Python3 support

.gitignore

@@ -1,5 +1,12 @@
 *.pyc
 *.so
 imusim/maths/*.c
+imusim/maths/*.html
 build
 docs/build
+.idea
+dist/
+imusim.egg-info/
+.DS_Store
+tests*.txt
+

docs/imusim_api.py

@@ -3,6 +3,8 @@
 import inspect
 import imusim
 import imusim.all
+import functools
+
 
 def imusim_api_role(role, rawtext, text, lineno, inliner, options={}, content=[]):
     """
@@ -12,7 +14,7 @@ def imusim_api_role(role, rawtext, text, lineno, inliner, options={}, content=[]
 
     try:
         # Look for object in imusim.all.
-        obj = reduce(lambda x,y: getattr(x,y), [imusim.all] + text.split('.'))
+        obj = functools.reduce(lambda x,y: getattr(x,y), [imusim.all] + text.split('.'))
 
         if inspect.ismodule(obj):
             file = '%s-module.html' % obj.__name__
@@ -34,18 +36,16 @@ def imusim_api_role(role, rawtext, text, lineno, inliner, options={}, content=[]
                 file = '%s.%s-class.html#%s' \
                     % (cls.__module__, cls.__name__, obj.__name__)
             else:
-                raise TypeError, \
-                        "Don't know how to document native object " + repr(obj)
+                raise TypeError("Don't know how to document native object " + repr(obj))
         else:
-            raise TypeError, \
-                    "Don't know how to document Python object " + repr(obj)
+            raise TypeError("Don't know how to document Python object " + repr(obj))
     except AttributeError:
         # Look for object as an imusim submodule.
         __import__("imusim.%s" % text)
-        obj = reduce(lambda x,y: getattr(x,y), [imusim] + text.split('.'))
+        obj = functools.reduce(lambda x,y: getattr(x,y), [imusim] + text.split('.'))
         file = 'imusim.%s-module.html' % text
     except ImportError:
-        raise KeyError, "Could not find an IMUSim object called '%s'" % text
+        raise KeyError("Could not find an IMUSim object called '%s'" % text)
 
     if inspect.ismethod(obj) \
             or (inspect.isbuiltin(obj) and hasattr(obj, '__objclass__')):
@@ -59,5 +59,6 @@ def imusim_api_role(role, rawtext, text, lineno, inliner, options={}, content=[]
 
     return [node], []
 
+
 def setup(app):
     app.add_role('api', imusim_api_role)

imusim/algorithms/calibration.py

@@ -17,19 +17,16 @@
 #
 # You should have received a copy of the GNU General Public License
 # along with IMUSim.  If not, see <http://www.gnu.org/licenses/>.
-
-from __future__ import division
 from scipy.optimize import leastsq
-from abc import abstractmethod, ABCMeta
+from abc import abstractmethod, ABC
 import imusim.maths.vectors as vectors
 import numpy as np
 
-class SensorCalibration(object):
+
+class SensorCalibration(ABC):
     """
     Calibration data for a triaxial sensor.
     """
-    __metaclass__ = ABCMeta
-
     @abstractmethod
     def apply(measurement):
         """
@@ -40,6 +37,7 @@ def apply(measurement):
         """
         pass
 
+
 class ScaleAndOffsetCalibration(SensorCalibration):
     """
     Calibration that corrects constant scale and offset errors.
@@ -83,7 +81,7 @@ def error(p):
         p0 = np.array([1,1,1,0,0,0])
         p, ier = leastsq(error, p0, ftol=1e-3, maxfev=10000)
         if ier not in [1,2,3,4]:
-            raise ValueError, "Scale and offset fitting failed."
+            raise ValueError("Scale and offset fitting failed.")
         return ScaleAndOffsetCalibration(*params(p))
 
     def apply(self, measurement):

imusim/algorithms/orientation.py

@@ -18,8 +18,7 @@
 # You should have received a copy of the GNU General Public License
 # along with IMUSim.  If not, see <http://www.gnu.org/licenses/>.
 
-from __future__ import division
-from abc import ABCMeta, abstractmethod
+from abc import ABC, abstractmethod
 from imusim.maths.quaternions import Quaternion
 from imusim.maths import vectors
 from imusim.maths.kalman import KalmanFilter
@@ -32,7 +31,8 @@
 import numpy as np
 import math
 
-class OrientationFilter(object):
+
+class OrientationFilter(ABC):
     """
     Base class for orientation estimation filters.
 
@@ -43,8 +43,6 @@ class OrientationFilter(object):
     @ivar rotation: L{TimeSeries} of quaternion orientation estimates.
     """
 
-    __metaclass__ = ABCMeta
-
     def __init__(self, initialTime, initialRotation):
         """
         Initialise orientation filter.

imusim/algorithms/position.py

@@ -18,7 +18,7 @@
 # You should have received a copy of the GNU General Public License
 # along with IMUSim.  If not, see <http://www.gnu.org/licenses/>.
 
-from abc import ABCMeta, abstractmethod
+from abc import ABC, abstractmethod
 import numpy as np
 import scipy.stats
 import math
@@ -27,15 +27,14 @@
 from imusim.utilities.time_series import TimeSeries
 from imusim.utilities.documentation import prepend_method_doc
 
-class PositionEstimator(object):
+
+class PositionEstimator(ABC):
     """
     Base class for position estimation algorithms.
 
     A position estimator takes data from IMUs on a jointed rigid body and
     updates the root position of a L{SampledBodyModel}.
     """
-    __metaclass__ = ABCMeta
-
     def __init__(self, model, initialTime=0, initialPosition=np.zeros((3,1))):
         """
         Initialise position estimator.
@@ -92,9 +91,10 @@ def getParameter(self, data, jointName, parameter, default=None):
             parameter is not found in the passed data.
         """
         for item in data:
-            if item.has_key('jointName') and item['jointName'] == jointName:
+            if item.get('jointName') == jointName:
                 return item.get(parameter, default)
 
+
 class ConstantPosition(PositionEstimator):
     """
     Trivial position estimator that gives a constant position.

imusim/algorithms/posture_reconstruction.py

@@ -18,21 +18,20 @@
 # You should have received a copy of the GNU General Public License
 # along with IMUSim.  If not, see <http://www.gnu.org/licenses/>.
 
-from abc import ABCMeta, abstractmethod
+from abc import ABC, abstractmethod
 from imusim.trajectories.rigid_body import SampledBodyModel
 from imusim.maths.quaternions import Quaternion
 from imusim.platforms.radios import RadioPacket
 
-class PostureReconstructor(object):
+
+class PostureReconstructor(ABC):
     """
     Base class for posture reconstruction algorithms.
 
     A posture estimator takes data from IMUs on a jointed rigid body and
     updates the joint rotations of a L{SampledBodyModel}.
     """
-    __metaclass__ = ABCMeta
-
-    def __init__(self, bodyModel, initialJointRotations=[]):
+    def __init__(self, bodyModel, initialJointRotations=()):
         """
         Initialise posture reconstructor.
 
@@ -78,6 +77,7 @@ def _update(self, joint, data, dt, t):
         """
         pass
 
+
 class SimpleForwardKinematics(PostureReconstructor):
     """
     Posture reconstructor using joint orientations directly.
@@ -87,7 +87,7 @@ def __init__(self, bodyModel):
         PostureReconstructor.__init__(self, bodyModel)
 
     def _update(self, joint, data, dt, t):
-        if data is not None and data.has_key('rotation'):
+        if data is not None and 'rotation' in data:
             joint.rotationKeyFrames.add(t, data['rotation'])
 
 
@@ -104,7 +104,7 @@ def __init__(self, bodyModel):
         PostureReconstructor.__init__(self, bodyModel)
 
     def _update(self, joint, data, dt, t):
-        if data is not None and data.has_key('rotation'):
+        if data is not None and 'rotation' in data:
             joint.rotationKeyFrames.add(t, data['rotation'])
         elif joint.hasParent:
             joint.rotationKeyFrames.add(t, joint.parent.rotation(t))

imusim/algorithms/vector_observation.py

@@ -19,25 +19,23 @@
 # along with IMUSim.  If not, see <http://www.gnu.org/licenses/>.
 
 from __future__ import division
-from abc import ABCMeta, abstractmethod
+from abc import ABC, abstractmethod
 from imusim.maths.quaternions import Quaternion
 from scipy.optimize import newton
 import imusim.maths.vectors as vectors
 from imusim.utilities.documentation import prepend_method_doc
 import numpy as np
 import math
 
-class VectorObservation(object):
+
+class VectorObservation(ABC):
     """
     Base class for all vector observation methods.
 
     Vector observation methods calculate the L{Quaternion} that rotates a
     set of reference vectors to match the set of observed vectors.
     Vectors are assumed to be 3x1 L{np.ndarray}s
     """
-
-    __metaclass__ = ABCMeta
-
     def __call__(self, *measurements):
         """
         Estimate the orientation Quaternion from the observed vectors.
@@ -63,6 +61,7 @@ def _process(self, *measurements):
         """
         pass
 
+
 class TRIAD(VectorObservation):
     """
     Implementation of the TRIAD vector observation algorithm.
@@ -91,6 +90,7 @@ def _process(self, g, m):
 
         return Quaternion.fromVectors(x, y, z)
 
+
 class GramSchmidt(VectorObservation):
     """
     Vector observation based on Gram-Schmidt Ortho-Normalisation.
@@ -109,6 +109,7 @@ def _process(self, g, m):
 
         return Quaternion.fromVectors(x, y, z)
 
+
 class FQA(VectorObservation):
     """
     Implementation of the Factored Quaternion Algorithm by Yun et al.
@@ -208,6 +209,7 @@ def _process(self, g, m):
         else:
             return combined
 
+
 class LeastSquaresOptimalVectorObservation(VectorObservation):
     """
     Base class of least squares optimal vector observation algorithms
@@ -249,6 +251,7 @@ def __init__(self, refs=None, weights=None, inclinationAngle=None):
         self.refs = np.asarray(refs)
         self.weights = np.asarray(weights) / sum(weights)
 
+
 class DavenportQ(LeastSquaresOptimalVectorObservation):
     """
     Implementation of the Davenport-q algorithm.
@@ -282,6 +285,7 @@ def _process(self, *meas):
 
         return Quaternion(q[3],q[0],q[1],q[2]).normalise()
 
+
 class QUEST(LeastSquaresOptimalVectorObservation):
     """
     Implementation of the QUEST algorithm.

imusim/all/__init__.py

@@ -23,8 +23,10 @@
 import inspect
 
 __all__ = []
-path = os.path.split(pkgutil.get_loader('imusim').filename)[0]
+path = os.path.split(os.path.dirname(pkgutil.get_loader('imusim').path))[0]
 for loader, modname, ispkg in pkgutil.walk_packages([path]):
+    if modname in ['imusim.visualisation.rendering', 'imusim.visualisation.video']:
+        continue
     if modname.startswith('imusim') \
             and not modname.startswith('imusim.tests') \
             and not modname.startswith('imusim.all'):

imusim/behaviours/imu.py

@@ -17,7 +17,7 @@
 #
 # You should have received a copy of the GNU General Public License
 # along with IMUSim.  If not, see <http://www.gnu.org/licenses/>.
-from abc import ABCMeta
+from abc import ABC
 from imusim.utilities.time_series import TimeSeries
 from imusim.behaviours.timing import TimerMultiplexer, VirtualTimer
 from imusim.behaviours.sampling import PeriodicSampler
@@ -26,7 +26,8 @@
 from imusim.algorithms.orientation import OrientationFilter
 from imusim.platforms.imus import IMU
 
-class BasicIMUBehaviour(object):
+
+class BasicIMUBehaviour(ABC):
     """
     Basic behaviour for an IMU that performs periodic sampling.
 
@@ -39,9 +40,6 @@ class BasicIMUBehaviour(object):
         object will be passed as a single argument.
     @ivar timerMux: L{TimerMultiplexer} for IMU timer.
     """
-
-    __metaclass__ = ABCMeta
-
     def __init__(self, imu, samplingPeriod, calibration=None, filter=None,
             sampleCallback=None, initialTime=0):
         """

imusim/behaviours/mac.py

@@ -17,26 +17,22 @@
 #
 # You should have received a copy of the GNU General Public License
 # along with IMUSim.  If not, see <http://www.gnu.org/licenses/>.
-
-from __future__ import division
-from abc import ABCMeta, abstractmethod
+from abc import ABC, abstractmethod
 from imusim.platforms.base import Platform
 from imusim.platforms.radios import Radio, RadioPacket
 from imusim.behaviours.timing import TimerMultiplexer
 from imusim.maths.quaternions import Quaternion
 from imusim.utilities.documentation import prepend_method_doc
 import numpy as np
 
-class MAC(object):
+
+class MAC(ABC):
     """
     Base class for MAC implementations.
 
     @ivar radio: The L{Radio} used by the MAC.
     @ivar timerMux: L{TimerMultiplexer} used by the MAC.
     """
-
-    __metaclass__ = ABCMeta
-
     def __init__(self, radio, timerMux):
         """
         Initialise MAC.

imusim/behaviours/orient_tdma.py

@@ -26,7 +26,7 @@
 from imusim.utilities.documentation import prepend_method_doc
 import numpy as np
 
-class Schedule(object):
+class Schedule:
     """
     Transmission schedule.
     """
@@ -243,7 +243,7 @@ def _slotTimerHandler(self):
             self.auxSlot = 0
         else:
             self.auxSlot += 1
-        if self.slot < self.schedule.dataSlots:
+        if self.slot in self.schedule.dataSlots:
             self.auxSlotTimer.start(self.schedule.dataSlotTime/2)
             if self.auxSlot in self.auxTxSlots + self.auxRxSlots:
                 self.radio.channel = self.schedule.auxChannel