Treewide: Remove python2 conditional logic/imports

MAVProxy/mavproxy.py

@@ -23,14 +23,7 @@
 import threading
 import time
 import traceback
-
-try:
-    reload
-except NameError:
-    try:
-        from importlib import reload
-    except ImportError:
-        from imp import reload
+from importlib import reload
 
 from pymavlink import mavutil
 
@@ -592,13 +585,11 @@ def generate_kwargs(args):
 
 
 def get_exception_stacktrace(e):
-    if sys.version_info[0] >= 3:
-        ret = "%s\n" % e
-        ret += ''.join(traceback.format_exception(type(e),
-                                                  e,
-                                                  tb=e.__traceback__))
-        return ret
-    return traceback.format_exc(e)
+    ret = "%s\n" % e
+    ret += ''.join(traceback.format_exception(type(e),
+                                              e,
+                                              tb=e.__traceback__))
+    return ret
 
 
 def cmd_module(args):
@@ -767,10 +758,7 @@ def process_stdin(line):
             line += '\r'
         for c in line:
             time.sleep(0.01)
-            if sys.version_info.major >= 3:
-                mpstate.master().write(bytes(c, "ascii"))
-            else:
-                mpstate.master().write(c)
+            mpstate.master().write(bytes(c, "ascii"))
         return
 
     if not line:
@@ -854,10 +842,8 @@ def process_master(m):
         if mpstate.system == 'Windows':
             # strip nsh ansi codes
             s = s.replace("\033[K", "")
-        if sys.version_info.major >= 3:
-            sys.stdout.write(str(s, "ascii", "ignore"))
-        else:
-            sys.stdout.write(str(s))
+
+        sys.stdout.write(str(s, "ascii", "ignore"))
         sys.stdout.flush()
         return
 

MAVProxy/modules/lib/MacOS/backend_wx.py

@@ -37,10 +37,9 @@
     import traceback, pdb
 _DEBUG_lvls = {1 : 'Low ', 2 : 'Med ', 3 : 'High', 4 : 'Error' }
 
-if sys.version_info[0] >= 3:
-    warnings.warn(
-        "The wx and wxagg backends have not been tested with Python 3.x",
-        ImportWarning)
+warnings.warn(
+    "The wx and wxagg backends have not been tested with Python 3.x",
+    ImportWarning)
 
 missingwx = "Matplotlib backend_wx and backend_wxagg require wxPython >=2.8"
 missingwxversion = ("Matplotlib backend_wx and backend_wxagg "

MAVProxy/modules/lib/grapher.py

@@ -120,10 +120,7 @@ def __init__(self, flightmode_colourmap=None):
         self.title = None
         self.grid = False
         self.xlim_t = None
-        if sys.version_info[0] >= 3:
-            self.text_types = frozenset([str,])
-        else:
-            self.text_types = frozenset([unicode, str])
+        self.text_types = frozenset([str,])
         self.max_message_rate = 0
 
     def set_max_message_rate(self, rate_hz):

MAVProxy/modules/lib/mission_item_protocol.py

@@ -22,12 +22,7 @@
     from MAVProxy.modules.lib.mp_menu import MPMenuItem
     from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu
 
-try:
-    # py2
-    from StringIO import StringIO as SIO
-except ImportError:
-    # py3
-    from io import BytesIO as SIO
+from io import BytesIO as SIO
 
 
 class MissionItemProtocolModule(mp_module.MPModule):

MAVProxy/modules/lib/mp_util.py

@@ -293,12 +293,8 @@ def dot_mavproxy(name=None):
 
 def download_url(url):
     '''download a URL and return the content'''
-    if sys.version_info.major < 3:
-        from urllib2 import urlopen as url_open
-        from urllib2 import URLError as url_error
-    else:
-        from urllib.request import urlopen as url_open
-        from urllib.error import URLError as url_error
+    from urllib.request import urlopen as url_open
+    from urllib.error import URLError as url_error
     try:
         resp = url_open(url)
         headers = resp.info()
@@ -365,8 +361,6 @@ def quaternion_to_axis_angle(q):
 
 def null_term(str):
     '''null terminate a string for py3'''
-    if sys.version_info.major < 3:
-        return str
     if isinstance(str, bytes):
         str = str.decode("utf-8")
     idx = str.find("\0")

MAVProxy/modules/lib/ntrip.py

@@ -43,8 +43,7 @@ def __init__(self,
                  ssl=False,
                  V2=False,
                  ):
-        if sys.version_info.major >= 3:
-            user = bytearray(user, 'ascii')
+        user = bytearray(user, 'ascii')
         self.user = base64.b64encode(user)
         self.port = port
         self.caster = caster
@@ -75,9 +74,7 @@ def setPosition(self, lat, lon):
         self.lat = lat
 
     def getMountPointString(self):
-        userstr = self.user
-        if sys.version_info.major >= 3:
-            userstr = str(userstr, 'ascii')
+        userstr = str(self.user, 'ascii')
         mountPointString = "GET %s HTTP/1.0\r\nUser-Agent: %s\r\nAuthorization: Basic %s\r\n" % (
             self.mountpoint, useragent, userstr)
         if self.host or self.V2:
@@ -131,8 +128,7 @@ def read(self):
                 self.sent_header = True
                 time.sleep(0.1)
                 mps = self.getMountPointString()
-                if sys.version_info.major >= 3:
-                    mps = bytearray(mps, 'ascii')
+                mps = bytearray(mps, 'ascii')
                 try:
                     self.socket.sendall(mps)
                 except ssl.SSLWantReadError:
@@ -150,9 +146,9 @@ def read(self):
                     return None
                 self.socket = None
                 casterResponse = ''
-            if sys.version_info.major >= 3:
-                # Ignore non ascii characters in HTTP response
-                casterResponse = str(casterResponse, 'ascii', 'ignore')
+
+            # Ignore non ascii characters in HTTP response
+            casterResponse = str(casterResponse, 'ascii', 'ignore')
             header_lines = casterResponse.split("\r\n")
             is_ntrip_rev1 = False
             for line in header_lines:

MAVProxy/modules/lib/param_ftp.py

@@ -45,13 +45,8 @@ def ftp_param_decode(data):
     }
 
     count = 0
-
-    if sys.version_info.major < 3:
-        pad_byte = chr(0)
-        last_name = ''
-    else:
-        pad_byte = 0
-        last_name = bytes()
+    pad_byte = 0
+    last_name = bytes()
 
     while True:
         while len(data) > 0 and data[0] == pad_byte:

MAVProxy/modules/lib/rline.py

@@ -11,7 +11,7 @@
 # with a try/except
 if platform.system() == 'Darwin':
     import gnureadline as readline
-elif platform.system() == 'Windows' and sys.version_info >= (3, 0):
+elif platform.system() == 'Windows':
     # Python 3.8 defaults to Proactor event loop, which doesn't work well
     if sys.version_info >= (3, 8):
         import asyncio
@@ -49,7 +49,7 @@ def __init__(self, prompt, mpstate):
             '(LOADEDMODULES)' : complete_loadedmodules
             }
 
-        if platform.system() == 'Windows' and sys.version_info >= (3, 0):
+        if platform.system() == 'Windows':
             # Create key bindings registry with a custom binding for the Tab key that
             # displays completions like GNU readline.
             self.session = PromptSession()
@@ -58,13 +58,13 @@ def __init__(self, prompt, mpstate):
     def set_prompt(self, prompt):
         if prompt != self.prompt:
             self.prompt = prompt
-            if platform.system() != 'Windows' or sys.version_info < (3, 0):
+            if platform.system() != 'Windows' or sys.version_info < (3, 0): #??
                 sys.stdout.write(prompt)
                 self.redisplay()
 
     def add_history(self, line):
         '''add a line to the history'''
-        if platform.system() == 'Windows' and sys.version_info >= (3, 0):
+        if platform.system() == 'Windows':
             self.session.history.append_string(line)
         else:
             readline.add_history(line)
@@ -84,14 +84,14 @@ def get_prompt(self):
     def input(self):
         ''' get user input'''
         ret = ""
-        if platform.system() == 'Windows' and sys.version_info >= (3, 0):
+        if platform.system() == 'Windows':
             global rline_mpstate
             with patch_stdout():
                 return self.session.prompt(self.get_prompt,completer=rline_mpstate.completor, complete_while_typing=False, complete_style=CompleteStyle.READLINE_LIKE, refresh_interval=0.5)
         else:
             return input(self.get_prompt())
 
-if platform.system() == 'Windows' and sys.version_info >= (3, 0):
+if platform.system() == 'Windows':
     # This is the prompt-toolkit setup for Windows
     class MAVPromptCompleter(Completer):
         '''Completion generator for commands'''
@@ -273,7 +273,7 @@ def complete_rule(rule, cmd):
 
     # expand the next rule component
     expanded = []
-    if platform.system() == 'Windows' and sys.version_info >= (3, 0):
+    if platform.system() == 'Windows':
         if len(rule_components) >= len(cmd):
             expanded = rule_expand(rule_components[len(cmd)-1], cmd[-1])
     else:
@@ -327,7 +327,7 @@ def complete(text, state):
     return last_clist[state]
 
 # Configure readline for linux/mac systems
-if platform.system() != 'Windows' or sys.version_info < (3, 0):
+if platform.system() != 'Windows':
     readline.set_completer_delims(' \t\n;')
     readline.parse_and_bind("tab: complete")
     readline.set_completer(complete)

MAVProxy/modules/lib/srtm.py

@@ -7,12 +7,8 @@
 Edited by CanberraUAV"""
 
 import sys
-if sys.version_info.major < 3:
-    from HTMLParser import HTMLParser
-    import httplib
-else:
-    from html.parser import HTMLParser
-    import http.client as httplib
+from html.parser import HTMLParser
+import http.client as httplib
 
 import re
 import pickle
@@ -160,16 +156,13 @@ def getURIWithRedirect(self, url):
                     continue
                 data = r1.read()
                 conn.close()
-                if sys.version_info.major < 3:
+                encoding = r1.headers.get_content_charset()
+                if encoding is not None:
+                    return data.decode(encoding)
+                elif ".zip" in url or ".hgt" in url:
                     return data
                 else:
-                    encoding = r1.headers.get_content_charset()
-                    if encoding is not None:
-                        return data.decode(encoding)
-                    elif ".zip" in url or ".hgt" in url:
-                        return data
-                    else:
-                        return data.decode('utf-8')
+                    return data.decode('utf-8')
         return None
 
     def createFileListHTTP(self):

MAVProxy/modules/lib/wavefront.py

@@ -36,12 +36,9 @@
 from __future__ import print_function
 
 import os
-try:
-    import cPickle as pickle
-except ImportError:
-    import pickle
-import threading
+import pickle
 import sys
+import threading
 
 class Parser(object):
     def __init__(self, filename=None, string='', enable_cache=False):

MAVProxy/modules/lib/wxsettings_ui.py

@@ -72,11 +72,7 @@ def on_load(self, event):
             ctrl = self.controls[label]
             value = ctrl.GetValue()
 
-            # Python 2 compatiblility - alternative is:
-            # import six
-            # isinstance(value, six.string_types)
-            if isinstance(value, str) \
-                or isinstance(value, str if sys.version_info[0] >= 3 else unicode):
+            if isinstance(value, str):
                 ctrl.SetValue(str(setting.value))
             else:
                 ctrl.SetValue(setting.value)

MAVProxy/modules/mavproxy_dataflash_logger.py

@@ -103,10 +103,7 @@ def new_log_filepath(self):
             log_cnt = 1
 
         self.lastlog_file = open(ll_filepath, 'w+b')
-        if sys.version_info[0] >= 3:
-            self.lastlog_file.write(str.encode(log_cnt.__str__()))
-        else:
-            self.lastlog_file.write(log_cnt.__str__())
+        self.lastlog_file.write(str.encode(log_cnt.__str__()))
         self.lastlog_file.close()
 
         return os.path.join(self.dataflash_dir, '%u.BIN' % (log_cnt,))

MAVProxy/modules/mavproxy_devop.py

@@ -51,8 +51,7 @@ def devop_read(self, args, bustype):
         address = int(args[2],base=0)
         reg = int(args[3],base=0)
         count = int(args[4],base=0)
-        if sys.version_info.major >= 3:
-            name = bytearray(name, 'ascii')
+        name = bytearray(name, 'ascii')
         self.master.mav.device_op_read_send(self.target_system,
                                             self.target_component,
                                             self.request_id,
@@ -82,8 +81,7 @@ def devop_write(self, args, bustype):
         bytes = [0]*128
         for i in range(count):
             bytes[i] = int(args[i],base=0)
-        if sys.version_info.major >= 3:
-            name = bytearray(name, 'ascii')
+        name = bytearray(name, 'ascii')
         self.master.mav.device_op_write_send(self.target_system,
                                              self.target_component,
                                              self.request_id,

MAVProxy/modules/mavproxy_ftp.py

@@ -7,12 +7,8 @@
 import random
 from pymavlink import mavutil
 
-try:
-    # py2
-    from StringIO import StringIO as SIO
-except ImportError:
-    # py3
-    from io import BytesIO as SIO
+
+from io import BytesIO as SIO
 
 from MAVProxy.modules.lib import mp_module
 from MAVProxy.modules.lib import mp_settings
@@ -247,10 +243,7 @@ def handle_list_reply(self, op, m):
                     continue
                 self.dir_offset += 1
                 try:
-                    if sys.version_info.major >= 3:
-                        d = str(d, 'ascii')
-                    else:
-                        d = str(d)
+                    d = str(d, 'ascii')
                 except Exception:
                     continue
                 if d[0] == 'D':
@@ -335,10 +328,7 @@ def check_read_finished(self):
                 self.callback = None
             elif self.filename == "-":
                 self.fh.seek(0)
-                if sys.version_info.major < 3:
-                    print(self.fh.read())
-                else:
-                    print(self.fh.read().decode('utf-8'))
+                print(self.fh.read())
             else:
                 print("Wrote %u bytes to %s in %.2fs %.1fkByte/s" % (ofs, self.filename, dt, rate))
             self.terminate_session()