piksi_py3_patch.patch

From 6b7e54cef0d7201ef863bb2dda5c1c588d603e05 Mon Sep 17 00:00:00 2001
From: joshua-ns-jordan <joshua.jordan@aranzgeo.com>
Date: Thu, 22 Jul 2021 16:14:56 +0200
Subject: [PATCH 1/3] Updated package.xml install to include python libraries.
 Added leapseconds to bin. Changed imports based on python version.

---
 piksi_multi_rtk_ros/CMakeLists.txt                   |  2 +-
 piksi_multi_rtk_ros/bin/leapseconds                  |  6 ++++++
 piksi_multi_rtk_ros/package.xml                      |  7 ++++++-
 .../src/piksi_multi_rtk_ros/__init__.py              |  9 +++++++--
 .../src/piksi_multi_rtk_ros/piksi_multi.py           | 12 +++++++++---
 5 files changed, 29 insertions(+), 7 deletions(-)
 create mode 100644 piksi_multi_rtk_ros/bin/leapseconds

diff --git a/piksi_multi_rtk_ros/CMakeLists.txt b/piksi_multi_rtk_ros/CMakeLists.txt
index d74db76..cb9f8a3 100644
--- a/piksi_multi_rtk_ros/CMakeLists.txt
+++ b/piksi_multi_rtk_ros/CMakeLists.txt
@@ -42,7 +42,7 @@ catkin_python_setup()
 #############
 ## Install ##
 #############
- catkin_install_python(PROGRAMS bin/piksi_multi bin/geodetic_survey
+ catkin_install_python(PROGRAMS bin/piksi_multi bin/geodetic_survey bin/leapseconds
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
diff --git a/piksi_multi_rtk_ros/bin/leapseconds b/piksi_multi_rtk_ros/bin/leapseconds
new file mode 100644
index 0000000..1d9adeb
--- /dev/null
+++ b/piksi_multi_rtk_ros/bin/leapseconds
@@ -0,0 +1,6 @@
+#! /usr/bin/env python
+
+from piksi_multi_rtk_ros import leapseconds
+
+if __name__ == '__main__':
+    leapseconds = leapseconds()
diff --git a/piksi_multi_rtk_ros/package.xml b/piksi_multi_rtk_ros/package.xml
index 05a3ed4..438e25c 100644
--- a/piksi_multi_rtk_ros/package.xml
+++ b/piksi_multi_rtk_ros/package.xml
@@ -21,5 +21,10 @@
   <depend>sensor_msgs</depend>
   <depend>roslib</depend>
   <depend>rospy</depend>
-
+  <depend>pbd</depend>
+  <depend>llvmlite</depend>
+  <depend>numpy-quaternion</depend>
+  <depend>scipy</depend>
+  <depend>pypro</depend>
+  <depend>numba</depend>
 </package>
diff --git a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/__init__.py b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/__init__.py
index 90bfcee..6fa7b7c 100644
--- a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/__init__.py
+++ b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/__init__.py
@@ -1,3 +1,8 @@
-from piksi_multi import PiksiMulti
-from geodetic_survey import GeodeticSurvey
+import sys
 
+if sys.version_info[0] == 2:
+    from piksi_multi import PiksiMulti
+    from geodetic_survey import GeodeticSurvey
+else:
+    from .piksi_multi import PiksiMulti
+    from .geodetic_survey import GeodeticSurvey
diff --git a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py
index 6455cb5..c3aab0e 100755
--- a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py
+++ b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py
@@ -9,9 +9,15 @@
 
 import rospy
 import math
-import quaternion
 import numpy as np
-import datetime, time, leapseconds
+import quaternion
+import sys
+
+if sys.version_info[0] == 2:
+    import leapseconds
+else:
+    from .leapseconds import leapseconds
+import datetime, time
 from collections import deque
 import std_srvs.srv
 # Import message types
@@ -721,7 +727,7 @@ class PiksiMulti:
                 rospy.signal_shutdown("Watchdog triggered, was gps disconnected?")
 
     def gps_time_to_utc(self, wn, tow, ns_residual):
-        epoch = datetime.datetime(1980,01,06)
+        epoch = datetime.datetime(1980,1,6)
         secs, msecs = divmod(tow, 1000)
         usec = ns_residual / 1000.0 # TODO(rikba): Handle nanoseconds.
         elapsed = datetime.timedelta(seconds=secs, microseconds=usec, milliseconds=msecs, weeks=wn)
-- 
2.25.1


From 96700ea6941b7012556d57225fa324a69932c095 Mon Sep 17 00:00:00 2001
From: Jonathan <jonathan.schiphorst@ams-institute.org>
Date: Thu, 12 Aug 2021 14:20:34 +0200
Subject: [PATCH 2/3] Using sbp version 3.4.10 now, which works with python3
 presumably

---
 piksi_multi_rtk_ros/install/install_piksi_multi.sh     |  2 +-
 .../src/piksi_multi_rtk_ros/UdpHelpers.py              | 10 +++++-----
 .../src/piksi_multi_rtk_ros/piksi_multi.py             |  7 +++++--
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/piksi_multi_rtk_ros/install/install_piksi_multi.sh b/piksi_multi_rtk_ros/install/install_piksi_multi.sh
index a36bbdf..0938dba 100755
--- a/piksi_multi_rtk_ros/install/install_piksi_multi.sh
+++ b/piksi_multi_rtk_ros/install/install_piksi_multi.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 
-REPO_TAG=v2.6.5 #version you want to checkout before installing
+REPO_TAG=v3.4.10 #version you want to checkout before installing
 
 #---------------- SBP ----------------
 echo " "
diff --git a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/UdpHelpers.py b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/UdpHelpers.py
index 9b69eea..296603c 100644
--- a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/UdpHelpers.py
+++ b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/UdpHelpers.py
@@ -37,7 +37,7 @@ class UDPDriver(BaseDriver):
         try:
             #self.handle.connect((host, port))
             self.handle.bind(("", port))
-        except socket.error, msg:
+        except socket.error as msg:
             pass
         super(UDPDriver, self).__init__(self.handle)
         self._write_lock = threading.Lock()
@@ -47,11 +47,11 @@ class UDPDriver(BaseDriver):
             try:
                 data, addr = self.handle.recvfrom(4096)
                 if not data:
-                    print "PIKSI UDP ERROR - no data from " + str(addr)
+                    print("PIKSI UDP ERROR - no data from " + str(addr))
                 for d in data:
                     self.buf.append(d)
-            except socket.error, msg:
-                print "PIKSI UDP ERROR " + str(msg)
+            except socket.error as msg:
+                print("PIKSI UDP ERROR " + str(msg))
 
         res = ''.join([self.buf.popleft() for i in xrange(min(size, len(self.buf)))])
         return res
@@ -71,7 +71,7 @@ class UDPDriver(BaseDriver):
         try:
             self._write_lock.acquire()
             self.handle.sendall(s)
-        except socket.error, msg:
+        except socket.error as msg:
             raise IOError
         finally:
             self._write_lock.release()
diff --git a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py
index c3aab0e..3afcbce 100755
--- a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py
+++ b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py
@@ -15,8 +15,11 @@ import sys
 
 if sys.version_info[0] == 2:
     import leapseconds
+    import UdpHelpers
 else:
     from .leapseconds import leapseconds
+    from .UdpHelpers import UdpHelpers
+
 import datetime, time
 from collections import deque
 import std_srvs.srv
@@ -54,7 +57,6 @@ from sbp.ext_events import *
 # At the moment importing 'sbp.version' module causes ValueError: Cannot find the version number!
 # import sbp.version
 # networking stuff
-import UdpHelpers
 import time
 import subprocess
 import re
@@ -505,6 +507,7 @@ class PiksiMulti:
             ping = subprocess.Popen(command, stdout=subprocess.PIPE)
 
             out, error = ping.communicate()
+            out = str(out)
             # Search for 'min/avg/max/mdev' round trip delay time (rtt) numbers.
             matcher = re.compile("(\d+.\d+)/(\d+.\d+)/(\d+.\d+)/(\d+.\d+)")
 
@@ -1459,7 +1462,7 @@ class PiksiMulti:
         out, error = pip_show_output.communicate()
 
         # Search for version number, output assumed in the form "Version: X.X.X"
-        version_output = re.search("Version: \d+.\d+.\d+", out)
+        version_output = re.search("Version: \d+.\d+.\d+", str(out))
 
         if version_output is None:
             # No version found
-- 
2.25.1


From 2f1fb83ec7f2cb6385bc12212ec4ec3d107e8701 Mon Sep 17 00:00:00 2001
From: Jonathan <jonathan.schiphorst@ams-institute.org>
Date: Thu, 12 Aug 2021 14:39:43 +0200
Subject: [PATCH 3/3] import error fix

---
 piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py
index 3afcbce..bc9dd98 100755
--- a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py
+++ b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/piksi_multi.py
@@ -18,7 +18,7 @@ if sys.version_info[0] == 2:
     import UdpHelpers
 else:
     from .leapseconds import leapseconds
-    from .UdpHelpers import UdpHelpers
+    import piksi_multi_rtk_ros.UdpHelpers as UdpHelpers
 
 import datetime, time
 from collections import deque
-- 
2.25.1