Add bson encoding to the server side

RobotWebTools · Jun 24, 2015 · d7138dc · d7138dc
1 parent 8e871cb
commit d7138dc
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Showing 3 changed files with 19 additions and 6 deletions.
diff --git a/rosbridge_library/src/rosbridge_library/internal/message_conversion.py b/rosbridge_library/src/rosbridge_library/internal/message_conversion.py
@@ -33,7 +33,7 @@
 
 import roslib
 import rospy
-
+import bson
 from rosbridge_library.internal import ros_loader
 
 import math
@@ -100,7 +100,7 @@ def _from_inst(inst, rostype):
     # Special case for uint8[], we base64 encode the string
     for binary_type, expression in ros_binary_types_list_braces:
         if expression.sub(binary_type, rostype) in ros_binary_types:
-            return standard_b64encode(inst)
+            return bson.Binary(inst)
 
     # Check for time or duration
     if rostype in ros_time_types:

diff --git a/rosbridge_library/src/rosbridge_library/protocol.py b/rosbridge_library/src/rosbridge_library/protocol.py
@@ -32,7 +32,7 @@
 
 import rospy
 import time
-
+import bson
 from rosbridge_library.internal.exceptions import InvalidArgumentException
 from rosbridge_library.internal.exceptions import MissingArgumentException
 
@@ -47,6 +47,15 @@ def is_number(s):
         return True
     except ValueError:
         return False
+
+def has_binary(d):
+    if type(d)==bson.Binary:
+        return True
+    if type(d)==dict:
+        for k,v in d.iteritems():
+            if has_binary(v):
+                return True
+    return False                
 
 class Protocol:
     """ The interface for a single client to interact with ROS.
@@ -260,7 +269,10 @@ def serialize(self, msg, cid=None):
         Returns a JSON string representing the dictionary
         """
         try:
-            return json.dumps(msg)
+            if has_binary(msg):
+                return bson.BSON.encode(msg)
+            else:    
+                return json.dumps(msg)
         except:
             if cid is not None:
                 # Only bother sending the log message if there's an id

diff --git a/rosbridge_server/src/rosbridge_server/websocket_handler.py b/rosbridge_server/src/rosbridge_server/websocket_handler.py
@@ -41,7 +41,7 @@
 
 from rosbridge_library.rosbridge_protocol import RosbridgeProtocol
 from rosbridge_library.util import json
-
+import bson
 
 class RosbridgeWebSocket(WebSocketHandler):
     client_id_seed = 0
@@ -97,7 +97,8 @@ def on_close(self):
         rospy.loginfo("Client disconnected. %d clients total.", cls.clients_connected)
 
     def send_message(self, message):
-        IOLoop.instance().add_callback(partial(self.write_message, message))
+        binary = type(message)==bson.BSON
+        IOLoop.instance().add_callback(partial(self.write_message, message, binary))
 
     def check_origin(self, origin):
         return True