added explicit pyhton2 binding where ambiguous (#2373)

start.py

@@ -1,8 +1,7 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2
 
 from __future__ import print_function
 
-
 import pygtk
 import gtk
 pygtk.require('2.0')

sw/airborne/modules/loggers/logger_uart_parse.py

@@ -1,3 +1,5 @@
+#! /usr/bin/env python
+
 import struct
 
 with open('uart_log.bin', 'rb') as data:

sw/ground_segment/python/fc_rotor/fc_rotor.py

@@ -24,11 +24,13 @@
 Formation Control for Rotorcraft, remotly piloted from ground with a Joystick
 '''
 
+from __future__ import print_function
 import sys
 import numpy as np
 import json
 from time import sleep
 from os import path, getenv
+
 PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
 sys.path.append(PPRZ_HOME + "/var/lib/python/")
 from pprzlink.ivy import IvyMessagesInterface
@@ -183,7 +185,7 @@ class FormationControl:
                     print("The state msg of rotorcraft ", rc.id, " stopped")
                     sys.stdout.flush()
                 ready = False
-            if rc.initialized and 'geo_fence' in self.config.keys():
+            if rc.initialized and 'geo_fence' in list(self.config.keys()):
                 geo_fence = self.config['geo_fence']
                 if not self.ignore_geo_fence:
                     if (rc.X[0] < geo_fence['x_min'] or rc.X[0] > geo_fence['x_max']
@@ -251,7 +253,7 @@ class FormationControl:
             #print "Positions: " + str(X).replace('[','').replace(']','')
             #print "Velocities: " + str(V).replace('[','').replace(']','')
             #print "Acceleration command: " + str(U).replace('[','').replace(']','')
-            print "Error distances: " + str(E).replace('[','').replace(']','')
+            print("Error distances: " + str(E).replace('[','').replace(']',''))
             sys.stdout.flush()
 
         i = 0

sw/ground_segment/python/joystick/ivydanger.py

@@ -1,5 +1,6 @@
 #! /usr/bin/env python
 
+from __future__ import print_function
 from arduino_dangerboard import arduino_dangerboard
 from ivy.std_api import *
 import logging
@@ -63,7 +64,7 @@ where
 \t-s S1:S2:S3 | --sliders=S1:S2:S3 where S1, S2, S3 are the names of the slider settings to send
 \t-p PORT | --port=PORT where PORT is the name of the serial port for the slider box
 '''
-  print fmt   %  lpathitem[-1]
+  print(fmt   %  lpathitem[-1])
 
 def GetOptions():
   # Map dangerboard sliders to these settings from aircraft settings

sw/ground_segment/python/udp_link/datalink_to_w5100.py

@@ -1,5 +1,6 @@
 #!/usr/bin/python
 
+from __future__ import print_function
 import os
 import sys
 import socket
@@ -33,11 +34,11 @@ while( 1 ):
       format = 'B' * (len(data))
       strdata = struct.unpack( format, data )
 
-      print len( strdata ), ":", strdata
+      print(len( strdata ), ":", strdata)
 
       # send the command
       destsock.sendto( data, (options.dest_addr, options.dest_port) )
 
-    except socket.error, e:
-      print 'Exception', e
+    except socket.error as e:
+      print('Exception', e)
 

sw/ground_segment/python/udp_link/proxy_udp_multicast_to_link.py

@@ -1,5 +1,6 @@
 #!/usr/bin/python
 
+from __future__ import print_function
 import os
 import socket
 import struct
@@ -39,6 +40,6 @@ while( 1 ):
       # send the command
       destsock.sendto( data, (options.dest_addr, options.dest_port) )
 
-    except socket.error, e:
-      print 'Exception', e
+    except socket.error as e:
+      print('Exception', e)
 

sw/ground_segment/tmtc/pprzlink_proxy.py

@@ -201,7 +201,7 @@ if __name__ == '__main__':
     try:
         proxy = Proxy(gcs_conf, acs, args.verbose)
         proxy.run()
-    except ValueError, e:
+    except ValueError as e:
         print(e)
 
 

sw/logalizer/sdlogger_get_setting_id.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python
+
+from __future__ import print_function
 import sys
 from os import path, getenv
 
@@ -12,4 +14,4 @@ if __name__ == '__main__':
     ac_id = int(sys.argv[1])
     command_name = sys.argv[2]
     settings = PaparazziACSettings(ac_id)
-    print settings.name_lookup[command_name].index
+    print(settings.name_lookup[command_name].index)

sw/misc/attitude_reference/pat/utils.py

@@ -20,6 +20,7 @@
 """
 Utility functions
 """
+from __future__ import print_function
 import math
 import numpy as np
 import numpy.linalg as linalg
@@ -216,7 +217,7 @@ def num_jacobian(X, U, P, dyn):
         dx = dX[i, :]
         delta_f = dyn(X + dx / 2, 0, U, P) - dyn(X - dx / 2, 0, U, P)
         delta_f = delta_f / dx[i]
-        #        print delta_f
+        #        print(delta_f)
         A[:, i] = delta_f
 
     epsilonU = (0.1 * np.ones(i_size)).tolist()
@@ -243,12 +244,12 @@ def saturate(V, Sats):
 
 def print_lti_dynamics(A, B, txt=None, print_original_form=False, print_modal_form=False):
     if txt:
-        print txt
+        print(txt)
     if print_original_form:
-        print "A\n", A
-        print "B\n", B
+        print("A\n", A)
+        print("B\n", B)
     w, M = np.linalg.eig(A)
-    print "modes \n", w
+    print("modes \n", w)
     if print_modal_form:
         #        print "eigen vectors\n", M
         #        invM = np.linalg.inv(M)
@@ -256,4 +257,4 @@ def print_lti_dynamics(A, B, txt=None, print_original_form=False, print_modal_fo
         #        Amod = np.dot(np.dot(invM, A), M)
         #        print "Amod\n", Amod
         for i in range(len(w)):
-            print w[i], "->", M[:, i]
+            print(w[i], "->", M[:, i])

sw/simulator/mesonh/mesonh.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python
+
 from __future__ import absolute_import, print_function, division
 from mesonh_atmosphere import MesoNHAtmosphere
 import os

sw/tools/airframe_editor/airframe_editor.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2
 
 from __future__ import print_function
 

sw/tools/airframe_editor/gui_dialogs.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2
 
 from __future__ import print_function
 

sw/tools/iridium/iridium_link.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2
 #
 # Copyright (C) 2016 TU Delft
 #

sw/tools/parrot/parrot_utils.py

@@ -21,6 +21,8 @@
 #
 
 from __future__ import print_function
+from __future__ import unicode_literals
+from builtins import bytes
 import socket
 import telnetlib
 import os
@@ -103,7 +105,7 @@ class ParrotUtils:
             self.tn = telnetlib.Telnet(self.address, timeout=3)
             self.ftp = FTP(self.address)
             self.ftp.login()
-            self.tn.read_until(self.prompt)
+            self.tn.read_until(bytes(self.prompt, 'utf-8'))
             return True
         except:
             print('Could not connect to the ' + self.uav_name + ' (address: ' + self.address + ')')
@@ -121,11 +123,11 @@ class ParrotUtils:
 
     # Execute a command
     def execute_command(self, command):
-        self.tn.write(command + '\n')
-        s = self.tn.read_until(self.prompt)
-        if s.endswith('[JS] $ '):
+        self.tn.write(bytes(command + '\n', 'utf-8'))
+        s = self.tn.read_until(bytes(self.prompt, 'utf-8'))
+        if s.endswith(b'[JS] $ '):
             s = s[len(command) + 2:-8]
-        elif s.endswith('[RS.edu] $ '):
+        elif s.endswith(b'[RS.edu] $ '):
             s = s[len(command) + 2:-12]
         else:
             s = s[len(command) + 2:-4]
@@ -262,9 +264,9 @@ class ParrotUtils:
         # Make the upload directory and upload the file
         self.create_directory(self.upload_path + folder)
         if len(folder) > 0:
-            self.upload(folder + '/' + f[1], file(name, "rb"))
+            self.upload(folder + '/' + f[1], open(name, "rb"))
         else:
-            self.upload(f[1], file(name, "rb"))
+            self.upload(f[1], open(name, "rb"))
         sleep(0.5)
         print('Succesfully uploaded "' + name + '" to folder "' + folder + '"')
 
@@ -384,6 +386,3 @@ class ParrotUtils:
         self.disconnect()
         return True
 
-
-
-

sw/tools/px4/set_target.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python
+
+from __future__ import print_function
 import os
 import sys
 import serial
@@ -8,8 +10,8 @@ import time
 target = sys.argv[1]
 firmware_file = sys.argv[2]
 
-print "Target: " + target
-print "Firmware file: " + firmware_file
+print("Target: " + target)
+print("Firmware file: " + firmware_file)
 
 # test if pprz cdm is connected
 mode = -1
@@ -21,7 +23,7 @@ try:
     port = glob.glob(port)[0]
     ser = serial.Serial(port, timeout=0.5)
     mode = 1
-    print ("Paparazzi CDC device found at port: " + port)
+    print("Paparazzi CDC device found at port: " + port)
 except (serial.serialutil.SerialException, IndexError):
     print("No Paparazzi CDC device found, looking further.")
 
@@ -38,14 +40,12 @@ if mode == 1:
     if target == "fbw":
         try:
             c = ser.read(7)
-            print ("AP responded with: " + c)
+            print("AP responded with: " + c)
             if c == "TIMEOUT":
-                print(
-                    "Error: FBW bootloader TIMEOUT. Power cycle the board and wait between 10 seconds to 20 seconds to retry.")
+                print("Error: FBW bootloader TIMEOUT. Power cycle the board and wait between 10 seconds to 20 seconds to retry.")
                 sys.exit(1)
             elif c != "FBWOKOK":
-                print(
-                    "Error: unknown error. Power cycle the board and wait between 10 seconds to 20 seconds to retry.")
+                print("Error: unknown error. Power cycle the board and wait between 10 seconds to 20 seconds to retry.")
                 sys.exit(1)
         except serial.serialutil.SerialException:
             pass
@@ -64,7 +64,7 @@ if mode == -1:  # no pprz cdc was found, look for PX4
                 ser = serial.Serial(p, timeout=0.5)
                 port = p
                 mode = 2
-                print ("Original PX4 firmware CDC device found at port: " + port)
+                print("Original PX4 firmware CDC device found at port: " + port)
             except serial.serialutil.SerialException:
                 print("Non working PX4 port found, continuing...")
 

sw/tools/stm32loader/stm32loader.py

@@ -22,6 +22,7 @@
 # along with stm32loader; see the file COPYING3.  If not see
 # <http://www.gnu.org/licenses/>.
 
+from __future__ import print_function
 import sys, getopt
 import serial
 import time
@@ -37,7 +38,7 @@ QUIET = 20
 
 def mdebug(level, message):
     if(QUIET >= level):
-        print >> sys.stderr , message
+        print(message, file=sys.stderr)
 
 
 class CmdException(Exception):
@@ -300,12 +301,12 @@ class CommandInterface:
 
 
 
-	def __init__(self) :
+    def __init__(self) :
         pass
 
 
 def usage():
-    print """Usage: %s [-hqVewvr] [-l length] [-p port] [-b baud] [-a addr] [file.bin]
+    print("""Usage: %s [-hqVewvr] [-l length] [-p port] [-b baud] [-a addr] [file.bin]
     -h          This help
     -q          Quiet
     -V          Verbose
@@ -320,7 +321,7 @@ def usage():
 
     ./stm32loader.py -e -w -v example/main.bin
 
-    """ % sys.argv[0]
+    """ % sys.argv[0])
 
 
 if __name__ == "__main__":
@@ -329,7 +330,7 @@ if __name__ == "__main__":
     try:
         import psyco
         psyco.full()
-        print "Using Psyco..."
+        print("Using Psyco...")
     except ImportError:
         pass
 
@@ -347,9 +348,9 @@ if __name__ == "__main__":
 
     try:
         opts, args = getopt.getopt(sys.argv[1:], "hqVewvrp:b:a:l:")
-    except getopt.GetoptError, err:
+    except getopt.GetoptError as err:
         # print help information and exit:
-        print str(err) # will print something like "option -a not recognized"
+        print(str(err)) # will print something like "option -a not recognized"
         usage()
         sys.exit(2)
 
@@ -389,7 +390,7 @@ if __name__ == "__main__":
         try:
             cmd.initChip()
         except:
-            print "Can't init. Ensure that BOOT0 is enabled and reset device"
+            print("Can't init. Ensure that BOOT0 is enabled and reset device")
 
 
         bootversion = cmd.cmdGet()
@@ -413,13 +414,13 @@ if __name__ == "__main__":
         if conf['verify']:
             verify = cmd.readMemory(conf['address'], len(data))
             if(data == verify):
-                print "Verification OK"
+                print("Verification OK")
             else:
-                print "Verification FAILED"
-                print str(len(data)) + ' vs ' + str(len(verify))
+                print("Verification FAILED")
+                print(str(len(data)) + ' vs ' + str(len(verify)))
                 for i in xrange(0, len(data)):
                     if data[i] != verify[i]:
-                        print hex(i) + ': ' + hex(data[i]) + ' vs ' + hex(verify[i])
+                        print(hex(i) + ': ' + hex(data[i]) + ' vs ' + hex(verify[i]))
 
         if not conf['write'] and conf['read']:
             rdata = cmd.readMemory(conf['address'], conf['len'])

tests/test_python3_compatibility.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+
+import os
+import ast
+import sys
+
+def test_source_code_compatible(code_data):
+    try:
+        return ast.parse(code_data)
+    except SyntaxError as exc:
+        return False
+
+paparazzi_home = os.getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '../')))
+
+for root, dirs, files in os.walk(paparazzi_home):
+    for f in files:
+        file = os.path.join(root, f)
+        if file.endswith('.py') and os.access(file, os.X_OK) and file.find('ext') == -1 and file.find('test_python3_compatibility.py') == -1:
+            if 'pygtk' in open(file).read():
+                print("%s uses pygtk which is not be Python3 compatible" % (file))
+            ast_tree = test_source_code_compatible(open(file).read())
+            if not ast_tree:
+                print("%s might not be Python3 compatible" % (file))
+
+input("Press Enter to continue with trying to run scripts, many will not work simply due to bad inputs...")
+for root, dirs, files in os.walk(paparazzi_home):
+    for f in files:
+        file = os.path.join(root, f)
+        if file.endswith('.py') and os.access(file, os.X_OK) and file.find('ext') == -1 and file.find('test_python3_compatibility.py') == -1:
+            print("\n\nTesting " + file)
+            os.system('python3 ' + file)
+