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Python3 compatible #7

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e6f0d86
added parentheses in print
yuanda Dec 11, 2022
9e3cf56
Used 2to3
yuanda Dec 11, 2022
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42 changes: 21 additions & 21 deletions 4BorgWeb.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
import time
import sys
import threading
import SocketServer
import socketserver
import picamera
import picamera.array
import cv2
Expand Down Expand Up @@ -39,13 +39,13 @@
if not PBR.foundChip:
boards = PicoBorgRev.ScanForPicoBorgReverse()
if len(boards) == 0:
print 'No PicoBorg Reverse found, check you are attached :)'
print('No PicoBorg Reverse found, check you are attached :)')
else:
print 'No PicoBorg Reverse at address %02X, but we did find boards:' % (PBR.i2cAddress)
print(('No PicoBorg Reverse at address %02X, but we did find boards:' % (PBR.i2cAddress)))
for board in boards:
print ' %02X (%d)' % (board, board)
print 'If you need to change the I²C address change the setup line so it is correct, e.g.'
print 'PBR.i2cAddress = 0x%02X' % (boards[0])
print((' %02X (%d)' % (board, board)))
print('If you need to change the I²C address change the setup line so it is correct, e.g.')
print(('PBR.i2cAddress = 0x%02X' % (boards[0])))
sys.exit()
#PBR.SetEpoIgnore(True) # Uncomment to disable EPO latch, needed if you do not have a switch / jumper
PBR.SetCommsFailsafe(False) # Disable the communications failsafe
Expand Down Expand Up @@ -78,15 +78,15 @@ def run(self):
if timedOut:
if self.event.wait(1):
# Connection
print 'Reconnected...'
print('Reconnected...')
timedOut = False
self.event.clear()
else:
if self.event.wait(1):
self.event.clear()
else:
# Timed out
print 'Timed out...'
print('Timed out...')
timedOut = True
PBR.MotorsOff()

Expand Down Expand Up @@ -131,12 +131,12 @@ def __init__(self):
def run(self):
global camera
global processor
print 'Start the stream using the video port'
print('Start the stream using the video port')
camera.capture_sequence(self.TriggerStream(), format='bgr', use_video_port=True)
print 'Terminating camera processing...'
print('Terminating camera processing...')
processor.terminated = True
processor.join()
print 'Processing terminated.'
print('Processing terminated.')

# Stream delegation loop
def TriggerStream(self):
Expand All @@ -149,7 +149,7 @@ def TriggerStream(self):
processor.event.set()

# Class used to implement the web server
class WebServer(SocketServer.BaseRequestHandler):
class WebServer(socketserver.BaseRequestHandler):
def handle(self):
global PBR
global lastFrame
Expand Down Expand Up @@ -465,34 +465,34 @@ def send(self, content):
lockFrame = threading.Lock()

# Startup sequence
print 'Setup camera'
print('Setup camera')
camera = picamera.PiCamera()
camera.resolution = (imageWidth, imageHeight)
camera.framerate = frameRate

print 'Setup the stream processing thread'
print('Setup the stream processing thread')
processor = StreamProcessor()

print 'Wait ...'
print('Wait ...')
time.sleep(2)
captureThread = ImageCapture()

print 'Setup the watchdog'
print('Setup the watchdog')
watchdog = Watchdog()

# Run the web server until we are told to close
httpServer = SocketServer.TCPServer(("0.0.0.0", webPort), WebServer)
httpServer = socketserver.TCPServer(("0.0.0.0", webPort), WebServer)
try:
print 'Press CTRL+C to terminate the web-server'
print('Press CTRL+C to terminate the web-server')
while running:
httpServer.handle_request()
except KeyboardInterrupt:
# CTRL+C exit
print '\nUser shutdown'
print('\nUser shutdown')
finally:
# Turn the motors off under all scenarios
PBR.MotorsOff()
print 'Motors off'
print('Motors off')
# Tell each thread to stop, and wait for them to end
running = False
captureThread.join()
Expand All @@ -502,4 +502,4 @@ def send(self, content):
watchdog.join()
del camera
PBR.SetLed(True)
print 'Web-server terminated.'
print('Web-server terminated.')
50 changes: 25 additions & 25 deletions Diablo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,15 +85,15 @@ def ScanForDiablo(busNumber = 1):
The busNumber if supplied is which I�C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
"""
found = []
print 'Scanning I�C bus #%d' % (busNumber)
print(('Scanning I�C bus #%d' % (busNumber)))
bus = Diablo()
for address in range(0x03, 0x78, 1):
try:
bus.InitBusOnly(busNumber, address)
i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
if len(i2cRecv) == I2C_MAX_LEN:
if i2cRecv[1] == I2C_ID_DIABLO:
print 'Found Diablo at %02X' % (address)
print(('Found Diablo at %02X' % (address)))
found.append(address)
else:
pass
Expand All @@ -104,11 +104,11 @@ def ScanForDiablo(busNumber = 1):
except:
pass
if len(found) == 0:
print 'No Diablo boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber)
print(('No Diablo boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber)))
elif len(found) == 1:
print '1 Diablo board found'
print('1 Diablo board found')
else:
print '%d Diablo boards found' % (len(found))
print(('%d Diablo boards found' % (len(found))))
return found


Expand All @@ -122,64 +122,64 @@ def SetNewAddress(newAddress, oldAddress = -1, busNumber = 1):
Warning, this new I�C address will still be used after resetting the power on the device
"""
if newAddress < 0x03:
print 'Error, I�C addresses below 3 (0x03) are reserved, use an address between 3 (0x03) and 119 (0x77)'
print('Error, I�C addresses below 3 (0x03) are reserved, use an address between 3 (0x03) and 119 (0x77)')
return
elif newAddress > 0x77:
print 'Error, I�C addresses above 119 (0x77) are reserved, use an address between 3 (0x03) and 119 (0x77)'
print('Error, I�C addresses above 119 (0x77) are reserved, use an address between 3 (0x03) and 119 (0x77)')
return
if oldAddress < 0x0:
found = ScanForDiablo(busNumber)
if len(found) < 1:
print 'No Diablo boards found, cannot set a new I�C address!'
print('No Diablo boards found, cannot set a new I�C address!')
return
else:
oldAddress = found[0]
print 'Changing I�C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber)
print(('Changing I�C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber)))
bus = Diablo()
bus.InitBusOnly(busNumber, oldAddress)
try:
i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
if len(i2cRecv) == I2C_MAX_LEN:
if i2cRecv[1] == I2C_ID_DIABLO:
foundChip = True
print 'Found Diablo at %02X' % (oldAddress)
print(('Found Diablo at %02X' % (oldAddress)))
else:
foundChip = False
print 'Found a device at %02X, but it is not a Diablo (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_DIABLO)
print(('Found a device at %02X, but it is not a Diablo (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_DIABLO)))
else:
foundChip = False
print 'Missing Diablo at %02X' % (oldAddress)
print(('Missing Diablo at %02X' % (oldAddress)))
except KeyboardInterrupt:
raise
except:
foundChip = False
print 'Missing Diablo at %02X' % (oldAddress)
print(('Missing Diablo at %02X' % (oldAddress)))
if foundChip:
bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress])
time.sleep(0.1)
print 'Address changed to %02X, attempting to talk with the new address' % (newAddress)
print(('Address changed to %02X, attempting to talk with the new address' % (newAddress)))
try:
bus.InitBusOnly(busNumber, newAddress)
i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
if len(i2cRecv) == I2C_MAX_LEN:
if i2cRecv[1] == I2C_ID_DIABLO:
foundChip = True
print 'Found Diablo at %02X' % (newAddress)
print(('Found Diablo at %02X' % (newAddress)))
else:
foundChip = False
print 'Found a device at %02X, but it is not a Diablo (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_DIABLO)
print(('Found a device at %02X, but it is not a Diablo (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_DIABLO)))
else:
foundChip = False
print 'Missing Diablo at %02X' % (newAddress)
print(('Missing Diablo at %02X' % (newAddress)))
except KeyboardInterrupt:
raise
except:
foundChip = False
print 'Missing Diablo at %02X' % (newAddress)
print(('Missing Diablo at %02X' % (newAddress)))
if foundChip:
print 'New I�C address of %02X set successfully' % (newAddress)
print(('New I�C address of %02X set successfully' % (newAddress)))
else:
print 'Failed to set new I�C address...'
print('Failed to set new I�C address...')


# Class used to control Diablo
Expand Down Expand Up @@ -268,7 +268,7 @@ def Print(self, message):
Wrapper used by the Diablo instance to print messages, will call printFunction if set, print otherwise
"""
if self.printFunction == None:
print message
print(message)
else:
self.printFunction(message)

Expand Down Expand Up @@ -904,10 +904,10 @@ def Help(self):
Displays the names and descriptions of the various functions and settings provided
"""
funcList = [Diablo.__dict__.get(a) for a in dir(Diablo) if isinstance(Diablo.__dict__.get(a), types.FunctionType)]
funcListSorted = sorted(funcList, key = lambda x: x.func_code.co_firstlineno)
funcListSorted = sorted(funcList, key = lambda x: x.__code__.co_firstlineno)

print self.__doc__
print
print((self.__doc__))
print()
for func in funcListSorted:
print '=== %s === %s' % (func.func_name, func.func_doc)
print(('=== %s === %s' % (func.__name__, func.__doc__)))

50 changes: 25 additions & 25 deletions PicoBorgRev.py
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Original file line number Diff line number Diff line change
Expand Up @@ -86,15 +86,15 @@ def ScanForPicoBorgReverse(busNumber = 1):
The busNumber if supplied is which I�C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
"""
found = []
print 'Scanning I�C bus #%d' % (busNumber)
print(('Scanning I�C bus #%d' % (busNumber)))
bus = PicoBorgRev()
for address in range(0x03, 0x78, 1):
try:
bus.InitBusOnly(busNumber, address)
i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
if len(i2cRecv) == I2C_MAX_LEN:
if i2cRecv[1] == I2C_ID_PICOBORG_REV:
print 'Found PicoBorg Reverse at %02X' % (address)
print(('Found PicoBorg Reverse at %02X' % (address)))
found.append(address)
else:
pass
Expand All @@ -105,11 +105,11 @@ def ScanForPicoBorgReverse(busNumber = 1):
except:
pass
if len(found) == 0:
print 'No PicoBorg Reverse boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber)
print(('No PicoBorg Reverse boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber)))
elif len(found) == 1:
print '1 PicoBorg Reverse board found'
print('1 PicoBorg Reverse board found')
else:
print '%d PicoBorg Reverse boards found' % (len(found))
print(('%d PicoBorg Reverse boards found' % (len(found))))
return found


Expand All @@ -123,64 +123,64 @@ def SetNewAddress(newAddress, oldAddress = -1, busNumber = 1):
Warning, this new I�C address will still be used after resetting the power on the device
"""
if newAddress < 0x03:
print 'Error, I�C addresses below 3 (0x03) are reserved, use an address between 3 (0x03) and 119 (0x77)'
print('Error, I�C addresses below 3 (0x03) are reserved, use an address between 3 (0x03) and 119 (0x77)')
return
elif newAddress > 0x77:
print 'Error, I�C addresses above 119 (0x77) are reserved, use an address between 3 (0x03) and 119 (0x77)'
print('Error, I�C addresses above 119 (0x77) are reserved, use an address between 3 (0x03) and 119 (0x77)')
return
if oldAddress < 0x0:
found = ScanForPicoBorgReverse(busNumber)
if len(found) < 1:
print 'No PicoBorg Reverse boards found, cannot set a new I�C address!'
print('No PicoBorg Reverse boards found, cannot set a new I�C address!')
return
else:
oldAddress = found[0]
print 'Changing I�C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber)
print(('Changing I�C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber)))
bus = PicoBorgRev()
bus.InitBusOnly(busNumber, oldAddress)
try:
i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
if len(i2cRecv) == I2C_MAX_LEN:
if i2cRecv[1] == I2C_ID_PICOBORG_REV:
foundChip = True
print 'Found PicoBorg Reverse at %02X' % (oldAddress)
print(('Found PicoBorg Reverse at %02X' % (oldAddress)))
else:
foundChip = False
print 'Found a device at %02X, but it is not a PicoBorg Reverse (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_PICOBORG_REV)
print(('Found a device at %02X, but it is not a PicoBorg Reverse (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_PICOBORG_REV)))
else:
foundChip = False
print 'Missing PicoBorg Reverse at %02X' % (oldAddress)
print(('Missing PicoBorg Reverse at %02X' % (oldAddress)))
except KeyboardInterrupt:
raise
except:
foundChip = False
print 'Missing PicoBorg Reverse at %02X' % (oldAddress)
print(('Missing PicoBorg Reverse at %02X' % (oldAddress)))
if foundChip:
bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress])
time.sleep(0.1)
print 'Address changed to %02X, attempting to talk with the new address' % (newAddress)
print(('Address changed to %02X, attempting to talk with the new address' % (newAddress)))
try:
bus.InitBusOnly(busNumber, newAddress)
i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_MAX_LEN)
if len(i2cRecv) == I2C_MAX_LEN:
if i2cRecv[1] == I2C_ID_PICOBORG_REV:
foundChip = True
print 'Found PicoBorg Reverse at %02X' % (newAddress)
print(('Found PicoBorg Reverse at %02X' % (newAddress)))
else:
foundChip = False
print 'Found a device at %02X, but it is not a PicoBorg Reverse (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_PICOBORG_REV)
print(('Found a device at %02X, but it is not a PicoBorg Reverse (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_PICOBORG_REV)))
else:
foundChip = False
print 'Missing PicoBorg Reverse at %02X' % (newAddress)
print(('Missing PicoBorg Reverse at %02X' % (newAddress)))
except KeyboardInterrupt:
raise
except:
foundChip = False
print 'Missing PicoBorg Reverse at %02X' % (newAddress)
print(('Missing PicoBorg Reverse at %02X' % (newAddress)))
if foundChip:
print 'New I�C address of %02X set successfully' % (newAddress)
print(('New I�C address of %02X set successfully' % (newAddress)))
else:
print 'Failed to set new I�C address...'
print('Failed to set new I�C address...')


# Class used to control PicoBorg Reverse
Expand Down Expand Up @@ -269,7 +269,7 @@ def Print(self, message):
Wrapper used by the PicoBorgRev instance to print messages, will call printFunction if set, print otherwise
"""
if self.printFunction == None:
print message
print(message)
else:
self.printFunction(message)

Expand Down Expand Up @@ -935,10 +935,10 @@ def Help(self):
Displays the names and descriptions of the various functions and settings provided
"""
funcList = [PicoBorgRev.__dict__.get(a) for a in dir(PicoBorgRev) if isinstance(PicoBorgRev.__dict__.get(a), types.FunctionType)]
funcListSorted = sorted(funcList, key = lambda x: x.func_code.co_firstlineno)
funcListSorted = sorted(funcList, key = lambda x: x.__code__.co_firstlineno)

print self.__doc__
print
print((self.__doc__))
print()
for func in funcListSorted:
print '=== %s === %s' % (func.func_name, func.func_doc)
print(('=== %s === %s' % (func.__name__, func.__doc__)))

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