Add support for python3

bin/test_report

-#!/usr/bin/env python
+#!/bin/bash
+if "true" : '''\'
+then
+python${ROS_PYTHON_VERSION:-} "${BASH_SOURCE[0]}" $*
+exit
+fi
+'''
+# flake8: noqa
 import yaml
 import unittest
 
@@ -18,7 +25,7 @@ class TestReport(unittest.TestCase):
     def test_report(self):
         try:
             with open("/tmp/flexbe_app_report.log", 'r') as f:
-                report = yaml.load(f)
+                report = yaml.safe_load(f)
         except IOError:
             return  # skip test since there is no report to evaluate
         for test_type, tests in report.items():

src/io/io_stateparser.js

@@ -2,6 +2,7 @@ IO.StateParser = new (function() {
 	var that = this;
 	var os = require('os');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 	var crypto = require('crypto');
 	var md5 = str => crypto.createHash('md5').update(str).digest('hex');
 
@@ -70,7 +71,7 @@ for data in iter(sys.stdin.readline, ""):
 	var parseCallbacks = [];
 
 	var spawnLoader = function() {
-		loader = spawn('python', ['-c', impl]);
+		loader = spawn(python, ['-c', impl]);
 		loader.stdout.on('data', (data) => {
 			buffer += data;
 			var try_parse = true;

src/ros/ros.js

@@ -4,6 +4,7 @@ ROS = new (function() {
 	var os = require('os');
 	var sys = require('sys');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 
 ////////////////////////////////
 // BEGIN Python implementation
@@ -25,7 +26,7 @@ rospy.spin()
 	var ros_proc = undefined;
 
 	that.init = function(callback) {
-		ros_proc = spawn('python', ['-c', init_impl]);
+		ros_proc = spawn(python, ['-c', init_impl]);
 		ros_proc.stdout.on('data', data => {
 			data = String(data);
 			if (data.endsWith("connected")) {
@@ -104,7 +105,7 @@ rospy.spin()
 					callback(python_path);
 				});
 			} else {
-				var proc = spawn('python', ['-c', `import importlib; print(importlib.import_module('` + package_name + `').__path__[-1])`]);
+				var proc = spawn(python, ['-c', `import importlib; print(importlib.import_module('` + package_name + `').__path__[-1])`]);
 				var path_data = '';
 				proc.stdout.on('data', data => {
 					path_data += data;

src/ros/ros_actionclient.js

@@ -3,6 +3,7 @@ ROS.ActionClient = function(topic, action_type) {
 	var os = require('os');
 	var sys = require('sys');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 
 	var feedback_cb = undefined;
 	var result_cb = undefined;
@@ -64,7 +65,7 @@ while not rospy.is_shutdown():
 // END Python implementation
 //////////////////////////////
 
-	var client = spawn('python', ['-c', impl, topic, action_type]);
+	var client = spawn(python, ['-c', impl, topic, action_type]);
 
 	var buffer = "";
 

src/ros/ros_publisher.js

@@ -3,6 +3,7 @@ ROS.Publisher = function(topic, msg_type, latched=false) {
 	var os = require('os');
 	var sys = require('sys');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 
 	var LATCHED = "latched";
 ////////////////////////////////
@@ -43,7 +44,7 @@ while not rospy.is_shutdown():
 // END Python implementation
 //////////////////////////////
 
-	var pub = spawn('python', ['-c', impl, topic, msg_type, latched? LATCHED : "_"]);
+	var pub = spawn(python, ['-c', impl, topic, msg_type, latched? LATCHED : "_"]);
 
 	pub.stdout.on('data', (data) => {
 		T.logInfo('[PUB:'+topic+'] ' + data);

src/ros/ros_subscriber.js

@@ -2,6 +2,7 @@ ROS.Subscriber = function(topic, msg_type, callback) {
 	var that = this;
 	var sys = require('sys');
 	var spawn = require('child_process').spawn;
+	var python = 'python' + (process.env.ROS_PYTHON_VERSION != undefined? process.env.ROS_PYTHON_VERSION : '');
 
 ////////////////////////////////
 // BEGIN Python implementation
@@ -34,7 +35,7 @@ rospy.spin()
 // END Python implementation
 //////////////////////////////
 
-	var sub = spawn('python', ['-c', impl, topic, msg_type]);
+	var sub = spawn(python, ['-c', impl, topic, msg_type]);
 
 	var buffer = "";