clean up for python 3

donkeycar/benchmarks/tub.py

@@ -34,11 +34,11 @@ def benchmark():
         contents = record_file.read_text()
         if contents:
             contents = json.loads(contents)
-            print('Record %s' % contents)
+            print(f'Record {contents}')
 
 
 if __name__ == "__main__":
     timer = timeit.Timer(benchmark)
     time_taken = timer.timeit(number=1)
-    print('Time taken %s seconds' % time_taken)
+    print(f'Time taken {time_taken} seconds')
     print('\nDone.')

donkeycar/benchmarks/tub_v2.py

@@ -26,15 +26,15 @@ def benchmark():
 
     deletions = np.random.randint(0, write_count, 100)
     tub.delete_records(deletions)
- 
+
     for record in tub:
-        print('Record %s' % record)
+        print(f'Record {record}')
 
     tub.close()
 
 
 if __name__ == "__main__":
     timer = timeit.Timer(benchmark)
     time_taken = timer.timeit(number=1)
-    print('Time taken %s seconds' % time_taken)
+    print(f'Time taken {time_taken} seconds')
     print('\nDone.')

donkeycar/config.py

@@ -12,24 +12,24 @@
 
 
 class Config:
-    
+
     def from_pyfile(self, filename):
         d = types.ModuleType('config')
         d.__file__ = filename
         try:
             with open(filename, mode='rb') as config_file:
                 exec(compile(config_file.read(), filename, 'exec'), d.__dict__)
         except IOError as e:
-            e.strerror = 'Unable to load configuration file (%s)' % e.strerror
+            e.strerror = f'Unable to load configuration file ({e.strerror})'
             raise
         self.from_object(d)
         return True
-    
+
     def from_object(self, obj):
         for key in dir(obj):
             if key.isupper():
                 setattr(self, key, getattr(obj, key))
-                
+
     def __str__(self):
         result = []
         for key in dir(self):
@@ -44,7 +44,7 @@ def show(self):
 
 
 def load_config(config_path=None, myconfig="myconfig.py"):
-    
+
     if config_path is None:
         import __main__ as main
         main_path = os.path.dirname(os.path.realpath(main.__file__))
@@ -53,7 +53,7 @@ def load_config(config_path=None, myconfig="myconfig.py"):
             local_config = os.path.join(os.path.curdir, 'config.py')
             if os.path.exists(local_config):
                 config_path = local_config
-    
+
     logger.info(f'loading config file: {config_path}')
     cfg = Config()
     cfg.from_pyfile(config_path)

donkeycar/contrib/robohat/code-robocarstore.py

@@ -141,7 +141,7 @@ def main():
                 break
             last_input = time.monotonic()
 
-            logger.debug("Read from UART: %s" % (byte))
+            logger.debug(f"Read from UART: {byte}")
 
             # if data is recieved, check if it is the end of a stream
             if(byte == b'\r'):

donkeycar/contrib/robohat/code.py

@@ -128,7 +128,7 @@ def main():
 
         if DEBUG:
             logger.info("Get: steering=%i, throttle=%i" % (int(steering.value), int(throttle.value)))
-        
+
         if(USB_SERIAL):
             # simulator USB
             print("%i, %i" % (int(steering.value), int(throttle.value)))
@@ -146,7 +146,7 @@ def main():
             last_input = time.monotonic()
 
             if (DEBUG):
-                logger.debug("Read from UART: %s" % (byte))
+                logger.debug(f"Read from UART: {byte}")
 
             # if data is recieved, check if it is the end of a stream
             if(byte == b'\r'):

donkeycar/geom.py

@@ -5,7 +5,7 @@
 '''
 from .la import Vec2
 
-class LineSeg2d(object):
+class LineSeg2d():
 
     def __init__(self, x1, y1, x2, y2):
         a = Vec2(x1, y1)
@@ -34,4 +34,3 @@ def cross_track_error(self, vec2_pt):
         if err_vec.cross(self.ray) < 0.0:
             sign = -1.
         return mag * sign
-

donkeycar/gym/gym_real.py

@@ -33,22 +33,22 @@ class DonkeyRealEnv(gym.Env):
     def __init__(self, time_step=0.05, frame_skip=2):
 
         print("starting DonkeyGym env")
-        
+
         try:
             donkey_name = str(os.environ['DONKEY_NAME'])
-        except:
+        except Exception:
             donkey_name = 'my_robot1234'
             print("No DONKEY_NAME environment var. Using default:", donkey_name)
 
         try:
             mqtt_broker = str(os.environ['DONKEY_MQTT_BROKER'])
-        except:
+        except Exception:
             mqtt_broker = "iot.eclipse.org"
             print("No DONKEY_MQTT_BROKER environment var. Using default:", mqtt_broker)
-            
+
         # start controller
         self.controller = DonkeyRemoteContoller(donkey_name=donkey_name, mqtt_broker=mqtt_broker)
-        
+
         # steering and throttle
         self.action_space = spaces.Box(low=np.array([self.STEER_LIMIT_LEFT, self.THROTTLE_MIN]),
             high=np.array([self.STEER_LIMIT_RIGHT, self.THROTTLE_MAX]), dtype=np.float32 )
@@ -61,10 +61,10 @@ def __init__(self, time_step=0.05, frame_skip=2):
 
         # wait until loaded
         self.controller.wait_until_connected()
-        
+
 
     def close(self):
-        self.controller.quit()        
+        self.controller.quit()
 
     def step(self, action):
         for i in range(self.frame_skip):

donkeycar/gym/remote_controller.py

@@ -12,8 +12,8 @@
 
 class DonkeyRemoteContoller:
     def __init__(self, donkey_name, mqtt_broker, sensor_size=(120, 160, 3)):
-        self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name, broker=mqtt_broker)
-        self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name, broker=mqtt_broker)
+        self.camera_sub = MQTTValueSub(f"donkey/{donkey_name}/camera", broker=mqtt_broker)
+        self.controller_pub = MQTTValuePub(f"donkey/{donkey_name}/controls", broker=mqtt_broker)
         self.jpgToImg = JpgToImgArr()
         self.sensor_size = sensor_size
 
@@ -37,6 +37,3 @@ def observe(self):
         jpg = self.camera_sub.run()
         self.img = self.jpgToImg.run(jpg)
         return self.img
-
-
-