Check if appropriate bson module is installed or not just after init_…

…node. (RobotWebTools#198)

Check whether mongodb oriented bson is installed or not just after init_node,
and if appropriate bson is not installed, shutdown node with error message.

See: RobotWebTools#198

rosbridge_library/src/rosbridge_library/util/__init__.py

@@ -6,3 +6,19 @@
         import simplejson as json
     except ImportError:
         import json
+
+
+def appropriate_bson_installed():
+    """ Check whether appropriate bson module installed
+
+    pymongo oriented bson module should be installed. See following issue for
+    detail.
+
+    * https://github.com/RobotWebTools/rosbridge_suite/issues/198
+    """
+    import bson
+    try:
+        bson.BSON
+    except AttributeError:
+        return False
+    return True

rosbridge_server/scripts/rosbridge_tcp.py

@@ -9,6 +9,7 @@
 from rosbridge_library.capabilities.advertise_service import AdvertiseService
 from rosbridge_library.capabilities.unadvertise_service import UnadvertiseService
 from rosbridge_library.capabilities.call_service import CallService
+from rosbridge_library.util import appropriate_bson_installed
 
 from functools import partial
 from signal import signal, SIGINT, SIG_DFL
@@ -36,6 +37,13 @@ def shutdown_hook(server):
             init_node("rosbridge_tcp")
             signal(SIGINT, SIG_DFL)
 
+            # Check whether appropriate bson module is installed or not
+            # See: https://github.com/RobotWebTools/rosbridge_suite/issues/198
+            if not appropriate_bson_installed():
+                    rospy.logerr("BSON installation does not support all necessary features. "
+                                 "Please use the MongoDB BSON implementation.")
+                    rospy.signal_shutdown("shutdown")
+
             """
             Parameter handling:
              - try to get parameter from parameter server (..define those via launch-file)

rosbridge_server/scripts/rosbridge_udp.py

@@ -44,6 +44,7 @@
 from rosbridge_library.capabilities.advertise_service import AdvertiseService
 from rosbridge_library.capabilities.unadvertise_service import UnadvertiseService
 from rosbridge_library.capabilities.call_service import CallService
+from rosbridge_library.util import appropriate_bson_installed
 
 def shutdown_hook():
     reactor.stop()
@@ -52,6 +53,13 @@ def shutdown_hook():
     rospy.init_node("rosbridge_websocket")
     rospy.on_shutdown(shutdown_hook)    # register shutdown hook to stop the server
 
+    # Check whether appropriate bson module is installed or not
+    # See: https://github.com/RobotWebTools/rosbridge_suite/issues/198
+    if not appropriate_bson_installed():
+        rospy.logerr("BSON installation does not support all necessary features. "
+                     "Please use the MongoDB BSON implementation.")
+        rospy.signal_shutdown("shutdown")
+
     ##################################################
     # Parameter handling                             #
     ##################################################

rosbridge_server/scripts/rosbridge_websocket.py

@@ -48,6 +48,7 @@
 from rosbridge_library.capabilities.advertise_service import AdvertiseService
 from rosbridge_library.capabilities.unadvertise_service import UnadvertiseService
 from rosbridge_library.capabilities.call_service import CallService
+from rosbridge_library.util import appropriate_bson_installed
 
 def shutdown_hook():
     IOLoop.instance().stop()
@@ -56,6 +57,13 @@ def shutdown_hook():
     rospy.init_node("rosbridge_websocket")
     rospy.on_shutdown(shutdown_hook)    # register shutdown hook to stop the server
 
+    # Check whether appropriate bson module is installed or not
+    # See: https://github.com/RobotWebTools/rosbridge_suite/issues/198
+    if not appropriate_bson_installed():
+        rospy.logerr("BSON installation does not support all necessary features. "
+                     "Please use the MongoDB BSON implementation.")
+        rospy.signal_shutdown("shutdown")
+
     ##################################################
     # Parameter handling                             #
     ##################################################