Fixes RobotWebTools#313 by fixing the has_binary check

has_binary now checks for lists of binary objects

rosbridge_library/src/rosbridge_library/protocol.py

@@ -47,15 +47,26 @@ def is_number(s):
         return True
     except ValueError:
         return False
-
-def has_binary(d):
-    if type(d)==bson.Binary:
+
+
+def has_binary(obj):
+    """ Returns True if obj is a binary or contains a binary attribute
+    """
+
+    if type(obj) is bson.binary.Binary:
         return True
-    if type(d)==dict:
-        for k,v in d.iteritems():
+
+    if type(obj) is list:
+        for item in obj:
+            if has_binary(item):
+                return True
+
+    if type(obj) is dict:
+        for k, v in obj.iteritems():
             if has_binary(v):
                 return True
-    return False                
+    return False
+
 
 class Protocol:
     """ The interface for a single client to interact with ROS.
@@ -284,7 +295,7 @@ def serialize(self, msg, cid=None):
         try:
             if has_binary(msg) or self.bson_only_mode:
                 return bson.BSON.encode(msg)
-            else:    
+            else:
                 return json.dumps(msg)
         except:
             if cid is not None: