Tools: fix deprecated file() with open()

modules/tools/plot_trace/plot_planning_result.py

@@ -32,14 +32,12 @@ from modules.planning.proto import planning_pb2
 
 g_args = None
 
-
 def get_3d_trajectory(planning_pb):
     x = [p.path_point.x for p in planning_pb.trajectory_point]
     y = [p.path_point.y for p in planning_pb.trajectory_point]
     z = [p.v for p in planning_pb.trajectory_point]
     return (x, y, z)
 
-
 def get_debug_paths(planning_pb):
     if not planning_pb.HasField("debug"):
         return None
@@ -52,12 +50,11 @@ def get_debug_paths(planning_pb):
         results.append((path.name, (x, y)))
     return results
 
-
 def plot_planning(ax, planning_file):
     try:
-        fhandle = file(planning_file, 'r')
-    except:
-        print "Failed to open file %s" % (planning_file)
+        with open(planning_file, 'r') as fp:
+    except OSError:
+        print('Failed to open file %s' % (planning_file))
         return
     planning_pb = planning_pb2.ADCTrajectory()
     text_format.Merge(fhandle.read(), planning_pb)
@@ -73,22 +70,21 @@ def plot_planning(ax, planning_file):
             ax.plot(path[0], path[1], label="%s:%s" % (name, planning_file))
     ax.legend()
 
-
 def press_key(event):
     if event.key == 'c':
         files = g_args.planning_files
         if len(files) != 2:
-            print "Need more than two files"
+            print('Need more than two files.')
             return
         command = ["cp"]
         for f in files:
             command.append(f)
         if call(command) == 0:
-            print "command success: %s" % " ".join(command)
+            print('command success: %s' % " ".join(command))
             sys.exit(0)
         else:
-            print "Failed to run command: %s " % " ".join(command)
-
+            print('Failed to run command: %s ' % " ".join(command))
+            sys.exit(1)
 
 if __name__ == '__main__':
     import argparse
@@ -123,6 +119,6 @@ if __name__ == '__main__':
 
     if g_args.figure:
         plt.savefig(g_args.figure)
-        print("picture saved to %s" % g_args.figure)
+        print('picture saved to %s' % g_args.figure)
     else:
         plt.show()

modules/tools/plot_trace/plot_trace.py

@@ -33,7 +33,6 @@ CHASSIS_TOPIC = "/apollo/canbus/chassis"
 LOCALIZATION_TOPIC = "/apollo/localization/pose"
 IS_AUTO_MODE = False
 
-
 def chassis_callback(chassis_data):
     global IS_AUTO_MODE
     if chassis_data.driving_mode == chassis_pb2.Chassis.COMPLETE_AUTO_DRIVE:
@@ -52,7 +51,6 @@ def localization_callback(localization_data):
         GPS_X.append(localization_data.pose.position.x)
         GPS_Y.append(localization_data.pose.position.y)
 
-
 def setup_listener(node):
     node.create_reader(CHASSIS_TOPIC, chassis_pb2.Chassis, chassis_callback)
     node.create_reader(LOCALIZATION_TOPIC,
@@ -61,7 +59,6 @@ def setup_listener(node):
     while not cyber.is_shutdown():
         time.sleep(0.002)
 
-
 def update(frame_number):
     global GPS_X
     global GPS_Y
@@ -69,7 +66,6 @@ def update(frame_number):
         min_len = min(len(GPS_X), len(GPS_Y)) - 1
         GPS_LINE.set_data(GPS_X[-min_len:], GPS_Y[-min_len:])
 
-
 if __name__ == '__main__':
     import argparse
     parser = argparse.ArgumentParser(
@@ -92,10 +88,9 @@ if __name__ == '__main__':
 
     fig, ax = plt.subplots()
 
-    handle = file(args.trace, 'r')
-    trace_data = np.genfromtxt(handle, delimiter=',', names=True)
-    ax.plot(trace_data['x'], trace_data['y'], 'b-', alpha=0.5, linewidth=1)
-    handle.close()
+    with open(args.trace, 'r') as fp:
+        trace_data = np.genfromtxt(handle, delimiter=',', names=True)
+        ax.plot(trace_data['x'], trace_data['y'], 'b-', alpha=0.5, linewidth=1)
 
     cyber.init()
     node = cyber.Node("plot_trace")

modules/tools/rosbag/extract_trajectory.py

@@ -62,7 +62,7 @@ def extract_record(in_record, output):
     print("Finished extracting from record {}".format(in_record))
 
 def main(args):
-    out = file(args.output, 'w') if args.output or sys.stdout
+    out = open(args.output, 'w') if args.output or sys.stdout
     for record_file in args.in_record:
         extract_record(record_file, out)
     out.close()