make sure the pyyaml system dependency is installed"
+ except ImportError as e:
+ sys.stderr.write("Cannot import yaml. Please make sure the pyyaml system dependency is installed\n")
raise e
mappings = {}
for arg in argv:
@@ -67,7 +67,7 @@
if len(src) > 1 and src[0] == '_' and src[1] != '_':
mappings[src[1:]] = yaml.load(dst)
except:
- print >> sys.stderr, "ERROR: Invalid remapping argument '%s'"%arg
+ sys.stderr.write("ERROR: Invalid remapping argument '%s'\n"%arg)
return mappings
def get_param(key):
@@ -82,7 +82,7 @@
"""
global _param_server
if _param_server is None:
- _param_server = xmlrpclib.ServerProxy(roslib.rosenv.get_master_uri())
+ _param_server = xmlrpc.client.ServerProxy(roslib.rosenv.get_master_uri())
code, status, value = _param_server.getParam('/roslib', key)
if code != 1: #unwrap value with Python semantics
raise KeyError(key)
Index: core/roslib/src/roslib/message.py
===================================================================
--- core/roslib/src/roslib/message.py (revision 12349)
+++ core/roslib/src/roslib/message.py (working copy)
@@ -52,6 +52,15 @@
# add another import to messages (which incurs higher import cost)
struct_I = struct.Struct('<I')
+def isstring(s):
+ """Small helper version to check an object is a string in a way that works
+ for both Python 2 and 3
+ """
+ try:
+ return isinstance(s, basestring)
+ except NameError:
+ return isinstance(s, str)
+
class ROSMessageException(roslib.exceptions.ROSLibException):
"""
Exception type for errors in roslib.message routines
@@ -162,9 +171,9 @@
@param current_time: currently not used. Only provided for API compatibility. current_time passes in the current time with respect to the message.
@type current_time: Time
"""
- if type(val) in [int, long, float, bool]:
+ if type(val) in [int, int, float, bool]:
return str(val)
- elif isinstance(val, basestring):
+ elif isstring(val):
#TODO: need to escape strings correctly
if not val:
return "''"
@@ -230,13 +239,13 @@
if roslib.genpy.is_simple(field_type):
# check sign and width
if field_type in ['byte', 'int8', 'int16', 'int32', 'int64']:
- if type(field_val) not in [long, int]:
+ if type(field_val) not in [int, int]:
raise SerializationError('field %s must be an integer type'%field_name)
maxval = int(math.pow(2, _widths[field_type]-1))
if field_val >= maxval or field_val <= -maxval:
raise SerializationError('field %s exceeds specified width [%s]'%(field_name, field_type))
elif field_type in ['char', 'uint8', 'uint16', 'uint32', 'uint64']:
- if type(field_val) not in [long, int] or field_val < 0:
+ if type(field_val) not in [int, int] or field_val < 0:
raise SerializationError('field %s must be unsigned integer type'%field_name)
maxval = int(math.pow(2, _widths[field_type]))
if field_val >= maxval:
@@ -245,7 +254,7 @@
if field_val not in [True, False, 0, 1]:
raise SerializationError('field %s is not a bool'%(field_name))
elif field_type == 'string':
- if type(field_val) == unicode:
+ if type(field_val) == str:
raise SerializationError('field %s is a unicode string instead of an ascii string'%field_name)
elif type(field_val) != str:
raise SerializationError('field %s must be of type str'%field_name)
@@ -299,12 +308,12 @@
raise TypeError("Message constructor may only use args OR keywords, not both")
if args:
if len(args) != len(self.__slots__):
- raise TypeError, "Invalid number of arguments, args should be %s"%str(self.__slots__)+" args are"+str(args)
+ raise TypeError("Invalid number of arguments, args should be %s"%str(self.__slots__)+" args are"+str(args))
for i, k in enumerate(self.__slots__):
setattr(self, k, args[i])
else:
# validate kwds
- for k,v in kwds.iteritems():
+ for k,v in kwds.items():
if not k in self.__slots__:
raise AttributeError("%s is not an attribute of %s"%(k, self.__class__.__name__))
# iterate through slots so all fields are initialized.
@@ -326,7 +335,7 @@
"""
support for Python pickling
"""
- for x, val in itertools.izip(self.__slots__, state):
+ for x, val in zip(self.__slots__, state):
setattr(self, x, val)
def _get_types(self):
@@ -403,9 +412,13 @@
@return: printable representation of msg args
@rtype: str
"""
- import cStringIO
+ try:
+ from cStringIO import StringIO # Python 2.x
+ except ImportError:
+ from io import StringIO # Python 3.x
+
if buff is None:
- buff = cStringIO.StringIO()
+ buff = StringIO()
for f in msg.__slots__:
if isinstance(getattr(msg, f), Message):
get_printable_message_args(getattr(msg, f), buff=buff, prefix=(prefix+f+'.'))
@@ -432,7 +445,7 @@
setattr(msg, f, keys[v])
else:
raise ROSMessageException("No key named [%s]"%(v))
- elif isinstance(def_val, roslib.rostime.TVal) and type(v) in (int, long):
+ elif isinstance(def_val, roslib.rostime.TVal) and type(v) in (int, int):
#special case to handle time value represented as a single number
#TODO: this is a lossy conversion
if isinstance(def_val, roslib.rostime.Time):
@@ -492,7 +505,7 @@
#print "DICT ARGS", msg_args
#print "ACTIVE SLOTS",msg.__slots__
- for f, v in msg_args.iteritems():
+ for f, v in msg_args.items():
# assume that an empty key is actually an empty string
if v == None:
v = ''
@@ -507,7 +520,7 @@
elif len(msg_args) < len(msg.__slots__):
raise ROSMessageException("Not enough arguments:\n * Given: %s\n * Expected: %s"%(msg_args, msg.__slots__))
- for f, v in itertools.izip(msg.__slots__, msg_args):
+ for f, v in zip(msg.__slots__, msg_args):
_fill_val(msg, f, v, keys, prefix)
else:
raise ValueError("invalid msg_args type: %s"%str(msg_args))
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