Merge remote-tracking branch 'upstream/multitablespython3' into dev_ros

2 files changed, 34 insertions, 32 deletions

diff --git a/src/modules/systemlib/mixer/multi_tables.mk b/src/modules/systemlib/mixer/multi_tables.mk
index 6429961cc..c537c83a4 100644
--- a/src/modules/systemlib/mixer/multi_tables.mk
+++ b/src/modules/systemlib/mixer/multi_tables.mk
@@ -33,11 +33,10 @@
 
 
 SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
+MULTI_TABLES := $(SELF_DIR)multi_tables.py
 
 # Add explicit dependency, as implicit one doesn't work often.
 $(SELF_DIR)mixer_multirotor.cpp : $(SELF_DIR)mixer_multirotor.generated.h
 
-$(SELF_DIR)mixer_multirotor.generated.h : $(SELF_DIR)multi_tables
-	$(SELF_DIR)multi_tables > $(SELF_DIR)mixer_multirotor.generated.h
-	$(SELF_DIR)multi_tables
-	
\ No newline at end of file
+$(SELF_DIR)mixer_multirotor.generated.h : $(MULTI_TABLES)
+	$(Q) $(PYTHON) $(MULTI_TABLES) > $(SELF_DIR)mixer_multirotor.generated.h
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables.py
index a9edb357b..21c0affd9 100755
--- a/src/modules/systemlib/mixer/multi_tables
+++ b/src/modules/systemlib/mixer/multi_tables.py
@@ -36,15 +36,18 @@
 # Generate multirotor mixer scale tables compatible with the ArduCopter layout
 #
 
+# for python2.7 compatibility
+from __future__ import  print_function
+
 import math
 
-print "/*"
-print "* This file is automatically generated by multi_tables - do not edit."
-print "*/"
-print ""
-print "#ifndef _MIXER_MULTI_TABLES"
-print "#define _MIXER_MULTI_TABLES"
-print ""
+print("/*")
+print("* This file is automatically generated by multi_tables - do not edit.")
+print("*/")
+print("")
+print("#ifndef _MIXER_MULTI_TABLES")
+print("#define _MIXER_MULTI_TABLES")
+print("")
 
 def rcos(angleInRadians):
   return math.cos(math.radians(angleInRadians))
@@ -146,7 +149,7 @@ twin_engine = [
 ]
 
 def variableName(variable):
-    for variableName, value in list(globals().iteritems()):
+    for variableName, value in list(globals().items()):
         if value is variable:
             return variableName
 
@@ -154,44 +157,44 @@ tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x
 
 
 def printEnum():
-    print "enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {"
+    print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
     for table in tables:
-        print "\t{},".format(variableName(table).upper())
+        print("\t{},".format(variableName(table).upper()))
 
-    print "\n\tMAX_GEOMETRY"
-    print "}; // enum class MultirotorGeometry\n"
+    print("\n\tMAX_GEOMETRY")
+    print("}; // enum class MultirotorGeometry\n")
 
 def printScaleTables():
     for table in tables:
-        print "const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table))
+        print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
         for (angle, yawScale) in table:
             rollScale = rcos(angle + 90)
             pitchScale = rcos(angle)
-            print "\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale)
-        print "};\n"
-    
+            print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale))
+        print("};\n")
+
 def printScaleTablesIndex():
-    print "const MultirotorMixer::Rotor *_config_index[] = {"
+    print("const MultirotorMixer::Rotor *_config_index[] = {")
     for table in tables:
-        print "\t&_config_{}[0],".format(variableName(table))
-    print "};\n"
+        print("\t&_config_{}[0],".format(variableName(table)))
+    print("};\n")
 
 
 def printScaleTablesCounts():
-    print "const unsigned _config_rotor_count[] = {"
+    print("const unsigned _config_rotor_count[] = {")
     for table in tables:
-        print "\t{}, /* {} */".format(len(table), variableName(table))
-    print "};\n"
-    
-    
+        print("\t{}, /* {} */".format(len(table), variableName(table)))
+    print("};\n")
+
+
 
 printEnum()
 
-print "namespace {"
+print("namespace {")
 printScaleTables()
 printScaleTablesIndex()
 printScaleTablesCounts()
 
-print "} // anonymous namespace\n"
-print "#endif /* _MIXER_MULTI_TABLES */"
-print ""
+print("} // anonymous namespace\n")
+print("#endif /* _MIXER_MULTI_TABLES */")
+print("")