modernize

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Author: mikaelarguedas

setup.py

@@ -1,3 +1,4 @@
+from __future__ import absolute_import
 from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 

src/capabilities/client.py

@@ -51,6 +51,7 @@
 
 """
 
+from __future__ import absolute_import
 import atexit
 
 import rospy
@@ -134,7 +135,7 @@ def wait_for_services(self, timeout=None, services=None):
         :returns: :py:obj:`True` is the services are available, :py:obj:`False` otherwise (timeout)
         :rtype: :py:obj:`bool`
         """
-        services = self._services.keys() if services is None else services
+        services = list(self._services.keys()) if services is None else services
         assert isinstance(services, list), services
         for service in services:
             if service not in self._services:

src/capabilities/discovery.py

@@ -88,6 +88,7 @@
 
 """
 
+from __future__ import absolute_import
 import itertools
 import os
 
@@ -436,7 +437,7 @@ def names(self):
         :rtype: :py:obj:`list` (:py:obj:`str`)
         """
         return list(itertools.chain(
-            self.interfaces.keys(), self.semantic_interfaces.keys(), self.providers.keys()))
+            list(self.interfaces.keys()), list(self.semantic_interfaces.keys()), list(self.providers.keys())))
 
     @property
     def specs(self):

src/capabilities/launch_manager.py

@@ -37,6 +37,7 @@
 
 from __future__ import print_function
 
+from __future__ import absolute_import
 import copy
 import os
 import subprocess

src/capabilities/server.py

@@ -43,6 +43,7 @@
 
 from __future__ import print_function
 
+from __future__ import absolute_import
 import argparse
 import logging
 import os
@@ -434,9 +435,9 @@ def __load_capabilities(self):
                     spec_index.remove_provider(provider.name)
         self.__spec_index = spec_index
         # Prune spec_file_index
-        spec_paths = spec_index.interface_paths.values() + \
-            spec_index.semantic_interface_paths.values() + \
-            spec_index.provider_paths.values()
+        spec_paths = list(spec_index.interface_paths.values()) + \
+            list(spec_index.semantic_interface_paths.values()) + \
+            list(spec_index.provider_paths.values())
         for package_name, package_dict in self.spec_file_index.items():
             for spec_type in ['capability_interface', 'semantic_capability_interface', 'capability_provider']:
                 package_dict[spec_type][:] = [path for path in package_dict[spec_type] if path in spec_paths]
@@ -540,7 +541,7 @@ def _handle_capability_events(self, event):
         # Update the capability
         capability = event.capability
         with self.__graph_lock:
-            if capability not in self.__capability_instances.keys():
+            if capability not in list(self.__capability_instances.keys()):
                 rospy.logerr("Unknown capability instance: '{0}'"
                              .format(capability))
                 return
@@ -585,7 +586,7 @@ def __cleanup_graph(self):
             if cap.started_by == USER_SERVICE_REASON:
                 # Started by user, do not garbage collect this
                 continue
-            rdepends = get_reverse_depends(cap.interface, self.__capability_instances.values())
+            rdepends = get_reverse_depends(cap.interface, list(self.__capability_instances.values()))
             if rdepends:
                 # Someone depends on me, do not garbage collect this
                 rospy.logdebug("Keeping the '{0}' provider of the '{1}' interface, ".format(cap.name, cap.interface) +
@@ -636,7 +637,7 @@ def __stop_capability(self, name):
                          "which is not in the list of capability instances.")
             return
         capability = self.__capability_instances[name]
-        rdepends = get_reverse_depends(name, self.__capability_instances.values())
+        rdepends = get_reverse_depends(name, list(self.__capability_instances.values()))
         for cap in rdepends:
             if cap.state in ['stopping', 'terminated']:  # pragma: no cover
                 # It is possible that this cap was stopped by another cap in this list
@@ -685,7 +686,7 @@ def __get_providers_for_interface(self, interface, allow_semantic=False):
         return providers  # Could be empty
 
     def __start_capability(self, capability, preferred_provider):
-        if capability not in self.__spec_index.interfaces.keys() + self.__spec_index.semantic_interfaces.keys():
+        if capability not in list(self.__spec_index.interfaces.keys()) + list(self.__spec_index.semantic_interfaces.keys()):
             raise RuntimeError("Capability '{0}' not found.".format(capability))
         # If no preferred provider is given, use the default
         preferred_provider = preferred_provider or self.__default_providers[capability]
@@ -909,9 +910,9 @@ def handle_get_providers(self, req):
 
     def _handle_get_providers(self, req):
         if req.interface:
-            if req.interface not in self.__spec_index.interfaces.keys() + self.__spec_index.semantic_interfaces.keys():
+            if req.interface not in list(self.__spec_index.interfaces.keys()) + list(self.__spec_index.semantic_interfaces.keys()):
                 raise RuntimeError("Capability Interface '{0}' not found.".format(req.interface))
-            providers = self.__get_providers_for_interface(req.interface, allow_semantic=req.include_semantic).keys()
+            providers = list(self.__get_providers_for_interface(req.interface, allow_semantic=req.include_semantic).keys())
             default_provider = self.__default_providers[req.interface]
         else:
             providers = self.__spec_index.provider_names
@@ -942,7 +943,7 @@ def _handle_get_running_capabilities(self, req):
             running_capability.capability = Capability(instance.interface, instance.name)
             running_capability.started_by = instance.started_by
             running_capability.pid = instance.pid
-            rdepends = get_reverse_depends(instance.interface, self.__capability_instances.values())
+            rdepends = get_reverse_depends(instance.interface, list(self.__capability_instances.values()))
             for dep in rdepends:
                 running_capability.dependent_capabilities.append(Capability(dep.interface, dep.name))
             resp.running_capabilities.append(running_capability)
@@ -961,7 +962,7 @@ def handle_get_remappings(self, req):
 
     def _handle_get_remappings(self, req):
         interface = None
-        if req.spec in self.__capability_instances.keys():
+        if req.spec in list(self.__capability_instances.keys()):
             interface = self.__capability_instances[req.spec]
         else:
             providers = dict([(i.provider.name, i) for i in self.__capability_instances.values()])

src/capabilities/service_discovery.py

@@ -46,6 +46,7 @@
 and providers) availble to the remote ``capability_server``.
 """
 
+from __future__ import absolute_import
 import rospy
 
 from capabilities.srv import GetCapabilitySpecs

src/capabilities/specs/interface.py

@@ -98,9 +98,11 @@
 
 from __future__ import print_function
 
+from __future__ import absolute_import
 import difflib
 import os
 import yaml
+import six
 
 
 class InvalidInterface(Exception):
@@ -226,7 +228,7 @@ def __add_element_to_interface(name, element, group_name=None):
     for group in element_groups:
         if group in ['requires', 'provides']:
             elements = element_groups[group] or {}
-            for name, element in elements.iteritems():
+            for name, element in six.iteritems(elements):
                 __add_element_to_interface(name, element, group)
         else:
             __add_element_to_interface(group, element_groups[group])
@@ -485,7 +487,7 @@ def __init__(self, name, spec_version, description=None):
 
     def __str__(self):
         elements = "topics:\n"
-        required_and_provided = list(self.required_topics.keys() + self.provided_topics.keys())
+        required_and_provided = list(self.required_topics.keys()) + list(self.provided_topics.keys())
         both = [x for x in self.topics if x not in required_and_provided]
         for name, topic in self.topics.items():
             if name not in both:
@@ -504,7 +506,7 @@ def __str__(self):
             elements += "\n          ".join(str(topic).splitlines())
             elements += "\n"
         elements += "    services:\n"
-        required_and_provided = list(self.required_services.keys() + self.provided_services.keys())
+        required_and_provided = list(self.required_services.keys()) + list(self.provided_services.keys())
         both = [x for x in self.services if x not in required_and_provided]
         for name, service in self.services.items():
             if name not in both:
@@ -523,7 +525,7 @@ def __str__(self):
             elements += "\n          ".join(str(service).splitlines())
             elements += "\n"
         elements += "    actions:\n"
-        required_and_provided = list(self.required_actions.keys() + self.provided_actions.keys())
+        required_and_provided = list(self.required_actions.keys()) + list(self.provided_actions.keys())
         both = [x for x in self.actions if x not in required_and_provided]
         for name, action in self.actions.items():
             if name not in both:
@@ -542,7 +544,7 @@ def __str__(self):
             elements += "\n          ".join(str(action).splitlines())
             elements += "\n"
         elements += "    parameters:\n"
-        required_and_provided = list(self.required_parameters.keys() + self.provided_parameters.keys())
+        required_and_provided = list(self.required_parameters.keys()) + list(self.provided_parameters.keys())
         both = [x for x in self.parameters if x not in required_and_provided]
         for name, parameter in self.parameters.items():
             if name not in both:

src/capabilities/specs/provider.py

@@ -82,12 +82,14 @@
 
 from __future__ import print_function
 
+from __future__ import absolute_import
 import os
 import yaml
 
 from capabilities.specs.common import validate_spec_name
 
 from capabilities.specs.remappings import RemapCollection
+import six
 
 
 class InvalidProvider(Exception):
@@ -197,7 +199,7 @@ def capability_provider_from_dict(spec, file_name='<dict>'):
         raise InvalidProvider("Invalid depends_on section, expected dict got: '{0}'".format(type(depends_on)),
                               file_name)
     valid_conditionals = ['provider']
-    for interface, conditions in depends_on.iteritems():
+    for interface, conditions in six.iteritems(depends_on):
         if not isinstance(conditions, dict):
             raise InvalidProvider("Invalid depends_on conditional section, expected dict got: '{0}'"
                                   .format(type(conditions)), file_name)

src/capabilities/specs/semantic_interface.py

@@ -84,6 +84,7 @@
 
 from __future__ import print_function
 
+from __future__ import absolute_import
 import os
 import yaml
 

test/rostest/test_client/test_client_module.py

@@ -2,6 +2,7 @@
 
 from __future__ import print_function
 
+from __future__ import absolute_import
 import unittest
 
 import rostest