Python 2.7 compatibility

Firmware/fibre/python/fibre/__init__.py

@@ -1,5 +1,5 @@
 
 from .discovery import find_any, find_all
-from .utils import Event, Logger
+from .utils import Event, Logger, TimeoutError
 from .protocol import ChannelBrokenException, ChannelDamagedException
 from .shell import launch_shell

Firmware/fibre/python/fibre/discovery.py

@@ -11,7 +11,7 @@ import fibre.protocol
 import fibre.utils
 import fibre.remote_object
 from fibre.utils import Event, Logger
-from fibre.protocol import ChannelBrokenException
+from fibre.protocol import ChannelBrokenException, TimeoutError
 
 # Load all installed transport layers
 
@@ -20,25 +20,25 @@ channel_types = {}
 try:
     import fibre.usbbulk_transport
     channel_types['usb'] = fibre.usbbulk_transport.discover_channels
-except ModuleNotFoundError:
+except ImportError:
     pass
 
 try:
     import fibre.serial_transport
     channel_types['serial'] = fibre.serial_transport.discover_channels
-except ModuleNotFoundError:
+except ImportError:
     pass
 
 try:
     import fibre.tcp_transport
     channel_types['tcp'] = fibre.tcp_transport.discover_channels
-except ModuleNotFoundError:
+except ImportError:
     pass
 
 try:
     import fibre.udp_transport
     channel_types['udp'] = fibre.udp_transport.discover_channels
-except ModuleNotFoundError:
+except ImportError:
     pass
 
 def noprint(text):
@@ -102,9 +102,10 @@ def find_all(path, serial_number,
         prefix = search_spec.split(':')[0]
         the_rest = ':'.join(search_spec.split(':')[1:])
         if prefix in channel_types:
-            threading.Thread(target=channel_types[prefix],
-                             args=(the_rest, serial_number, did_discover_channel, search_cancellation_token, channel_termination_token, logger),
-                             daemon=True).start()
+            t = threading.Thread(target=channel_types[prefix],
+                             args=(the_rest, serial_number, did_discover_channel, search_cancellation_token, channel_termination_token, logger))
+            t.daemon = True
+            t.start()
         else:
             raise Exception("Invalid path spec \"{}\"".format(search_spec))
 

Firmware/fibre/python/fibre/protocol.py

@@ -6,7 +6,7 @@ import sys
 import threading
 import traceback
 #import fibre.utils
-from fibre.utils import Event, wait_any
+from fibre.utils import Event, wait_any, TimeoutError
 
 import abc
 if sys.version_info >= (3, 4):
@@ -65,7 +65,6 @@ def calc_crc16(remainder, value):
 #print(hex(calc_crc8(0x12, [1, 2, 3, 4, 5, 0x10, 0x13, 0x37])))
 #print(hex(calc_crc16(0xfeef, [1, 2, 3, 4, 5, 0x10, 0x13, 0x37])))
 
-
 class DeviceInitException(Exception):
     pass
 
@@ -256,7 +255,9 @@ class Channel(PacketSink):
                 self._logger.debug("receiver thread is exiting: " + traceback.format_exc())
             finally:
                 self._channel_broken.set()
-        threading.Thread(target=receiver_thread, daemon=True).start()
+        t = threading.Thread(target=receiver_thread)
+        t.daemon = True
+        t.start()
 
     def remote_endpoint_operation(self, endpoint_id, input, expect_ack, output_length):
         if input is None:

Firmware/fibre/python/fibre/serial_transport.py

@@ -10,6 +10,7 @@ import traceback
 import serial
 import serial.tools.list_ports
 import fibre
+from fibre.utils import TimeoutError
 
 # TODO: make this customizable
 DEFAULT_BAUDRATE = 115200

Firmware/fibre/python/fibre/tcp_transport.py

@@ -4,7 +4,7 @@ import socket
 import time
 import traceback
 import fibre.protocol
-from fibre.utils import wait_any
+from fibre.utils import wait_any, TimeoutError
 
 def noprint(x):
   pass

Firmware/fibre/python/fibre/usbbulk_transport.py

@@ -8,6 +8,7 @@ import time
 import fibre.protocol
 import traceback
 import platform
+from fibre.utils import TimeoutError
 
 # Currently we identify fibre-enabled devices by VID,PID
 # TODO: identify by USB descriptors

Firmware/fibre/python/fibre/utils.py

@@ -12,10 +12,16 @@ try:
         # TODO: we should win32console anyway so we could just omit colorama
         import colorama
         colorama.init()
-except ModuleNotFoundError:
+except ImportError:
     print("Could not init terminal features.")
     sys.stdout.flush()
     pass
+    
+if sys.version_info < (3, 3):
+    class TimeoutError(Exception):
+        pass
+else:
+    TimeoutError = TimeoutError
 
 def get_serial_number_str(device):
     if hasattr(device, 'serial_number'):
@@ -92,7 +98,10 @@ class Event():
         def delayed_trigger():
             if not self.wait(timeout=timeout):
                 self.set()
-        threading.Thread(target=delayed_trigger, daemon=True).start()
+        threading.Thread(target=delayed_trigger)
+        t.daemon = True
+        t.start()
+        
 
 def wait_any(timeout=None, *events):
     """

tools/odrive/dfu.py

@@ -206,7 +206,7 @@ def show_deferred_message(message, cancellation_token):
             time.sleep(1)
         if not cancellation_token.is_set():
             print(message)
-    t = threading.Thread(target=show_message_thread, args=(message, cancellation_token), daemon=True)
+    t = threading.Thread(target=show_message_thread, args=(message, cancellation_token))
     t.daemon = True
     t.start()
 
@@ -436,7 +436,10 @@ def launch_dfu(args, logger, cancellation_token):
     def find_device_in_dfu_mode_thread():
         devices[0] = find_device_in_dfu_mode(serial_number, find_odrive_cancellation_token)
         find_odrive_cancellation_token.set()
-    threading.Thread(target=find_device_in_dfu_mode_thread, daemon=True).start()
+    t = threading.Thread(target=find_device_in_dfu_mode_thread)
+    t.daemon = True
+    t.start()
+    
 
     # Scan for ODrives not in DFU mode
     # We only scan on USB because DFU is only implemented over USB

tools/odrive/utils.py

@@ -1,3 +1,4 @@
+from __future__ import print_function
 
 import sys
 import time
@@ -12,7 +13,7 @@ try:
         import win32console
         import colorama
         colorama.init()
-except ModuleNotFoundError:
+except ImportError:
     print("Could not init terminal features.")
     print("Refer to install instructions at http://docs.odriverobotics.com/#downloading-and-installing-tools")
     sys.stdout.flush()
@@ -72,8 +73,14 @@ def start_liveplotter(get_var_callback):
             fig.canvas.draw()
             fig.canvas.start_event_loop(1/plot_rate)
 
-    threading.Thread(target=fetch_data, daemon=True).start()
-    threading.Thread(target=plot_data, daemon=True).start()
+    fetch_t = threading.Thread(target=fetch_data)
+    fetch_t.daemon = True
+    fetch_t.start()
+    
+    plot_t = threading.Thread(target=plot_data)
+    plot_t.daemon = True
+    plot_t.start()
+    
 
     return cancellation_token;
     #plot_data()

tools/run_tests.py

@@ -35,7 +35,8 @@ def for_all_parallel(objects, get_name, callback):
     # Start a thread for each element in the list
     all_threads = []
     for element in objects:
-        thread = threading.Thread(target=run_callback, args=(element,), daemon=True)
+        thread = threading.Thread(target=run_callback, args=(element,))
+        thread.daemon = True
         thread.start()
         all_threads.append(thread)
     

tools/setup.py

@@ -48,6 +48,10 @@ from setuptools import setup
 import os
 import sys
 
+if sys.version_info < (3, 3):
+  import exceptions
+  PermissionError = exceptions.OSError
+
 creating_package = "sdist" in sys.argv
 
 # Load version from Git tag
@@ -78,7 +82,10 @@ if creating_package:
   fibre_link = os.path.join(os.path.dirname(
                     os.path.realpath(__file__)), "fibre")
   if not os.path.exists(fibre_link):
-    os.symlink(fibre_src, fibre_link, True)
+    if sys.version_info > (3, 3):
+      os.symlink(fibre_src, fibre_link, target_is_directory=True)
+    else:
+      os.symlink(fibre_src, fibre_link)
 
 # TODO: find a better place for this
 if not creating_package: