use Python 3 compatible syntax

rqt_bag/src/rqt_bag/__init__.py

@@ -30,8 +30,8 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import bag_helper
-from plugins.message_view       import MessageView
-from plugins.topic_message_view import TopicMessageView
-from plugins.timeline_renderer  import TimelineRenderer
-from timeline_cache            import TimelineCache
+import rqt_bag.bag_helper
+from rqt_bag.plugins.message_view       import MessageView
+from rqt_bag.plugins.topic_message_view import TopicMessageView
+from rqt_bag.plugins.timeline_renderer  import TimelineRenderer
+from rqt_bag.timeline_cache            import TimelineCache

rqt_bag/src/rqt_bag/bag_timeline.py

@@ -39,7 +39,7 @@
 from python_qt_binding.QtCore import Qt, QTimer, qWarning, Signal
 from python_qt_binding.QtWidgets import QGraphicsScene, QMessageBox
 
-import bag_helper
+import rqt_bag.bag_helper
 
 from .timeline_frame import TimelineFrame
 from .message_listener_thread import MessageListenerThread
@@ -673,7 +673,7 @@ def step_next_message(self):
     def record_bag(self, filename, all=True, topics=[], regex=False, limit=0):
         try:
             self._recorder = Recorder(filename, bag_lock=self._bag_lock, all=all, topics=topics, regex=regex, limit=limit)
-        except Exception, ex:
+        except Exception as ex:
             qWarning('Error opening bag for recording [%s]: %s' % (filename, str(ex)))
             return
 
@@ -721,7 +721,7 @@ def _message_recorded(self, topic, msg, t):
             for listener in self._listeners[topic]:
                 try:
                     listener.timeline_changed()
-                except Exception, ex:
+                except Exception as ex:
                     qWarning('Error calling timeline_changed on %s: %s' % (type(listener), str(ex)))
 
     ### Views / listeners

rqt_bag/src/rqt_bag/bag_widget.py

@@ -42,7 +42,7 @@
 from python_qt_binding.QtWidgets import QFileDialog, QGraphicsView, QWidget
 
 import rosbag
-import bag_helper
+import rqt_bag.bag_helper
 from .bag_timeline import BagTimeline
 from .topic_selection import TopicSelection
 

rqt_bag/src/rqt_bag/message_listener_thread.py

@@ -76,7 +76,7 @@ def run(self):
             try:
                 event = ListenerEvent(bag_msg_data)
                 QCoreApplication.postEvent(self.listener, event)
-            except Exception, ex:
+            except Exception as ex:
                 qWarning('Error notifying listener %s: %s' % (type(self.listener), str(ex)))
 
     def stop(self):

rqt_bag/src/rqt_bag/recorder.py

@@ -34,7 +34,11 @@
 Recorder subscribes to ROS messages and writes them to a bag file.
 """
 
-import Queue
+from __future__ import print_function
+try:
+    from queue import Queue
+except ImportError:
+    from Queue import Queue
 import re
 import threading
 import time
@@ -78,7 +82,7 @@ def __init__(self, filename, bag_lock=None, all=True, topics=[], regex=False, li
         self._limited_topics = set()
         self._failed_topics = set()
         self._last_update = time.time()
-        self._write_queue = Queue.Queue()
+        self._write_queue = Queue()
         self._paused = False
         self._stop_condition = threading.Condition()
         self._stop_flag = False
@@ -159,16 +163,16 @@ def _run_master_check(self):
                         self._message_count[topic] = 0
 
                         self._subscriber_helpers[topic] = _SubscriberHelper(self, topic, pytype)
-                    except Exception, ex:
-                        print >> sys.stderr, 'Error subscribing to %s (ignoring): %s' % (topic, str(ex))
+                    except Exception as ex:
+                        print('Error subscribing to %s (ignoring): %s' % (topic, str(ex)), file=sys.stderr)
                         self._failed_topics.add(topic)
 
                 # Wait a while
                 self._stop_condition.acquire()
                 self._stop_condition.wait(self._master_check_interval)
 
-        except Exception, ex:
-            print >> sys.stderr, 'Error recording to bag: %s' % str(ex)
+        except Exception as ex:
+            print('Error recording to bag: %s' % str(ex), file=sys.stderr)
 
         # Unsubscribe from all topics
         for topic in list(self._subscriber_helpers.keys()):
@@ -177,8 +181,8 @@ def _run_master_check(self):
         # Close the bag file so that the index gets written
         try:
             self._bag.close()
-        except Exception, ex:
-            print >> sys.stderr, 'Error closing bag [%s]: %s' % (self._bag.filename, str(ex))
+        except Exception as ex:
+            print('Error closing bag [%s]: %s' % (self._bag.filename, str(ex)))
 
     def _should_subscribe_to(self, topic):
         if self._all:
@@ -232,8 +236,8 @@ def _run_write(self):
                 for listener in self._listeners:
                     listener(topic, m, t)
 
-        except Exception, ex:
-            print >> sys.stderr, 'Error write to bag: %s' % str(ex)
+        except Exception as ex:
+            print('Error write to bag: %s' % str(ex), file=sys.stderr)
 
 
 class _SubscriberHelper(object):

rqt_bag/src/rqt_bag/timeline_cache.py

@@ -32,7 +32,10 @@
 
 
 import bisect
-import Queue
+try:
+    from queue import Queue
+except ImportError:
+    from Queue import Queue
 import threading
 import time
 
@@ -52,7 +55,7 @@ def __init__(self, loader, listener=None, max_cache_size=100):
         self.last_accessed = {}  # topic -> [(access time, timestamp), ...]
         self.item_access = {}  # topic -> timestamp -> access time
         self.max_cache_size = max_cache_size  # max number of items to cache (per topic)
-        self.queue = Queue.Queue()
+        self.queue = Queue()
         self.setDaemon(True)
         self.start()
 

rqt_bag_plugins/src/rqt_bag_plugins/image_helper.py

@@ -30,8 +30,12 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from __future__ import print_function
 import array
-from cStringIO import StringIO
+try:
+    from cStringIO import StringIO
+except ImportError:
+    from io import StringIO
 import sys
 
 from PIL import Image
@@ -82,8 +86,8 @@ def imgmsg_to_pil(img_msg, rgba=True):
 
         return pil_img
 
-    except Exception, ex:
-        print >> sys.stderr, 'Can\'t convert image: %s' % ex
+    except Exception as ex:
+        print('Can\'t convert image: %s' % ex, file=sys.stderr)
         return None
 
 

rqt_bag_plugins/src/rqt_bag_plugins/image_timeline_renderer.py

@@ -30,6 +30,7 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from __future__ import print_function
 import rospy
 
 # HACK workaround for upstream pillow issue python-pillow/Pillow#400
@@ -45,7 +46,7 @@
 
 from rqt_bag import TimelineCache, TimelineRenderer
 
-import image_helper
+import rqt_bag_plugins.image_helper
 
 from python_qt_binding.QtCore import Qt
 from python_qt_binding.QtGui import QBrush, QPen, QPixmap
@@ -161,12 +162,12 @@ def _load_thumbnail(self, topic, stamp, thumbnail_details):
         # Convert from ROS image to PIL image
         try:
             pil_image = image_helper.imgmsg_to_pil(msg)
-        except Exception, ex:
-            print >> sys.stderr, 'Error loading image on topic %s: %s' % (topic, str(ex))
+        except Exception as ex:
+            print('Error loading image on topic %s: %s' % (topic, str(ex)), file=sys.stderr)
             pil_image = None
 
         if not pil_image:
-            print >> sys.stderr, 'Disabling renderer on %s' % topic
+            print('Disabling renderer on %s' % topic, file=sys.stderr)
             self.timeline.set_renderer_active(topic, False)
             return None, None
 
@@ -179,7 +180,7 @@ def _load_thumbnail(self, topic, stamp, thumbnail_details):
 
             return msg_stamp, thumbnail
 
-        except Exception, ex:
-            print >> sys.stderr, 'Error loading image on topic %s: %s' % (topic, str(ex))
+        except Exception as ex:
+            print('Error loading image on topic %s: %s' % (topic, str(ex)), file=sys.stderr)
             raise
             return None, None

rqt_bag_plugins/src/rqt_bag_plugins/image_view.py

@@ -43,7 +43,7 @@
 from PIL.ImageQt import ImageQt
 
 from rqt_bag import TopicMessageView
-import image_helper
+import rqt_bag_plugins.image_helper
 
 from python_qt_binding.QtGui import QPixmap
 from python_qt_binding.QtWidgets import QGraphicsScene, QGraphicsView

rqt_dep/src/rqt_dep/dotcode_pack.py

@@ -221,7 +221,7 @@ def generate(self, dotcode_factory):
                     packages_in_stacks.append(package_name)
                     self._generate_package(dotcode_factory, g, package_name)
 
-        for package_name, attributes in self.packages.iteritems():
+        for package_name, attributes in self.packages.items():
             if package_name not in packages_in_stacks:
                 self._generate_package(dotcode_factory, graph, package_name, attributes)
         for name1, name2 in self.edges.keys():

rqt_dep/src/rqt_dep/ros_pack_graph.py

@@ -321,7 +321,7 @@ def _generate_tool_tip(self, url):
                         try:
                             service_type = rosservice.get_service_type(service_name)
                             tool_tip += '\n  %s [%s]' % (service_name, service_type)
-                        except rosservice.ROSServiceIOException, e:
+                        except rosservice.ROSServiceIOException as e:
                             tool_tip += '\n  %s' % (e)
                 return tool_tip
             elif item_type == 'topic':
@@ -334,9 +334,9 @@ def _redraw_graph_scene(self):
         for item in self._scene.items():
             self._scene.removeItem(item)
         self._scene.clear()
-        for node_item in self._nodes.itervalues():
+        for node_item in self._nodes.values():
             self._scene.addItem(node_item)
-        for edge_items in self._edges.itervalues():
+        for edge_items in self._edges.values():
             for edge_item in edge_items:
                 edge_item.add_to_scene(self._scene)
 

rqt_graph/src/rqt_graph/dotcode.py

@@ -172,7 +172,7 @@ def _calc_statistic_info(self, sub, topic, pub=None):
         if pub is None and sub in self.edges and topic in self.edges[sub]:
             conns = len(self.edges[sub][topic])
             if conns == 1:
-                pub = next(self.edges[sub][topic].iterkeys())
+                pub = next(self.edges[sub][topic].keys())
             else:
                 penwidth = self._calc_edge_penwidth(sub,topic)
                 color = self._calc_edge_color(sub,topic)

rqt_graph/src/rqt_graph/ros_graph.py

@@ -292,9 +292,9 @@ def _redraw_graph_view(self):
                                                             highlight_level=highlight_level,
                                                             same_label_siblings=True)
 
-        for node_item in nodes.itervalues():
+        for node_item in nodes.values():
             self._scene.addItem(node_item)
-        for edge_items in edges.itervalues():
+        for edge_items in edges.values():
             for edge_item in edge_items:
                 edge_item.add_to_scene(self._scene)
 

rqt_msg/src/rqt_msg/messages_widget.py

@@ -203,7 +203,7 @@ def _rightclick_menu(self, event):
 
                 else:
                     raise
-            except rosmsg.ROSMsgException, e:
+            except rosmsg.ROSMsgException as e:
                 QMessageBox.warning(self, self.tr('Warning'),
                                     self.tr('The selected item component ' +
                                             'does not have text to view.'))

rqt_plot/src/rqt_plot/data_plot/__init__.py

@@ -41,17 +41,17 @@
 from rqt_py_common.ini_helper import pack, unpack
 
 try:
-    from pyqtgraph_data_plot import PyQtGraphDataPlot
+    from .pyqtgraph_data_plot import PyQtGraphDataPlot
 except ImportError as e:
     PyQtGraphDataPlot = None
 
 try:
-    from mat_data_plot import MatDataPlot
+    from .mat_data_plot import MatDataPlot
 except ImportError as e:
     MatDataPlot = None
 
 try:
-    from qwt_data_plot import QwtDataPlot
+    from .qwt_data_plot import QwtDataPlot
 except ImportError as e:
     QwtDataPlot = None
 

rqt_plot/src/rqt_plot/rosplot.py

@@ -127,7 +127,7 @@ def _ros_cb(self, msg):
                 else:
                     self.buff_x.append(rospy.get_time() - self.start_time)
                 #self.axes[index].plot(datax, buff_y)
-            except AttributeError, e:
+            except AttributeError as e:
                 self.error = RosPlotException("Invalid topic spec [%s]: %s" % (self.name, str(e)))
         finally:
             self.lock.release()
@@ -197,5 +197,5 @@ def generate_field_evals(fields):
             else:
                 evals.append(_field_eval(f))
         return evals
-    except Exception, e:
+    except Exception as e:
         raise RosPlotException("cannot parse field reference [%s]: %s" % (fields, str(e)))

rqt_publisher/src/rqt_publisher/publisher.py

@@ -194,14 +194,13 @@ def _change_publisher_expression(self, publisher_info, topic_name, new_value):
                 self._fill_message_slots(publisher_info['message_instance'], publisher_info['topic_name'], publisher_info['expressions'], publisher_info['counter'])
                 try:
                     publisher_info['message_instance']._check_types()
-                except Exception, e:
-                    error_str = str(e)
-                    print 'serialization error:', error_str
+                except Exception as e:
+                    print('serialization error: %s' % e)
                     if old_expression is not None:
                         publisher_info['expressions'][topic_name] = old_expression
                     else:
                         del publisher_info['expressions'][topic_name]
-                    return '%s %s: %s' % (expression, error_prefix, error_str)
+                    return '%s %s: %s' % (expression, error_prefix, e)
                 return expression
             else:
                 return '%s %s evaluating as "%s"' % (expression, error_prefix, slot_type.__name__)
@@ -223,7 +222,7 @@ def _create_message_instance(self, type_str):
 
         base_message_type = roslib.message.get_message_class(base_type_str)
         if base_message_type is None:
-            print 'Could not create message of type "%s".' % base_type_str
+            print('Could not create message of type "%s".' % base_type_str)
             return None
 
         if array_size is not None:

rqt_py_common/src/rqt_py_common/extended_combo_box.py

@@ -59,7 +59,7 @@ def __init__(self, parent=None):
         self.setCompleter(self.completer)
 
         # connect signals
-        self.lineEdit().textEdited[unicode].connect(self.filter_model.setFilterFixedString)
+        self.lineEdit().textEdited[str].connect(self.filter_model.setFilterFixedString)
         self.completer.activated.connect(self.on_completer_activated)
         self.setItems.connect(self.onSetItems)
 

rqt_py_common/src/rqt_py_common/ini_helper.py

@@ -60,7 +60,14 @@ def unpack(data):
     """
     if data is None or data == '':
         data = []
-    elif isinstance(data, basestring):
+    elif is_string(data):
         data = [data]
     return data
 
+
+def is_string(s):
+    """Check if the argument is a string which works for both Python 2 and 3."""
+    try:
+        return isinstance(s, basestring)
+    except NameError:
+        return isinstance(s, str)

rqt_py_common/src/rqt_py_common/rosaction.py

@@ -640,7 +640,7 @@ def rosaction_cmd_prototype(args):
     #     if not options.silent:
     #         print(file=sys.stderr, "Invalid package: '%s'"%e)
     #         sys.exit(getattr(os, 'EX_USAGE', 1))
-    except ValueError, e:
+    except ValueError as e:
         if not options.silent:
             sys.stderr.write("Invalid type: '%s'" % e)
             sys.exit(getattr(os, 'EX_USAGE', 1))