Update to python3

README.rst

@@ -65,7 +65,7 @@ The required 3rd party dependencies are:
 
   - Qt4 or Qt5 (Qt 4.8.7 recommended)
   - VTK 6.2+ (VTK 7.1.1 recommended)
-  - Python 2.7 and NumPy
+  - Python 3.4+ and NumPy
 
 Additionally, you will need CMake 2.8 or greater to configure the source code.
 

cmake/dd-macros.cmake

@@ -1,6 +1,6 @@
 macro(setup_python)
-  find_package(PythonLibs 2.7 REQUIRED)
-  find_package(PythonInterp 2.7 REQUIRED)
+  find_package(PythonLibs 3.4 REQUIRED)
+  find_package(PythonInterp 3.4 REQUIRED)
 endmacro()
 
 

cmake/modules/FindNumPy.cmake

@@ -41,9 +41,9 @@
 
 # Finding NumPy involves calling the Python interpreter
 if(NumPy_FIND_REQUIRED)
-    find_package(PythonInterp 2.7 REQUIRED)
+    find_package(PythonInterp 3.4 REQUIRED)
 else()
-    find_package(PythonInterp 2.7)
+    find_package(PythonInterp 3.4)
 endif()
 
 if(NOT PYTHONINTERP_FOUND)

distro/superbuild/cmake/externals.cmake

@@ -62,20 +62,21 @@ endif()
 
 
 if(APPLE)
-  find_program(PYTHON_CONFIG_EXECUTABLE python-config)
+  find_program(PYTHON_CONFIG_EXECUTABLE python3-config)
   if (NOT PYTHON_CONFIG_EXECUTABLE)
-    message(SEND_ERROR "python-config executable not found, but python is required.")
+    message(SEND_ERROR "python3-config executable not found, but python is required.")
   endif()
   # using "python-config --prefix" so that cmake always uses the python that is
   # in the users path, this is a fix for homebrew on Mac:
   # https://github.com/Homebrew/homebrew/issues/25118
   execute_process(COMMAND ${PYTHON_CONFIG_EXECUTABLE} --prefix OUTPUT_VARIABLE python_prefix OUTPUT_STRIP_TRAILING_WHITESPACE)
-  set(PYTHON_INCLUDE_DIR ${python_prefix}/include/python2.7)
-  set(PYTHON_LIBRARY ${python_prefix}/lib/libpython2.7${CMAKE_SHARED_LIBRARY_SUFFIX})
+  set(PYTHON_INCLUDE_DIR ${python_prefix}/include/python3.6m)
+  set(PYTHON_LIBRARY ${python_prefix}/lib/libpython3.6m${CMAKE_SHARED_LIBRARY_SUFFIX})
 else()
-  find_package(PythonLibs 2.7 REQUIRED)
+  set(Python_ADDITIONAL_VERSIONS 3.4) # required for cmake 2.8 on ubuntu 14.04
+  find_package(PythonLibs 3.4 REQUIRED)
 endif()
-find_package(PythonInterp 2.7 REQUIRED)
+find_package(PythonInterp 3.4 REQUIRED)
 
 set(python_args
   -DPYTHON_EXECUTABLE:PATH=${PYTHON_EXECUTABLE}
@@ -341,19 +342,19 @@ elseif(USE_PRECOMPILED_VTK)
 
   if (ubuntu_version EQUAL 14.04)
     if(DD_QT_VERSION EQUAL 4)
-      set(vtk_package_url ${url_base}/vtk7.1-qt4.8-python2.7-ubuntu14.04.tar.gz)
-      set(vtk_package_md5 fe5c16f427a497b5713c52a68ecf564d)
+      set(vtk_package_url ${url_base}/vtk7.1-qt4.8-python3.4-ubuntu14.04.tar.gz)
+      set(vtk_package_md5 5e9b52be15dccadefdd033c58f055705)
     else()
       message(FATAL_ERROR "Compiling director with Qt5 is not supported on Ubuntu 14.04. "
                "Please set DD_QT_VERSION to 4.")
     endif()
   elseif(ubuntu_version EQUAL 16.04)
     if(DD_QT_VERSION EQUAL 4)
-      set(vtk_package_url ${url_base}/vtk7.1-qt4.8-python2.7-ubuntu16.04.tar.gz)
-      set(vtk_package_md5 1291e072405a3982b559ec011c3cf2a1)
+      set(vtk_package_url ${url_base}/vtk7.1-qt4.8-python3.5-ubuntu16.04.tar.gz)
+      set(vtk_package_md5 185e718e13ef532e3af4a80397091058)
     else()
-      set(vtk_package_url ${url_base}/vtk7.1-qt5.5-python2.7-ubuntu16.04.tar.gz)
-      set(vtk_package_md5 5ac930a7b1c083f975115d5970fb1a34)
+      set(vtk_package_url ${url_base}/vtk7.1-qt5.5-python3.5-ubuntu16.04.tar.gz)
+      set(vtk_package_md5 00000000000000000000000000000000)
     endif()
   else()
     message(FATAL_ERROR "USE_PRECOMPILED_VTK requires Ubuntu 14.04 or 16.04 "
@@ -386,7 +387,7 @@ else()
       -DBUILD_EXAMPLES:BOOL=OFF
       -DVTK_RENDERING_BACKEND:STRING=OpenGL2
       -DVTK_QT_VERSION:STRING=${DD_QT_VERSION}
-      -DVTK_PYTHON_VERSION:STRING=2
+      -DVTK_PYTHON_VERSION:STRING=3
       -DModule_vtkGUISupportQt:BOOL=ON
       -DCMAKE_MACOSX_RPATH:BOOL=ON
       -DVTK_WRAP_PYTHON:BOOL=ON

distro/travis/install_deps.sh

@@ -12,28 +12,27 @@ install_ubuntu_deps_common()
     libglib2.0-dev \
     libqt4-dev \
     lsb-release \
-    python-coverage \
-    python-dev \
-    python-lxml \
-    python-numpy \
-    python-yaml \
+    python3-coverage \
+    python3-dev \
+    python3-lxml \
+    python3-numpy \
+    python3-yaml \
     wget \
     xvfb
 
   if [ "$MAKE_DOCS" = "ON" ]; then
     apt-get install -y \
       doxygen \
       graphviz \
-      python-pip \
-      python-sphinx
-    pip install sphinx-rtd-theme
+      python3-pip \
+      python3-sphinx
+    pip3 install sphinx-rtd-theme
   fi
 
   if [ "$MAKE_PACKAGE" = "ON" ]; then
     apt-get install -y \
       curl
   fi
-
 }
 
 install_ubuntu_deps()
@@ -63,13 +62,13 @@ install_osx_deps()
   cd $(brew --repository homebrew/core) && git reset --hard 543d8e9b27b9bb25ce4491773684c30c8cb66dcc
   #brew upgrade
 
-  brew install qt vtk7
+  brew install qt vtk7python3
   brew install doxygen graphviz
   brew install glib # for lcm
-  brew ls --versions python || brew install python
-  brew ls --versions numpy || brew install numpy || echo "error on brew install numpy"
+  brew ls --versions python3 || brew install python3
+  #brew ls --versions numpy || brew install numpy --with-python3 || echo "error on brew install numpy"
 
-  pip install pyyaml lxml Sphinx sphinx-rtd-theme coverage
+  pip3 install numpy pyyaml lxml Sphinx sphinx-rtd-theme coverage
 }
 
 

docs/sphinx/getting_started/build.rst

@@ -41,7 +41,7 @@ The required 3rd party dependencies are:
 
   - Qt4 or Qt5 (Qt 4.8.7 recommended)
   - VTK 6.2+ (VTK 7.1.1 recommended)
-  - Python 2.7 and NumPy
+  - Python 3.4+ and NumPy
 
 Additionally, you will need CMake 2.8 or greater to configure the source code.
 

src/python/CMakeLists.txt

@@ -208,7 +208,7 @@ foreach(file ${python_files})
 
   set(copied_python_files ${copied_python_files} ${tgt})
   get_filename_component(installDirSuffix ${file} PATH)
-  install(FILES ${tgt} ${tgtDir}/${tgt_we}.pyc DESTINATION ${DD_INSTALL_PYTHON_DIR}/${installDirSuffix} COMPONENT Runtime)
+  install(FILES ${tgt} DESTINATION ${DD_INSTALL_PYTHON_DIR}/${installDirSuffix} COMPONENT Runtime)
 endforeach(file)
 
 

src/python/compile_all.py.in

@@ -6,5 +6,5 @@ if success:
     file = open('./compile_complete', 'w')
     file.write('Done')
 else:
-    print '\nPython byte compile failed.\n'
+    print('\nPython byte compile failed.\n')
     sys.exit(1)

src/python/director/__init__.py

@@ -27,4 +27,4 @@ def updateSysPath(path):
 _initCoverage()
 
 # this is for mac homebrew users
-#updateSysPath('/usr/local/opt/vtk7/lib/python2.7/site-packages')
+#updateSysPath('/usr/local/opt/vtk7/lib/python3.6/site-packages')

src/python/director/affordanceitems.py

@@ -73,7 +73,7 @@ def loadDescription(self, desc, copyMode=COPY_MODE_ALL):
         self._renderAllViews()
 
     def syncProperties(self, desc, copyMode=COPY_MODE_ALL):
-        for propertyName, propertyValue in desc.iteritems():
+        for propertyName, propertyValue in desc.items():
             if copyMode == self.COPY_MODE_SKIP_LOCAL:
                 if propertyName in self.LOCAL_PROPERTY_NAMES:
                     continue

src/python/director/affordancemanager.py

@@ -84,7 +84,7 @@ def _notifyPendingUpdates(self):
             try:
                 self.collection.updateDescription(self.getAffordanceDescription(aff), notify=False)
             except:
-                print traceback.format_exc()
+                print((traceback.format_exc()))
 
         self._pendingUpdates.clear()
 

src/python/director/applogic.py

@@ -67,7 +67,7 @@ def showPythonConsole():
 _exclusiveDockWidgets = {}
 
 def hideDockWidgets(action):
-    for a, w in _exclusiveDockWidgets.iteritems():
+    for a, w in _exclusiveDockWidgets.items():
         if a is not action:
             dock, widget = w
             if not dock.isFloating():

src/python/director/assimp2vtk.py

@@ -28,7 +28,7 @@ def getPolyDataForMesh(self, mesh):
 
     def getTextureForMaterial(self, material):
 
-        materialDict = dict(material.properties.items())
+        materialDict = dict(list(material.properties.items()))
 
         if 'file' not in materialDict:
             return None
@@ -52,10 +52,10 @@ def getTextureForMaterial(self, material):
                 texture.EdgeClampOn()
                 texture.RepeatOn()
             else:
-                print 'failed to load image file:', imageFile
+                print('failed to load image file:', imageFile)
                 texture = None
         else:
-            print 'cannot find texture file:', textureFile
+            print('cannot find texture file:', textureFile)
             texture = None
 
         self.textureCache[textureFile] = texture
@@ -79,7 +79,7 @@ def addToView(self, view):
 
     def setMaterialProperties(self, obj, mesh):
         material = mesh.material
-        props = {k[0]:v for k, v in material.properties.iteritems()}
+        props = {k[0]:v for k, v in material.properties.items()}
 
         obj.setProperty('Alpha', props['opacity'])
         obj.setProperty('Color', props['diffuse'])
@@ -97,12 +97,12 @@ def setMaterialProperties(self, obj, mesh):
 
 def addMaterialMetaData(polyData, material):
 
-    materialDict = dict(material.properties.items())
+    materialDict = dict(list(material.properties.items()))
     textureFile = materialDict['file']
 
     textureFileAbsPath = os.path.join(meshDir, textureFile)
     if not os.path.isfile(textureFileAbsPath):
-        print 'warning, cannot find texture file:', os.path.abspath(textureFileAbsPath)
+        print('warning, cannot find texture file:', os.path.abspath(textureFileAbsPath))
 
     s = vtk.vtkStringArray()
     s.InsertNextValue(textureFile)
@@ -135,7 +135,7 @@ def assimpMeshToPolyData(mesh):
 
     cells = vtk.vtkCellArray()
 
-    for i in xrange(nfaces):
+    for i in range(nfaces):
         face = faces[i]
         tri = vtk.vtkTriangle()
         tri.GetPointIds().SetId(0, face[0])
@@ -172,8 +172,8 @@ def assimpTransformToVtk(node):
 
     m = vtk.vtkMatrix4x4()
 
-    for r in xrange(4):
-        for c in xrange(4):
+    for r in range(4):
+        for c in range(4):
             m.SetElement(r, c, node.matrix[r][c])
 
     t = vtk.vtkTransform()
@@ -212,7 +212,7 @@ def writeMultiBlockPolyData(polyDataList, outFile):
 if __name__ == '__main__':
 
     if len(sys.argv) < 2:
-        print 'Usage: %s <mesh file>' % sys.argv[0]
+        print('Usage: %s <mesh file>' % sys.argv[0])
         sys.exit(1)
 
 

src/python/director/asynctaskqueue.py

@@ -70,7 +70,7 @@ def addTask(self, task):
     def callbackLoop(self):
 
         try:
-            for i in xrange(10):
+            for i in range(10):
                 self.doWork()
             if not self.tasks:
                 self.stop()
@@ -121,7 +121,7 @@ def doWork(self):
 
     def handleGenerator(self, generator):
         try:
-            result = generator.next()
+            result = next(generator)
         except StopIteration:
             self.generators.remove(generator)
         else:
@@ -189,7 +189,7 @@ def __init__(self, message):
         self.message = message
 
     def __call__(self):
-        print self.message
+        print(self.message)
 
 
 class UserPromptTask(AsyncTask):

src/python/director/atlasdriver.py

@@ -1,5 +1,5 @@
 import os
-import vtkAll as vtk
+from . import vtkAll as vtk
 import math
 import numpy as np
 from collections import deque
@@ -33,7 +33,7 @@ def onSystemStatus(self, message):
         if self.outputConsole is not None:
             self.outputConsole.append(message)
         else:
-            print message
+            print(message)
 
 
 class AtlasDriver(object):

src/python/director/bihandeddemo.py

@@ -1,6 +1,6 @@
 import os
 import sys
-import vtkAll as vtk
+from . import vtkAll as vtk
 import math
 import time
 import types
@@ -510,14 +510,14 @@ def sendNeckPitchLookForward(self):
 
 
     def waitForAtlasBehaviorAsync(self, behaviorName):
-        assert behaviorName in self.atlasDriver.getBehaviorMap().values()
+        assert behaviorName in list(self.atlasDriver.getBehaviorMap().values())
         while self.atlasDriver.getCurrentBehaviorName() != behaviorName:
             yield
 
 
     def printAsync(self, s):
         yield
-        print s
+        print(s)
 
 
     def userPrompt(self, message):
@@ -526,7 +526,7 @@ def userPrompt(self, message):
             return
 
         yield
-        result = raw_input(message)
+        result = input(message)
         if result != 'y':
             raise Exception('user abort.')
 
@@ -578,7 +578,7 @@ def commitFootstepPlan(self):
 
     def waitForPlanExecution(self, plan):
         planElapsedTime = planplayback.PlanPlayback.getPlanElapsedTime(plan)
-        print 'waiting for plan execution:', planElapsedTime
+        print('waiting for plan execution:', planElapsedTime)
 
         return self.delay(planElapsedTime + 1.0)