diff --git a/ur_driver/src/ur_driver/deserialize.py b/ur_driver/src/ur_driver/deserialize.py index 4a88aa79ecec3729eefed8fe671c97761225c7a9..124b963ef7c55e62055bf1c96136665aeea7e720 100755 --- a/ur_driver/src/ur_driver/deserialize.py +++ b/ur_driver/src/ur_driver/deserialize.py @@ -1,3 +1,4 @@ +from __future__ import print_function import struct class PackageType(object): @@ -79,7 +80,7 @@ class RobotModeData(object): elif plen == 38: return RobotModeData_V30.unpack(buf) else: - print "RobotModeData has wrong length: " + str(plen) + print("RobotModeData has wrong length: " + str(plen)) return rmd #this parses RobotModeData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) @@ -159,8 +160,8 @@ class MasterboardData(object): elif (plen == 72) or (plen == 92): # Euromap67 interface = 20 bytes return MasterboardData_V30.unpack(buf) else: - print "MasterboardData has wrong length: " + str(plen) - print "Euromap67Interface is ignored" + print("MasterboardData has wrong length: " + str(plen)) + print("Euromap67Interface is ignored") return md #this parses MasterboardData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) @@ -282,7 +283,7 @@ class AdditionalInfo(object): elif plen == 7: return AdditionalInfoNew.unpack(buf) else: - print "AdditionalInfo has wrong length: " + str(plen) + print("AdditionalInfo has wrong length: " + str(plen)) return ai class AdditionalInfoOld(object): @@ -319,8 +320,8 @@ class RobotState(object): raise Exception("Could not unpack packet: length field is incorrect") if mtype != 16: if mtype == 20: - print "Likely a syntax error:" - print buf[:2048] + print("Likely a syntax error:") + print(buf[:2048]) raise Exception("Fatal error when unpacking RobotState packet") rs = RobotState() @@ -359,14 +360,14 @@ def pstate(o, indent=''): for s in o.__slots__: child = getattr(o, s, None) if child is None: - print "%s%s: None" % (indent, s) + print("%s%s: None" % (indent, s)) elif hasattr(child, '__slots__'): - print "%s%s:" % (indent, s) + print("%s%s:" % (indent, s)) pstate(child, indent + ' ') elif hasattr(child, '__iter__'): - print "%s%s:" % (indent, s) + print("%s%s:" % (indent, s)) for i, c in enumerate(child): - print "%s [%i]:" % (indent, i) + print("%s [%i]:" % (indent, i)) pstate(c, indent + ' ') else: - print "%s%s: %s" % (indent, s, child) + print("%s%s: %s" % (indent, s, child)) diff --git a/ur_driver/src/ur_driver/deserializeRT.py b/ur_driver/src/ur_driver/deserializeRT.py index ff6750cd42c10f8403cd9b91c0025b1656b83a47..ea2b625a6e5ae7073ed5a6fd9af95fcd3ef81b59 100644 --- a/ur_driver/src/ur_driver/deserializeRT.py +++ b/ur_driver/src/ur_driver/deserializeRT.py @@ -1,3 +1,4 @@ +from __future__ import print_function import struct import copy @@ -14,7 +15,7 @@ class RobotStateRT(object): elif plen == 1044: return RobotStateRT_V30.unpack(buf) else: - print "RobotStateRT has wrong length: " + str(plen) + print("RobotStateRT has wrong length: " + str(plen)) return rs #this parses RobotStateRT for versions = v1.5 @@ -34,7 +35,7 @@ class RobotStateRT_V15(object): message_size = struct.unpack_from("!i", buf, offset)[0] offset+=4 if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) + print(("MessageSize: ", message_size, "; BufferSize: ", len(buf))) raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") rs = RobotStateRT_V15() @@ -145,7 +146,7 @@ class RobotStateRT_V18(object): message_size = struct.unpack_from("!i", buf, offset)[0] offset+=4 if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) + print(("MessageSize: ", message_size, "; BufferSize: ", len(buf))) raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") rs = RobotStateRT_V18() @@ -268,7 +269,7 @@ class RobotStateRT_V30(object): message_size = struct.unpack_from("!i", buf, offset)[0] offset+=4 if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) + print(("MessageSize: ", message_size, "; BufferSize: ", len(buf))) raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") rs = RobotStateRT_V30() diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py index 20e25f3b3c16a97741efdacc527e0eaf4ff9556b..0245191366a40d9178f01216d135c28d896949ed 100755 --- a/ur_driver/src/ur_driver/driver.py +++ b/ur_driver/src/ur_driver/driver.py @@ -1,4 +1,5 @@ #!/usr/bin/env python +from __future__ import print_function import roslib; roslib.load_manifest('ur_driver') import time, sys, threading, math import copy @@ -106,10 +107,10 @@ def dumpstacks(): code.append('File: "%s", line %d, in %s' % (filename, lineno, name)) if line: code.append(" %s" % (line.strip())) - print "\n".join(code) + print("\n".join(code)) def log(s): - print "[%s] %s" % (datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f'), s) + print("[%s] %s" % (datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f'), s)) RESET_PROGRAM = '''def resetProg(): @@ -420,7 +421,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler): def handle(self): self.__socket_lock = threading.Lock() setConnectedRobot(self) - print "Handling a request" + print("Handling a request") try: buf = self.recv_more() if not buf: return @@ -445,21 +446,21 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler): log("Out: %s" % s) elif mtype == MSG_QUIT: - print "Quitting" + print("Quitting") raise EOF("Received quit") elif mtype == MSG_WAYPOINT_FINISHED: while len(buf) < 4: buf = buf + self.recv_more() waypoint_id = struct.unpack_from("!i", buf, 0)[0] buf = buf[4:] - print "Waypoint finished (not handled)" + print("Waypoint finished (not handled)") else: raise Exception("Unknown message type: %i" % mtype) if not buf: buf = buf + self.recv_more() except EOF, ex: - print "Connection closed (command):", ex + print("Connection closed (command):", ex) setConnectedRobot(None) def __send_message(self, data): @@ -629,7 +630,7 @@ class URServiceProvider(object): def setPayload(self, req): if req.payload < min_payload or req.payload > max_payload: - print 'ERROR: Payload ' + str(req.payload) + ' out of bounds (' + str(min_payload) + ', ' + str(max_payload) + ')' + print('ERROR: Payload ' + str(req.payload) + ' out of bounds (' + str(min_payload) + ', ' + str(max_payload) + ')') return False if self.robot: @@ -691,7 +692,7 @@ class URTrajectoryFollower(object): def start(self): self.init_traj_from_robot() self.server.start() - print "The action server for this driver has been started" + print("The action server for this driver has been started") def on_goal(self, goal_handle): log("on_goal") @@ -892,7 +893,7 @@ def main(): reconfigure_srv = Server(URDriverConfig, reconfigure_callback) prefix = rospy.get_param("~prefix", "") - print "Setting prefix to %s" % prefix + print("Setting prefix to %s" % prefix) global joint_names joint_names = [prefix + name for name in JOINT_NAMES] @@ -964,13 +965,13 @@ def main(): update = {'prevent_programming': prevent_programming} reconfigure_srv.update_configuration(update) except KeyError, ex: - print "Parameter 'prevent_programming' not set. Value: " + str(prevent_programming) + print("Parameter 'prevent_programming' not set. Value: " + str(prevent_programming)) pass if prevent_programming: - print "Programming now prevented" + print("Programming now prevented") connection.send_reset_program() else: - print "Disconnected. Reconnecting" + print("Disconnected. Reconnecting") if action_server: action_server.set_robot(None) @@ -978,14 +979,14 @@ def main(): while True: # Sends the program to the robot while not connection.ready_to_program(): - print "Waiting to program" + print("Waiting to program") time.sleep(1.0) try: prevent_programming = rospy.get_param("~prevent_programming") update = {'prevent_programming': prevent_programming} reconfigure_srv.update_configuration(update) except KeyError, ex: - print "Parameter 'prevent_programming' not set. Value: " + str(prevent_programming) + print("Parameter 'prevent_programming' not set. Value: " + str(prevent_programming)) pass connection.send_program() diff --git a/ur_driver/test_io.py b/ur_driver/test_io.py index 7b3c2a82686bbea6d30a6b8b57becabaf7359fe7..48e7b431c6e08dcb6457d4efbe16f2b40791e726 100755 --- a/ur_driver/test_io.py +++ b/ur_driver/test_io.py @@ -1,13 +1,14 @@ #!/usr/bin/env python +from __future__ import print_function import time from ur_driver.io_interface import * if __name__ == "__main__": - print "testing io-interface" + print("testing io-interface") get_states() - print "listener has been activated" + print("listener has been activated") set_states() - print "service-server has been started" + print("service-server has been started") while(True): set_tool_voltage(12) set_digital_out(0, True) diff --git a/ur_driver/test_move.py b/ur_driver/test_move.py index 54b9115fc04a8c1c388efd159dc6ffcc3c982dbd..86b70335dcda715f0eca71f97497d976a742da3a 100755 --- a/ur_driver/test_move.py +++ b/ur_driver/test_move.py @@ -1,4 +1,5 @@ #!/usr/bin/env python +from __future__ import print_function import time import roslib; roslib.load_manifest('ur_driver') import rospy @@ -79,7 +80,7 @@ def move_interrupt(): client.send_goal(g) time.sleep(2.0) - print "Interrupting" + print("Interrupting") client.send_goal(g) try: client.wait_for_result() @@ -92,9 +93,9 @@ def main(): try: rospy.init_node("test_move", anonymous=True, disable_signals=True) client = actionlib.SimpleActionClient('follow_joint_trajectory', FollowJointTrajectoryAction) - print "Waiting for server..." + print("Waiting for server...") client.wait_for_server() - print "Connected to server" + print("Connected to server") #move1() move_repeated() #move_disordered() diff --git a/ur_kinematics/src/ur_kinematics/test_analytical_ik.py b/ur_kinematics/src/ur_kinematics/test_analytical_ik.py index c11860bf588dfd9ff17db409d40c7de4d46c8504..74a2e4337ef0e21f5677355f8465c12ac5f83e30 100644 --- a/ur_kinematics/src/ur_kinematics/test_analytical_ik.py +++ b/ur_kinematics/src/ur_kinematics/test_analytical_ik.py @@ -1,3 +1,4 @@ +from __future__ import print_function import numpy as np import sys import roslib @@ -30,21 +31,21 @@ def test_q(q): qsol = [999.]*6 diff = np.sum(np.abs(np.array(qsol) - q)) if diff > 0.001: - print np.array(sols) - print 'Best q:', qsol - print 'Actual:', np.array(q) - print 'Diff: ', q - qsol - print 'Difdiv:', (q - qsol)/np.pi - print i1-3, i2-3, i3-3, i4-3, i5-3, i6-3 + print(np.array(sols)) + print('Best q:', qsol) + print('Actual:', np.array(q)) + print('Diff: ', q - qsol) + print('Difdiv:', (q - qsol)/np.pi) + print(i1-3, i2-3, i3-3, i4-3, i5-3, i6-3) if raw_input() == 'q': sys.exit() def main(): np.set_printoptions(precision=3) - print "Testing multiples of pi/2..." + print("Testing multiples of pi/2...") for i1 in range(0,5): for i2 in range(0,5): - print i1, i2 + print(i1, i2) for i3 in range(0,5): for i4 in range(0,5): for i5 in range(0,5): @@ -52,11 +53,11 @@ def main(): q = np.array([i1*np.pi/2., i2*np.pi/2., i3*np.pi/2., i4*np.pi/2., i5*np.pi/2., i6*np.pi/2.]) test_q(q) - print "Testing random configurations..." + print("Testing random configurations...") for i in range(10000): q = (np.random.rand(6)-.5)*4*np.pi test_q(q) - print "Done!" + print("Done!") if __name__ == "__main__": if False: