Python 2.7 compatibility

libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py

@@ -4,10 +4,17 @@
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #
 
+from __future__ import division, absolute_import, print_function, unicode_literals
 import sys, os, logging, errno
 from mako.template import Template
 from pyuavcan import dsdl
 
+# Python 2.7 compatibility
+try:
+    str = unicode
+except NameError:
+    pass
+
 OUTPUT_FILE_EXTENSION = 'hpp'
 OUTPUT_FILE_PERMISSIONS = 0o444  # Read only for all
 TEMPLATE_FILENAME = os.path.join(os.path.dirname(__file__), 'data_type_template.tmpl')
@@ -22,7 +29,7 @@ logger = logging.getLogger(__name__)
 def run(source_dirs, include_dirs, output_dir):
     assert isinstance(source_dirs, list)
     assert isinstance(include_dirs, list)
-    assert isinstance(output_dir, str)
+    output_dir = str(output_dir)
 
     types = run_parser(source_dirs, include_dirs + source_dirs)
     if not types:
@@ -44,7 +51,10 @@ def type_output_filename(t):
 
 def makedirs(path):
     try:
-        os.makedirs(path, exist_ok=True)  # May throw "File exists" when executed as root, which is wrong
+        try:
+            os.makedirs(path, exist_ok=True)  # May throw "File exists" when executed as root, which is wrong
+        except TypeError:
+            os.makedirs(path)  # Python 2.7 compatibility
     except OSError as ex:
         if ex.errno != errno.EEXIST:  # http://stackoverflow.com/questions/12468022
             raise

libuavcan/dsdl_compiler/libuavcan_dsdlc

@@ -1,10 +1,12 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 #
 # UAVCAN DSDL compiler for libuavcan
+# Written in Python 3, compatible with Python 2.7
 #
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #
 
+from __future__ import division, absolute_import, print_function, unicode_literals
 import os, sys, logging, argparse
 
 RUNNING_FROM_SRC_DIR = os.path.abspath(__file__).endswith(os.path.join('libuavcan', 'dsdl_compiler', 'libuavcan_dsdlc'))

libuavcan/dsdl_compiler/setup.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 
 from distutils.core import setup
 

pyuavcan/pyuavcan/dsdl/common.py

@@ -2,20 +2,21 @@
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #
 
+from __future__ import division, absolute_import, print_function, unicode_literals
 import os
 
 class DsdlException(Exception):
     def __init__(self, text, file=None, line=None):
-        super().__init__(text)
+        Exception.__init__(self, text)
         self.file = file
         self.line = line
 
     def __str__(self):
         if self.file and self.line:
-            return '%s:%d: %s' % (pretty_filename(self.file), self.line, super().__str__())
+            return '%s:%d: %s' % (pretty_filename(self.file), self.line, Exception.__str__(self))
         if self.file:
-            return '%s: %s' % (pretty_filename(self.file), super().__str__())
+            return '%s: %s' % (pretty_filename(self.file), Exception.__str__(self))
-        return super().__str__()
+        return Exception.__str__(self)
 
 
 def pretty_filename(filename):

pyuavcan/pyuavcan/dsdl/parser.py

@@ -4,12 +4,23 @@
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #
 
+from __future__ import division, absolute_import, print_function, unicode_literals
 import os, re, logging
 from io import StringIO
 from .signature import compute_signature
 from .common import DsdlException, pretty_filename
 from .type_limits import get_unsigned_integer_range, get_signed_integer_range, get_float_range
 
+# Python 2.7 compatibility
+try:
+    str = unicode
+except NameError:
+    pass
+try:
+    long(1)
+except NameError:
+    long = int
+
 MAX_FULL_TYPE_NAME_LEN = 80
 DATA_TYPE_ID_MAX = 1023
 MAX_DATA_STRUCT_LEN_BYTES = 439
@@ -41,7 +52,7 @@ class PrimitiveType(Type):
         self.kind = kind
         self.bitlen = bitlen
         self.cast_mode = cast_mode
-        super().__init__(self.get_normalized_definition(), Type.CATEGORY_PRIMITIVE)
+        Type.__init__(self, self.get_normalized_definition(), Type.CATEGORY_PRIMITIVE)
         self.value_range = {
             PrimitiveType.KIND_BOOLEAN: get_unsigned_integer_range,
             PrimitiveType.KIND_UNSIGNED_INT: get_unsigned_integer_range,
@@ -75,7 +86,7 @@ class ArrayType(Type):
         self.value_type = value_type
         self.mode = mode
         self.max_size = max_size
-        super().__init__(self.get_normalized_definition(), Type.CATEGORY_ARRAY)
+        Type.__init__(self, self.get_normalized_definition(), Type.CATEGORY_ARRAY)
 
     def get_normalized_definition(self):
         typedef = self.value_type.get_normalized_definition()
@@ -93,7 +104,7 @@ class CompoundType(Type):
     KIND_MESSAGE = 1
 
     def __init__(self, full_name, kind, source_file, default_dtid, source_text):
-        super().__init__(full_name, Type.CATEGORY_COMPOUND)
+        Type.__init__(self, full_name, Type.CATEGORY_COMPOUND)
         self.source_file = source_file
         self.default_dtid = default_dtid
         self.kind = kind
@@ -154,10 +165,12 @@ class Field(Attribute):
 
 class Constant(Attribute):
     def __init__(self, type, name, init_expression, value):  # @ReservedAssignment
-        super().__init__(type, name)
+        Attribute.__init__(self, type, name)
         self.init_expression = init_expression
         self.value = value
         self.string_value = repr(value)
+        if isinstance(value, long):
+            self.string_value = self.string_value.replace('L', '')
 
     def get_normalized_definition(self):
         return '%s %s = %s' % (self.type.get_normalized_definition(), self.name, self.init_expression)
@@ -204,7 +217,8 @@ class Parser:
 
     def _locate_compound_type_definition(self, referencing_filename, typename):
         def locate_namespace_directory(namespace):
-            root_namespace, *sub_namespace_components = namespace.split('.')
+            namespace_components = namespace.split('.')
+            root_namespace, sub_namespace_components = namespace_components[0], namespace_components[1:]
             for directory in self.search_dirs:
                 if directory.split(os.path.sep)[-1] == root_namespace:
                     return os.path.join(directory, *sub_namespace_components)
@@ -311,10 +325,10 @@ class Parser:
 
         if isinstance(value, str) and len(value) == 1:  # ASCII character
             value = ord(value)
-        elif isinstance(value, (float, int, bool)):  # Numeric literal
+        elif isinstance(value, (float, int, bool, long)):  # Numeric literal
             value = {
-                attrtype.KIND_UNSIGNED_INT : int,
+                attrtype.KIND_UNSIGNED_INT : long,
-                attrtype.KIND_SIGNED_INT : int,
+                attrtype.KIND_SIGNED_INT : long,
                 attrtype.KIND_BOOLEAN : int,  # Not bool because we need to check range
                 attrtype.KIND_FLOAT : float
             }[attrtype.kind](value)
@@ -328,12 +342,12 @@ class Parser:
     def _parse_line(self, filename, tokens):
         cast_mode = None
         if tokens[0] == 'saturated' or tokens[0] == 'truncated':
-            cast_mode, *tokens = tokens
+            cast_mode, tokens = tokens[0], tokens[1:]
 
         if len(tokens) < 2:
             error('Invalid attribute definition')
 
-        typename, attrname, *tokens = tokens
+        typename, attrname, tokens = tokens[0], tokens[1], tokens[2:]
         validate_attribute_name(attrname)
         attrtype = self._parse_type(filename, typename, cast_mode)
 
@@ -384,7 +398,8 @@ class Parser:
                         ex.line = num
                     raise ex
                 except Exception as ex:
-                    raise DsdlException('Internal error: %s' % str(ex), line=num) from ex
+                    self.log.error('Internal error', exc_info=True)
+                    raise DsdlException('Internal error: %s' % str(ex), line=num)
 
             if response_part:
                 t = CompoundType(full_typename, CompoundType.KIND_SERVICE, filename, default_dtid, source_text)
@@ -412,9 +427,10 @@ class Parser:
                 ex.file = filename
             raise ex
         except IOError as ex:
-            raise DsdlException('IO error: %s' % str(ex), file=filename) from ex
+            raise DsdlException('IO error: %s' % str(ex), file=filename)
         except Exception as ex:
-            raise DsdlException('Internal error: %s' % str(ex), file=filename) from ex
+            self.log.error('Internal error', exc_info=True)
+            raise DsdlException('Internal error: %s' % str(ex), file=filename)
 
 
 def error(fmt, *args):
@@ -488,7 +504,7 @@ def parse_namespaces(source_dirs, search_dirs=None):
         import fnmatch
         from functools import partial
         def on_walk_error(directory, ex):
-            raise DsdlException('OS error in [%s]: %s' % (directory, str(ex))) from ex
+            raise DsdlException('OS error in [%s]: %s' % (directory, str(ex)))
         for source_dir in source_dirs:
             walker = os.walk(source_dir, onerror=partial(on_walk_error, source_dir), followlinks=True)
             for root, _dirnames, filenames in walker:

pyuavcan/pyuavcan/dsdl/signature.py

@@ -4,6 +4,8 @@
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #
 
+from __future__ import division, absolute_import, print_function, unicode_literals
+
 #
 # CRC-64-WE
 # Description: http://reveng.sourceforge.net/crc-catalogue/17plus.htm#crc.cat-bits.64
@@ -24,8 +26,13 @@ class Signature:
             self._crc = Signature.MASK64
 
     def add(self, data_bytes):
-        if isinstance(data_bytes, str):
+        try:
-            data_bytes = map(ord, data_bytes)
+            if isinstance(data_bytes, basestring):  # Python 2.7 compatibility
+                data_bytes = map(ord, data_bytes)
+        except NameError:
+            if isinstance(data_bytes, str):  # This branch will be taken on Python 3
+                data_bytes = map(ord, data_bytes)
+
         for b in data_bytes:
             self._crc ^= (b << 56) & Signature.MASK64
             for _ in range(8):

pyuavcan/pyuavcan/dsdl/type_limits.py

@@ -4,6 +4,7 @@
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #
 
+from __future__ import division, absolute_import, print_function, unicode_literals
 from .common import DsdlException
 
 def get_unsigned_integer_range(bitlen):