mostly automatic conversion with 2to3.py

some manual changes in SerialStream.write()
included logging

Author: Becker-Asano

Diff for: dynamixel/__init__.py

@@ -19,9 +19,9 @@
 """
 __version__ =  '1.1.0'
 
-from dynamixel import Dynamixel, SensorModule
-from dynamixel_network import DynamixelNetwork
-from echo_stream import EchoStream
-from serial_stream import SerialStream
-from defs import ERROR_STATUS, BAUD_RATE, DEVICE, INSTRUCTION, \
+from .dynamixel import Dynamixel, SensorModule
+from .dynamixel_network import DynamixelNetwork
+from .echo_stream import EchoStream
+from .serial_stream import SerialStream
+from .defs import ERROR_STATUS, BAUD_RATE, DEVICE, INSTRUCTION, \
                  STATUS_RETURN_LEVEL

Diff for: dynamixel/defs.py

@@ -21,7 +21,7 @@
 
 """
 
-import enumeration
+from . import enumeration
 
 ERROR_STATUS = enumeration.Enumeration( [
     ('None', 0x0, {'textDesc': "None"}),

Diff for: dynamixel/dynamixel.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python2.6 
-
 """
 This is a Python version of the ForestMoon Dynamixel library originally
 written in C# by Scott Ferguson.
@@ -21,13 +19,13 @@
 
 """
 
-import defs
+from . import defs
 import time
-import dynamixel_network
+from . import dynamixel_network
 import re
 import operator
 
-from defs import DEVICE
+from .defs import DEVICE
 
 AX12 = DEVICE['AX12']
 AXS1 = DEVICE['AXS1']
@@ -69,7 +67,7 @@ def _transformName(self, register):
     def __getattribute__(self, name):
 
         # Abuse global scope a bit to save a ton of work
-        if name in AXS1PropNames.keys():
+        if name in list(AXS1PropNames.keys()):
             regName = AXS1PropNames[name]
             return self._get_register_value(AXS1[regName])
         else:
@@ -78,7 +76,7 @@ def __getattribute__(self, name):
     def __setattr__(self, name, value):
 
         # Abuse global scope a bit to save a ton of work
-        if name in AXS1PropNames.keys():
+        if name in list(AXS1PropNames.keys()):
             regName = AXS1PropNames[name]
             self.set_register_value(AXS1[regName], value)
         else:
@@ -304,7 +302,7 @@ def set_register_value(self, register, value):
             if self._synchronized:
                 if register == AX12.MovingSpeed and value == 0:
                     value = 1
-                    print "Moving speed %d " % (value)
+                    print("Moving speed %d " % (value))
                 self[register] = value
                 self.changed = True
             elif register in [AX12.ModelNumber, 

Diff for: dynamixel/dynamixel_network.py

@@ -20,13 +20,13 @@
 
 """
 
-import defs
-import stream
-import event_handler
+from . import defs
+from . import stream
+from . import event_handler
 import time
-import dynamixel
+# from . import dynamixel
 
-from defs import DEVICE
+from .defs import DEVICE
 
 AX12 = DEVICE['AX12']
 AXS1 = DEVICE['AXS1']
@@ -56,7 +56,7 @@ def error_text(error_type):
         """ Returns a list of the textual representation 
         of the ERROR_STATUS value """
         text = []
-        for key, value, description in defs.ERROR_STATUS.items():
+        for key, value, description in list(defs.ERROR_STATUS.items()):
             if (error_type & value) != 0:
                 text.append(description['textDesc'])
         return text
@@ -126,8 +126,8 @@ def enter_toss_mode(self):
                 if state > 1:
                     raise Exception("CM-5 detected but not in Managed Mode")
                 break
-        print "%d : %d" % (self._stream.read_timeout,
-                           self._stream.write_timeout)
+        print("%d : %d" % (self._stream.read_timeout,
+                           self._stream.write_timeout))
         return state == 5
 
     def dump_statistics(self):
@@ -237,7 +237,7 @@ def read_packet(self):
         # user's 
         if error_status != 0 and not self._in_error_handler:
             self._in_error_handler = True
-            print ident, self.error_text(error_status)
+            print(ident, self.error_text(error_status))
             self.dynamixel_error(self, (ident, error_status))
             self._in_error_handler = False
         return (ident, data)
@@ -339,7 +339,7 @@ def _read_data(self, ident, start_address, count):
                 return_packet = self.await_packet(ident, count)
                 retry = False
             except stream.TimeoutException:
-                print "TIMEOUT accessing servo ID: %d" % (ident)
+                print("TIMEOUT accessing servo ID: %d" % (ident))
                 self._stream.flush()
         return return_packet
 
@@ -494,7 +494,7 @@ def scan_ids(self, start_id, end_id):
         if start_id > end_id or start_id < 0:
             raise ValueError("start_id must be 0 to end_id")
         ids = []
-        for ident in xrange(start_id, end_id + 1):
+        for ident in range(start_id, end_id + 1):
             if self.ping(ident):
                 ids.append(ident)
         return ids
@@ -528,7 +528,7 @@ def __getitem__(self, ident):
 
     def get_dynamixels(self):
         """ A list of dynamixels present on the network """
-        return self._dynamixel_map.values()
+        return list(self._dynamixel_map.values())
 
     dynamixels = property(get_dynamixels)
 
@@ -562,7 +562,7 @@ def _set_stopped(self, value):
         activity for the dynamixels that are synchronized
         """
         if value:
-            for (ident, servo) in self._dynamixel_map.items():
+            for (ident, servo) in list(self._dynamixel_map.items()):
                 servo.stop()
             self.synchronize()
         self._stopped = value
@@ -582,7 +582,7 @@ def synchronize(self):
         """
         data = None
         count = 0
-        for (ident, servo) in self._dynamixel_map.items():
+        for (ident, servo) in list(self._dynamixel_map.items()):
             if servo.changed:
                 if not self.stopped:
                     count += 1
@@ -605,7 +605,7 @@ def broadcast_register(self, register, register_length, value):
         
         Updates the cache value of the register for all Dynamixels.
         """
-        for (ident, servo) in self._dynamixel_map.items():
+        for (ident, servo) in list(self._dynamixel_map.items()):
             servo[register] = value
         self.write_register(DynamixelInterface.BROADCAST_ID,
                             register,

Diff for: dynamixel/echo_stream.py

@@ -20,8 +20,8 @@
 
 """
 
-import stream
-import event_handler
+from . import stream
+from . import event_handler
 
 class EchoStream( stream.Stream ):
     """A wrapper for a stream class that also has a event handler for echoing

Diff for: dynamixel/enumeration.py

@@ -48,7 +48,7 @@ def __init__( self, enums ):
             # add to value set to ensure non-duplicate values
             values.add( value )
         # populate the attributes of the class
-        for key, value in self._values.items():
+        for key, value in list(self._values.items()):
             object.__setattr__( self, key, value )
     def __getitem__( self, key ):
         """ Lookup an item based on a string 
@@ -77,7 +77,7 @@ def key( self, value ):
         Returns key as a string
         Throws KeyError if key is not associated with a value
         """
-        for key, val in self._values.items():
+        for key, val in list(self._values.items()):
             if val == value:
                 return key
         raise KeyError( "Cannot find associated key in enumeration" )
@@ -104,15 +104,15 @@ def description( self, key=None, value=None ):
         raise KeyError( "Cannot find associated description" )
     def keys( self ):
         """ Return the keys in the enumeration as a list of strings """
-        return self._values.keys()
+        return list(self._values.keys())
     def values( self ):
         """ Return the values in the enumeration as a list of values """
-        return self._values.values()
+        return list(self._values.values())
     def __iter__( self ):
         """ Return the iterator for the Enumeration """
         return iter( self._values )
     def __len__( self ):
         """ Return the number of elements in the enumeration """
         return len( self._values )
     def __repr__( self ):
-        return "Enumeration( %r )" % (self.items())
+        return "Enumeration( %r )" % (list(self.items()))

Diff for: dynamixel/serial_stream.py

@@ -22,11 +22,12 @@
     # PySerial Module
     import serial
 except:
-    print "This module requires the pySerial to be installed \
-to use the Serial Stream"
+    print("This module requires the pySerial to be installed \
+to use the Serial Stream")
 
+import logging
 
-from stream import Stream, TimeoutException
+from .stream import Stream, TimeoutException
 
 class SerialStream( Stream ):
     """ A stream using the pyserial interface """
@@ -57,9 +58,17 @@ def write( self, buf ):
         """ Write buf to the port 
         buf - string or list of bytes
         """
-        if isinstance( buf, list ):
-            buf = ''.join( [chr( c ) for c in buf] )
-        self.port.write( buf )
+        if isinstance( buf, list ) or isinstance( buf, str ):
+            buf2 = list()
+            for c in buf:
+                if isinstance( c, str ):
+                    c = ord(c)
+                buf2.append(c)
+            logging.debug((type(buf2), buf2))
+            self.port.write( buf2 )
+        else:
+            logging.warn("{} not converted by {}.write! Nothing sent..".format(type(buf),str(self)))
+
     def get_read_timeout( self ):
         """ Get the read timeout """
         return self.port.timeout 

Diff for: dynamixel/tests.py

@@ -21,13 +21,13 @@
 
 import unittest
 
-import dynamixel
-import dynamixel_network
-import event_handler
-import stream
-import defs
+from . import dynamixel
+from . import dynamixel_network
+from . import event_handler
+from . import stream
+from . import defs
 
-from defs import DEVICE
+from .defs import DEVICE
 
 AX12 = DEVICE['AX12']
 
@@ -259,7 +259,7 @@ def test_read_data( self ):
         # verify read data
         istream.append( make_packet( 1, 0, [0x20]))
         result = iface._read_data( 1, 0x2b, 1 )
-        self.assertEqual( istream.obuffer, ''.join((map(chr,[0xff,0xff,0x1,0x4,0x2,0x2b,0x1,0xcc]))))
+        self.assertEqual( istream.obuffer, ''.join((list(map(chr,[0xff,0xff,0x1,0x4,0x2,0x2b,0x1,0xcc])))))
         self.assertEqual( result, [0x20])
 
     def test_read_register( self ):
@@ -272,7 +272,7 @@ def test_read_register( self ):
         # verify read data
         istream.append( make_packet( 1, 0, [0x20]))
         result = iface.read_register( 1, 0x2b)
-        self.assertEqual( istream.obuffer, ''.join((map(chr,[0xff,0xff,0x1,0x4,0x2,0x2b,0x1,0xcc]))))
+        self.assertEqual( istream.obuffer, ''.join((list(map(chr,[0xff,0xff,0x1,0x4,0x2,0x2b,0x1,0xcc])))))
         self.assertEqual( result, 0x20)       
 
     def test_read_registers( self ):
@@ -283,10 +283,10 @@ def test_read_registers( self ):
         self.reset()   
         istream.append( make_packet( 1, 0, [0x20]))
         # dummy packet full range of eeprom
-        istream.append( make_packet( 1, 0, range(0,50) ))
+        istream.append( make_packet( 1, 0, list(range(0,50)) ))
         result = iface.read_registers( 1, AX12.ModelNumber, AX12.Punch)
         # assert only the number of registers are returned
-        self.assertEqual( len( result ), len(AX12.values()) )
+        self.assertEqual( len( result ), len(list(AX12.values())) )
         # TODO possibly add test for values of registers in future
 
     def test_write_data( self ):
@@ -298,7 +298,7 @@ def test_write_data( self ):
         self.reset()   
         # verify write as per Spec
         iface.write_data( dynamixel_network.DynamixelInterface.BROADCAST_ID, 0x3,[0x1], False )
-        self.assertEqual( istream.obuffer, ''.join((map(chr,[0xff,0xff,0xfe,0x4,0x3,0x3,0x1,0xf6]))))
+        self.assertEqual( istream.obuffer, ''.join((list(map(chr,[0xff,0xff,0xfe,0x4,0x3,0x3,0x1,0xf6])))))
     def test_write_register( self ):
         istream = MockStream()
         iface = dynamixel_network.DynamixelInterface( istream )
@@ -308,7 +308,7 @@ def test_write_register( self ):
 
         # verify write as per variant of spec
         iface.write_register( 0x1, 0x3,0x1, True )
-        self.assertEqual( istream.obuffer, ''.join((map(chr,[0xff,0xff,0x1,0x4,0x4,0x3,0x1,0xf2]))))
+        self.assertEqual( istream.obuffer, ''.join((list(map(chr,[0xff,0xff,0x1,0x4,0x4,0x3,0x1,0xf2])))))
 
     def test_action( self ):
         istream = MockStream()
@@ -318,7 +318,7 @@ def test_action( self ):
         self.reset()   
         # verify outgoing action command
         iface.action(  )
-        self.assertEqual( istream.obuffer, ''.join((map(chr,[0xff,0xff,0xfe,0x2,0x5,0xfa]))))
+        self.assertEqual( istream.obuffer, ''.join((list(map(chr,[0xff,0xff,0xfe,0x2,0x5,0xfa])))))
 
     def test_sync_write( self ):
         istream = MockStream()
@@ -331,17 +331,18 @@ def test_sync_write( self ):
                                    0X01, 0X20, 0X02, 0X60, 0X03, 0X02,  
                                    0X30,  0X00,  0X70,  0X01,  0X03,  
                                    0X20,  0X02,  0X80, 0X03])
-        expected = ''.join((map(chr, [0XFF, 0XFF, 0XFE, 0X18, 0X83, 0X1E, 
+        expected = ''.join((list(map(chr, [0XFF, 0XFF, 0XFE, 0X18, 0X83, 0X1E, 
                                       0X04, 0X00, 0X10, 0X00, 0X50, 0X01, 
                                       0X01, 0X20, 0X02, 0X60, 0X03, 0X02,  
                                       0X30,  0X00,  0X70,  0X01,  0X03,  
-                                      0X20,  0X02,  0X80, 0X03, 0X12])))
+                                      0X20,  0X02,  0X80, 0X03, 0X12]))))
         self.assertEqual( istream.obuffer,  expected)
 
 
 
-    def error_handler(self, sender, (ident, error_status)):
+    def error_handler(self, sender, xxx_todo_changeme):
         """ Error handler hook """
+        (ident, error_status) = xxx_todo_changeme
         self.has_errors = True
         self.error_codes.append( error_status )
 
@@ -437,8 +438,9 @@ def test_get_attr(self):
 
 
 
-    def error_handler(self, sender, (ident, error_status)):
+    def error_handler(self, sender, xxx_todo_changeme1):
         """ Error handler hook """
+        (ident, error_status) = xxx_todo_changeme1
         self.has_errors = True
         self.error_codes.append( error_status )