Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

enable to send image string from client #5

Merged
merged 1 commit into from
Jul 28, 2022
Merged

enable to send image string from client #5

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 19 additions & 1 deletion jsk_robot_common/jsk_robot_startup/euslisp/email-topic-client.l
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
(ros::load-ros-manifest "jsk_robot_startup")

(require :base64 "lib/llib/base64.l")

(defun init-mail ()
(ros::advertise "email" jsk_robot_startup::Email 1)
(ros::spin-once)
Expand All @@ -16,7 +18,23 @@
(setq msg (instance jsk_robot_startup::Email :init))
(send msg :header :stamp (ros::time-now))
(send msg :subject subject)
(send msg :body body)
(send msg :body
(mapcar #'(lambda (e)
(cond ((derivedp e image-2d)
(if (> (length (send e :entity)) (* 8 8192))
(warning-message 3 "The size of img is too large (~A)~%You may encounter 'too long string' error, see https://github.com/euslisp/EusLisp/issues/2 for more info~%" (length (send e :entity))))
(instance jsk_robot_startup::EmailBody :init :type "img"
:img_data (base64encode (send e :entity))
:img_size 100))
((probe-file e)
(instance jsk_robot_startup::EmailBody :init :type "img" :file_path e :img_size 100))
((and (> (length e) 0) ;; check html
(eq (elt e 0) #\<)
(eq (elt e (1- (length e))) #\>))
(instance jsk_robot_startup::EmailBody :init :type "html" :message e))
(t
(instance jsk_robot_startup::EmailBody :init :type "text" :message (format nil "~A" e)))))
(if (atom body) (list body) body)))
(send msg :sender_address sender-address)
(send msg :receiver_address receiver-address)
(send msg :smtp_server smtp-server)
Expand Down
32 changes: 29 additions & 3 deletions jsk_robot_common/jsk_robot_startup/euslisp/sample-email-topic-client.l
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,36 @@
(ros::spin-once)
(setq receiver-address (ros::get-param "~receiver_address"))
(setq attached-files (ros::get-param "~attached_files" nil))
(unix::sleep 10) ;; wait for server
(while (or (null (ros::get-num-subscribers "email"))
(<= (ros::get-num-subscribers "email") 0))
(ros::ros-warn "wait for email topic")
(unix::sleep 1))

(ros::ros-info "Sending a mail to ~A" receiver-address)
(send-mail "test-mail" receiver-address "test" :attached-files attached-files)
(ros::ros-info "Sent a mail")
(send-mail "test text mail" receiver-address "test")
(ros::ros-info "Sent a text mail")
(unix:sleep 1)

(send-mail "test html mail" receiver-address "<h1>test with html mail</h1>")
(ros::ros-info "Sent a html mail")
(unix:sleep 1)

(send-mail "test attached mail" receiver-address "test with attached image" :attached-files attached-files)
(ros::ros-info "Sent a mail with attached files ~A" attached-files)
(unix:sleep 1)

(when attached-files
(send-mail "test image embedded mail (file)" receiver-address (append attached-files (list "test with embedded image")))
(ros::ros-info "sent a mail with embedded image ~a" attached-files)
(unix:sleep 1)
;; read png/jpeg file, but do not extract to raw image, keep original compressed data in (img . entity)
(setq img (read-image-file (elt attached-files 0)))
(setq (img . entity) (make-string (elt (unix:stat (elt attached-files 0)) 7))) ;; size of file
(with-open-file (f (elt attached-files 0)) (unix:uread (send f :infd) (img . entity)))
(send-mail "test image embedded mail (string)" receiver-address (list "test with embedded image" img))
(ros::ros-info "Sent a mail with embedded image ~A" img)
(unix:sleep 1)
)

(ros::roseus "shutdown")
(exit)
3 changes: 2 additions & 1 deletion jsk_robot_common/jsk_robot_startup/msg/EmailBody.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
string type # text, html, img
string message # For text and html type
string file_path # For img type
string file_path # For img type, set file path
string img_data # For img type, you can also use base64 encoded image data instead of file path
uint8 img_size # For img type [percent]
41 changes: 24 additions & 17 deletions jsk_robot_common/jsk_robot_startup/scripts/email_topic.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,9 @@
import socket
from socket import error as socket_error
import yaml
import copy
import random, string # for image cid
import base64


class EmailTopic(object):
Expand Down Expand Up @@ -44,7 +47,11 @@ def __init__(self):
'email', Email, self._cb, queue_size=1)

def _cb(self, msg):
rospy.loginfo('Received an msg: {}'.format(msg))
msg_compact = copy.deepcopy(msg)
for content in msg_compact.body:
if len(content.img_data) >= 64:
content.img_data = content.img_data[:64] + "...."
rospy.loginfo('Received an msg: {}'.format(msg_compact))
send_mail_args = {}
# Set default value for self._send_mail arguments
send_mail_args['subject'] = ''
Expand Down Expand Up @@ -83,27 +90,27 @@ def _send_mail(
elif content.type == 'html':
msg.attach(MIMEText(content.message, 'html'))
elif content.type == 'img':
if content.file_path == '':
rospy.logwarn('File name is empty. Skipped.')
if content.img_data != '':
embed_img = MIMEImage(base64.b64decode(content.img_data))
cid = ''.join(random.choice(string.ascii_lowercase) for i in range(16))
elif os.path.exists(content.file_path):
with open(content.file_path, 'rb') as img:
embed_img = MIMEImage(img.read())
cid = content.file_path
else:
rospy.logerr("'img' content requries either file_path {}".format(content.type))
rospy.logerr(" or img_data {} with img_format {}".format(content.img_data, content.img_format))
continue
if not os.path.exists(content.file_path):
rospy.logerr(
'File {} is not found.'.format(content.file_path))
return
with open(content.file_path, 'rb') as img:
embed_img = MIMEImage(img.read())
embed_img.add_header(
'Content-ID', '<{}>'.format(content.file_path))
embed_img.add_header(
'Content-Disposition', 'inline; filename="{}"'.format(
os.path.basename(content.file_path)))
msg.attach(embed_img) # This line is necessary to embed
embed_img.add_header(
'Content-ID', '<{}>'.format(cid))
embed_img.add_header(
'Content-Disposition', 'inline; filename="{}"'.format(os.path.basename(cid)))
msg.attach(embed_img) # This line is necessary to embed
if content.img_size:
image_size = content.img_size
else:
image_size = 100
text = '<img src="cid:{}" width={}%>'.format(
content.file_path, image_size)
text = '<img src="cid:{}" width={}%>'.format(cid, image_size)
bodytext = MIMEText(text, 'html')
msg.attach(bodytext)
else:
Expand Down