From 7dba6f4938457cb2f264b8c4b6f77f3049365a07 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 7 Oct 2019 10:10:35 +0200 Subject: [PATCH] Fix and minor cleanup for Python3 (#200) * Fix print for Python 3 * Fix a couple of PEP8 warnings --- docker/ros-indigo/mavros/tools/broadcaster.py | 40 ++++++++++--------- .../scripts/testing/export_charts.py | 31 +++++++------- 2 files changed, 37 insertions(+), 34 deletions(-) diff --git a/docker/ros-indigo/mavros/tools/broadcaster.py b/docker/ros-indigo/mavros/tools/broadcaster.py index 77327301..b9fa6550 100755 --- a/docker/ros-indigo/mavros/tools/broadcaster.py +++ b/docker/ros-indigo/mavros/tools/broadcaster.py @@ -1,20 +1,18 @@ #!/usr/bin/env python -#*************************************************************************** -# + # Copyright (c) 2015 UAVenture AG. All rights reserved. -# -#***************************************************************************/ -#import roslib -#roslib.load_manifest('broadcaster') -#import rospy +# import roslib +# roslib.load_manifest('broadcaster') +# import rospy from pymavlink import mavutil import socket import time import SocketServer import threading -#from mavros_msgs.msg import State as VehicleState +# from mavros_msgs.msg import State as VehicleState + class Broadcaster(object): @@ -22,10 +20,10 @@ def __init__(self): mavutil.set_dialect("pixhawk") self._mavlink = mavutil.mavlink.MAVLink(None, ) - #rospy.Subscriber("/mavros/state", VehicleState, self._vehicle_state_callback) + # rospy.Subscriber("/mavros/state", VehicleState, self._vehicle_state_callback) def start(self): - #rate = rospy.Rate(2) + # rate = rospy.Rate(2) # sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1) # sock.bind(("", 1233)) @@ -39,20 +37,21 @@ def start(self): server_thread.daemon = True server_thread.start() - #while not rospy.is_shutdown(): + # while not rospy.is_shutdown(): while 1: msg = self._mavlink.heartbeat_encode(0, 0, 0, 0, 0) buf = msg.pack(self._mavlink) - print ":".join("{:02x}".format(ord(c)) for c in buf) + print(":".join("{:02x}".format(ord(c)) for c in buf)) server.socket.sendto(buf, ("192.168.1.255", 14550)) time.sleep(0.5) - #rate.sleep() + # rate.sleep() server.shutdown = True def _vehicle_state_callback(self, data): pass + class Server(threading.Thread): def __init__(self, sock): threading.Thread.__init__(self) @@ -61,29 +60,32 @@ def __init__(self, sock): def run(self): while not self.shutdown: - data, addr = self._sock.recvfrom(1024) # buffer size is 1024 bytes - #print "received message:", data - print "received data from:", addr + data, addr = self._sock.recvfrom(1024) # buffer size is 1024 bytes + # print "received message:", data + print("received data from:", addr) class ThreadingUDPServer(SocketServer.ThreadingMixIn, SocketServer.UDPServer): pass + class MessageHandler(SocketServer.BaseRequestHandler): def handle(self): data = self.request[0] socket = self.request[1] - print self.client_address + print(self.client_address) + # Main function. def main(): - #rospy.init_node('broadcaster') - #try: + # rospy.init_node('broadcaster') + # try: broadcaster = Broadcaster() broadcaster.start() # except rospy.ROSInterruptException: # pass + if __name__ == '__main__': main() diff --git a/docker/ros-indigo/sitl-testing/scripts/testing/export_charts.py b/docker/ros-indigo/sitl-testing/scripts/testing/export_charts.py index 49e47fb9..4b049dcf 100755 --- a/docker/ros-indigo/sitl-testing/scripts/testing/export_charts.py +++ b/docker/ros-indigo/sitl-testing/scripts/testing/export_charts.py @@ -79,14 +79,14 @@ }, ] -KML_SERIES = ["mavros_local_position_local__pose_position_x", - "mavros_local_position_local__pose_position_y", - "mavros_local_position_local__pose_position_z", - "px4_vehicle_local_position__x", - "px4_vehicle_local_position__y", - "px4_vehicle_local_position__z", - ] - +KML_SERIES = [ + "mavros_local_position_local__pose_position_x", + "mavros_local_position_local__pose_position_y", + "mavros_local_position_local__pose_position_z", + "px4_vehicle_local_position__x", + "px4_vehicle_local_position__y", + "px4_vehicle_local_position__z", +] def kmlhead(name): @@ -107,6 +107,7 @@ def kmlhead(name): ''' % (name, name) + def kmltail(altmode): return ''' @@ -124,11 +125,11 @@ def export(output_dir, bag_file): bag_name = os.path.splitext(os.path.basename(bag_file))[0] output_dir = os.path.abspath(output_dir) - #data = data.truncate(before="20150319 13:38:30", after="20150319 13:39:00") - #data = data.truncate(before="20150319 14:53:30", after="20150319 14:54:30") + # data = data.truncate(before="20150319 13:38:30", after="20150319 13:39:00") + # data = data.truncate(before="20150319 14:53:30", after="20150319 14:54:30") # for c in data.columns: - # print c + # print(c) for chart in CHARTS: # Filter series @@ -142,7 +143,7 @@ def export(output_dir, bag_file): if not os.path.exists(path): os.makedirs(path) - print "Exporting chart %s to %s" % (chart["name"], path) + print("Exporting chart %s to %s" % (chart["name"], path)) os.chdir(path) vis = bearcart.Chart(chart_df) @@ -157,7 +158,7 @@ def export(output_dir, bag_file): if chart_df.columns.size > 0: mavros = KML_SERIES[0] in chart_df.columns path = os.path.join(output_dir, bag_name + '.kml') - print "Exporting KML to %s" % (path) + print("Exporting KML to %s" % (path)) fid = open(path, 'w') fid.write(kmlhead(bag_name)) @@ -167,8 +168,8 @@ def export(output_dir, bag_file): a = base.altitude # if (math.isnan(row[KML_SERIES[0]]) or math.isnan(row[KML_SERIES[1]]) or math.isnan(row[KML_SERIES[2]])): - # print "found nan" - # print row + # print("found nan") + # print(row) if mavros and not (math.isnan(row[KML_SERIES[0]]) or math.isnan(row[KML_SERIES[1]]) or math.isnan(row[KML_SERIES[2]])): x = row[KML_SERIES[0]]