python 3 compatibility

.travis.yml

@@ -3,6 +3,8 @@ sudo: enabled
 language: python
 python:
   - "2.7"
+  - "3.5"
+  - "3.6"
 
 # command to install dependencies
 install:

src/xacro/__init__.py

@@ -203,17 +203,13 @@ def __init__(self, parent=None):
     @staticmethod
     def _eval_literal(value):
         if isinstance(value, _basestr):
-            try:
-                # try to evaluate as literal, e.g. number, boolean, etc.
-                # this is needed to handle numbers in property definitions as numbers, not strings
-                evaluated = ast.literal_eval(value.strip())
-                # However, (simple) list, tuple, dict expressions will be evaluated as such too,
-                # which would break expected behaviour. Thus we only accept the evaluation otherwise.
-                if not isinstance(evaluated, (list, dict, tuple)):
-                    return evaluated
-            except:
-                pass
-
+            # try to evaluate as number literal or boolean
+            # this is needed to handle numbers in property definitions as numbers, not strings
+            for f in [int, float, lambda x: get_boolean_value(x, None)]: # order of types is important!
+                try:
+                    return f(value)
+                except:
+                    pass
         return value
 
     def _resolve_(self, key):
@@ -577,10 +573,10 @@ def grab_properties(elt, table):
         elt = next
 
 
-LEXER = QuickLexer(DOLLAR_DOLLAR_BRACE=r"\$\$+\{",
-                   EXPR=r"\$\{[^\}]*\}",
-                   EXTENSION=r"\$\([^\)]*\)",
-                   TEXT=r"([^\$]|\$[^{(]|\$$)+")
+LEXER = QuickLexer(DOLLAR_DOLLAR_BRACE=r"^\$\$+(\{|\()", # multiple $ in a row, followed by { or (
+                   EXPR=r"^\$\{[^\}]*\}",       # stuff starting with ${
+                   EXTENSION=r"^\$\([^\)]*\)",  # stuff starting with $(
+                   TEXT=r"[^$]+|\$[^{($]+|\$$") # any text w/o $  or  $ following any chars except {($  or  single $
 
 
 # evaluate text and return typed value
@@ -600,13 +596,14 @@ def handle_extension(s):
     lex = QuickLexer(LEXER)
     lex.lex(text)
     while lex.peek():
-        if lex.peek()[0] == lex.EXPR:
+        id = lex.peek()[0]
+        if id == lex.EXPR:
             results.append(handle_expr(lex.next()[1][2:-1]))
-        elif lex.peek()[0] == lex.EXTENSION:
+        elif id == lex.EXTENSION:
             results.append(handle_extension(lex.next()[1][2:-1]))
-        elif lex.peek()[0] == lex.TEXT:
+        elif id == lex.TEXT:
             results.append(lex.next()[1])
-        elif lex.peek()[0] == lex.DOLLAR_DOLLAR_BRACE:
+        elif id == lex.DOLLAR_DOLLAR_BRACE:
             results.append(lex.next()[1][1:])
     # return single element as is, i.e. typed
     if len(results) == 1:
@@ -750,9 +747,9 @@ def get_boolean_value(value, condition):
     """
     try:
         if isinstance(value, _basestr):
-            if value == 'true': return True
-            elif value == 'false': return False
-            else: return ast.literal_eval(value)
+            if value == 'true' or value == 'True': return True
+            elif value == 'false' or value == 'False': return False
+            else: return bool(int(value))
         else:
             return bool(value)
     except:
@@ -950,7 +947,7 @@ def process_doc(doc,
     if do_check_order and symbols.redefined:
         warning("Document is incompatible to --inorder processing.")
         warning("The following properties were redefined after usage:")
-        for k, v in symbols.redefined.iteritems():
+        for k, v in symbols.redefined.items():
             message(k, "redefined in", v, color='yellow')
 
 

src/xacro/xmlutils.py

@@ -30,7 +30,7 @@
 # Authors: Stuart Glaser, William Woodall, Robert Haschke
 # Maintainer: Morgan Quigley <morgan@osrfoundation.org>
 
-import xml
+import xml.dom.minidom
 from .color import warning
 
 def first_child_element(elt):

test/test_xacro.py

@@ -12,44 +12,70 @@
 import shutil
 import subprocess
 import re
-from cStringIO import StringIO
+import ast
+try:
+    from cStringIO import StringIO # Python 2.x
+except ImportError:
+    from io import StringIO # Python 3.x
 from contextlib import contextmanager
 
 
 # regex to match whitespace
 whitespace = re.compile(r'\s+')
 
+def text_values_match(a, b):
+    # generic comparison
+    if whitespace.sub(' ', a).strip() == whitespace.sub(' ', b).strip():
+        return True
+
+    try: # special handling of dicts: ignore order
+        a_dict = ast.literal_eval(a)
+        b_dict = ast.literal_eval(b)
+        if (isinstance(a_dict, dict) and isinstance(b_dict, dict) and a_dict == b_dict):
+            return True
+    except:  # Attribute values aren't dicts
+        pass
+
+    # on failure, try to split a and b at whitespace and compare snippets
+    def match_splits(a_, b_):
+        if len(a_) != len(b_): return False
+        for a, b in zip(a_, b_):
+            if a == b: continue
+            try:  # compare numeric values only up to some accuracy
+                if abs(float(a) - float(b)) > 1.0e-9:
+                    return False
+            except ValueError:  # values aren't numeric and not identical
+                return False
+        return True
+
+    return match_splits(a.split(), b.split())
+
+
 def all_attributes_match(a, b):
     if len(a.attributes) != len(b.attributes):
         print("Different number of attributes")
         return False
-    a_atts = [(a.attributes.item(i).name, a.attributes.item(i).value) for i in range(len(a.attributes))]
-    b_atts = [(b.attributes.item(i).name, b.attributes.item(i).value) for i in range(len(b.attributes))]
+    a_atts = a.attributes.items()
+    b_atts = b.attributes.items()
     a_atts.sort()
     b_atts.sort()
 
-    for i in range(len(a_atts)):
-        if a_atts[i][0] != b_atts[i][0]:
-            print("Different attribute names: %s and %s" % (a_atts[i][0], b_atts[i][0]))
+    for a, b in zip(a_atts, b_atts):
+        if a[0] != b[0]:
+            print("Different attribute names: %s and %s" % (a[0], b[0]))
+            return False
+        if not text_values_match(a[1], b[1]):
+            print("Different attribute values: %s and %s" % (a[1], b[1]))
             return False
-        try:
-            if abs(float(a_atts[i][1]) - float(b_atts[i][1])) > 1.0e-9:
-                print("Different attribute values: %s and %s" % (a_atts[i][1], b_atts[i][1]))
-                return False
-        except ValueError:  # Attribute values aren't numeric
-            if a_atts[i][1] != b_atts[i][1]:
-                print("Different attribute values: %s and %s" % (a_atts[i][1], b_atts[i][1]))
-                return False
-
     return True
 
+
 def text_matches(a, b):
-    a_norm = whitespace.sub(' ', a)
-    b_norm = whitespace.sub(' ', b)
-    if a_norm.strip() == b_norm.strip(): return True
+    if text_values_match(a, b): return True
     print("Different text values: '%s' and '%s'" % (a, b))
     return False
 
+
 def nodes_match(a, b, ignore_nodes):
     if not a and not b:
         return True
@@ -138,6 +164,16 @@ def test_normalize_whitespace_text(self):
     def test_normalize_whitespace_trim(self):
         self.assertTrue(text_matches(" foo bar ", "foo \t\n\r bar"))
 
+    def test_match_similar_numbers(self):
+        self.assertTrue(text_matches("0.123456789", "0.123456788"))
+    def test_mismatch_different_numbers(self):
+        self.assertFalse(text_matches("0.123456789", "0.1234567879"))
+
+    def test_match_unordered_dicts(self):
+        self.assertTrue(text_matches("{'a': 1, 'b': 2, 'c': 3}", "{'c': 3, 'b': 2, 'a': 1}"))
+    def test_mismatch_different_dicts(self):
+        self.assertFalse(text_matches("{'a': 1, 'b': 2, 'c': 3}", "{'c': 3, 'b': 2, 'a': 0}"))
+
     def test_empty_node_vs_whitespace(self):
         self.assertTrue(xml_matches('''<foo/>''', '''<foo> \t\n\r </foo>'''))
     def test_whitespace_vs_empty_node(self):
@@ -167,8 +203,8 @@ def test_is_valid_name(self):
     def test_resolve_macro(self):
         # define three nested macro dicts with the same macro names (keys)
         content = {'xacro:simple': 'simple'}
-        ns2 = dict({k: v+'2' for k,v in content.iteritems()})
-        ns1 = dict({k: v+'1' for k,v in content.iteritems()})
+        ns2 = dict({k: v+'2' for k,v in content.items()})
+        ns1 = dict({k: v+'1' for k,v in content.items()})
         ns1.update(ns2=ns2)
         macros = dict(content)
         macros.update(ns1=ns1)
@@ -411,13 +447,13 @@ def test_substitution_args_arg(self):
 
     def test_escaping_dollar_braces(self):
         self.assert_matches(
-                self.quick_xacro('''<a b="$${foo}" c="$$${foo}" />'''),
-                '''<a b="${foo}" c="$${foo}" />''')
+                self.quick_xacro('''<a b="$${foo}" c="$$${foo}" d="text $${foo}" e="text $$${foo}" f="$$(pwd)" />'''),
+                '''<a b="${foo}" c="$${foo}" d="text ${foo}" e="text $${foo}" f="$(pwd)" />''')
 
     def test_just_a_dollar_sign(self):
         self.assert_matches(
-                self.quick_xacro('''<a b="$" />'''),
-                '''<a b="$" />''')
+                self.quick_xacro('''<a b="$" c="text $" d="text $ text"/>'''),
+                '''<a b="$" c="text $" d="text $ text"/>''')
 
     def test_multiple_insert_blocks(self):
         self.assert_matches(

xacro.py

@@ -50,7 +50,7 @@
 this_dir_cwd = os.getcwd()
 os.chdir(cur_dir)
 # Remove this dir from path
-sys.path = filter(lambda a: a not in [this_dir, this_dir_cwd], sys.path)
+sys.path = [a for a in sys.path if a not in [this_dir, this_dir_cwd]]
 
 import xacro
 from xacro.color import warning