From a2f01492dbb7a58b896ef36123001dba088dc35b Mon Sep 17 00:00:00 2001
From: Junya Hayashi <junya.hayashi@groove-x.com>
Date: Mon, 20 Nov 2017 18:41:30 +0900
Subject: [PATCH] Raise if inappropriate bson module is installed (Appease
 #198) (#270)

* Raise Exception if inappropriate bson module is installed (Related to #198)
---
 .../rosbridge_library/internal/message_conversion.py   |  3 +--
 rosbridge_library/src/rosbridge_library/protocol.py    |  3 +--
 .../src/rosbridge_library/util/__init__.py             | 10 ++++++++++
 rosbridge_server/src/rosbridge_server/udp_handler.py   |  3 +--
 .../src/rosbridge_server/websocket_handler.py          |  3 +--
 5 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/rosbridge_library/src/rosbridge_library/internal/message_conversion.py b/rosbridge_library/src/rosbridge_library/internal/message_conversion.py
index c315588cb..31ded83bf 100644
--- a/rosbridge_library/src/rosbridge_library/internal/message_conversion.py
+++ b/rosbridge_library/src/rosbridge_library/internal/message_conversion.py
@@ -41,9 +41,8 @@
 import re
 import string
 from base64 import standard_b64encode, standard_b64decode
-import bson
 
-from rosbridge_library.util import string_types
+from rosbridge_library.util import string_types, bson
 
 import sys
 if sys.version_info >= (3, 0):
diff --git a/rosbridge_library/src/rosbridge_library/protocol.py b/rosbridge_library/src/rosbridge_library/protocol.py
index 9abe72ff9..013e57f20 100644
--- a/rosbridge_library/src/rosbridge_library/protocol.py
+++ b/rosbridge_library/src/rosbridge_library/protocol.py
@@ -32,13 +32,12 @@
 
 import rospy
 import time
-import bson
 from rosbridge_library.internal.exceptions import InvalidArgumentException
 from rosbridge_library.internal.exceptions import MissingArgumentException
 
 #from rosbridge_library.internal.pngcompression import encode
 from rosbridge_library.capabilities.fragmentation import Fragmentation
-from rosbridge_library.util import json
+from rosbridge_library.util import json, bson
 
 
 def is_number(s):
diff --git a/rosbridge_library/src/rosbridge_library/util/__init__.py b/rosbridge_library/src/rosbridge_library/util/__init__.py
index 885f8a515..f63dacf51 100644
--- a/rosbridge_library/src/rosbridge_library/util/__init__.py
+++ b/rosbridge_library/src/rosbridge_library/util/__init__.py
@@ -13,3 +13,13 @@
     string_types = (str,)
 else:
     string_types = (str, unicode)
+
+import bson
+try:
+    bson.BSON
+except AttributeError:
+    raise Exception(
+        "BSON installation does not support all necessary features. "
+        "Please use the MongoDB BSON implementation. "
+        "See: https://github.com/RobotWebTools/rosbridge_suite/issues/198"
+    )
diff --git a/rosbridge_server/src/rosbridge_server/udp_handler.py b/rosbridge_server/src/rosbridge_server/udp_handler.py
index 8ae691d5c..39a318bb3 100644
--- a/rosbridge_server/src/rosbridge_server/udp_handler.py
+++ b/rosbridge_server/src/rosbridge_server/udp_handler.py
@@ -1,7 +1,6 @@
 import rospy
 from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
-from rosbridge_library.util import json
-import bson
+from rosbridge_library.util import json, bson
 
 from twisted.internet.protocol import DatagramProtocol,Factory
 
diff --git a/rosbridge_server/src/rosbridge_server/websocket_handler.py b/rosbridge_server/src/rosbridge_server/websocket_handler.py
index a058f6592..656cef36c 100755
--- a/rosbridge_server/src/rosbridge_server/websocket_handler.py
+++ b/rosbridge_server/src/rosbridge_server/websocket_handler.py
@@ -40,8 +40,7 @@
 from tornado.websocket import WebSocketHandler
 
 from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
-from rosbridge_library.util import json
-import bson
+from rosbridge_library.util import json, bson
 
 class RosbridgeWebSocket(WebSocketHandler):
     client_id_seed = 0