rosjson_time.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2009, Willow Garage, Inc.
00005 # All rights reserved.
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00008 # modification, are permitted provided that the following conditions
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00011 #  * Redistributions of source code must retain the above copyright
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00013 #  * Redistributions in binary form must reproduce the above
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00015 #    disclaimer in the documentation and/or other materials provided
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00034 # Revision $Id: rosweb.py 4149 2009-04-13 17:00:09Z sfkwc $
00035 
00036 import roslib; roslib.load_manifest('rosjson_time')
00037 
00038 import cStringIO
00039 import os
00040 
00041 import rospy
00042 
00043 class ROSJSONException(rospy.ROSException): pass
00044 
00045 _JSON_ESCAPE = {'\\':r'\\', '"':'\\"', '\b':r'\b', '\f':r'\f', '\n':r'\n', '\r':r'\r', '\t':r'\t'}
00046 
00047 ## Convert value to JSON representation
00048 ## @param v Any: value to convert to JSON. Supported types are Python primitives (str, int, float, long, bool) as well as rospy Message-related types (Message, Time, Duration).
00049 ## @return str: JSON string representation of \a v
00050 ## @throws ROSJSONException if \a msg cannot be converted to JSON
00051 def value_to_json(v):
00052     if type(v) == str:
00053         buff = cStringIO.StringIO()
00054         
00055         buff.write('"')
00056         for c in v:
00057             if c in _JSON_ESCAPE:
00058                 buff.write(_JSON_ESCAPE[c])
00059             else:
00060                 buff.write(c)
00061         buff.write('"')                
00062 
00063         return buff.getvalue()
00064     elif type(v) in (int, float, long):
00065         return "%s"%v
00066     elif type(v) in (list, tuple):
00067         return '['+', '.join([value_to_json(x) for x in v]) + ']'
00068     elif type(v) == bool:
00069         if v:
00070             return 'true'
00071         else:
00072             return 'false'
00073     elif isinstance(v, rospy.Message):
00074         return ros_message_to_json(v)
00075     elif isinstance(v, (rospy.Time, rospy.Duration)):
00076         #return v.to_sec()
00077         return ros_message_to_json(v)
00078     elif hasattr(v, "to_sec"):
00079         return v.to_sec()
00080         #return ros_message_to_json(v)    
00081     else:
00082         print isinstance(v, Time)
00083         raise ROSJSONException("unknown type: %s"%(v.__class__.__name__ ))
00084     
00085         
00086 ## Convert ROS message to JSON representation. JSON representation is
00087 ## a simple dictionary of dictionaries, where a dictionary represents
00088 ## a ROS message. Time and duration are represented by their float value
00089 ## in seconds.
00090 ##
00091 ## @param msg rospy.Message: message instance to convert
00092 ## @throws ROSJSONException if \a msg cannot be converted to JSON
00093 def ros_message_to_json(msg):
00094     if not isinstance(msg, (rospy.Message, rospy.Time, rospy.Duration)):
00095         raise ROSJSONException("not a valid rospy Message instance: %s"%msg.__class__.__name__)
00096     buff = cStringIO.StringIO()
00097     buff.write('{')
00098     buff.write(', '.join(['"%s": %s'%(f, value_to_json(getattr(msg, f))) for f in msg.__slots__]))
00099     buff.write('}')
00100     return buff.getvalue()
00101 
00102 def ros_time_to_json(msg):
00103     if not isinstance(msg, (rospy.rostime.Time, rospy.rostime.Duration)):
00104         raise ROSJSONException("not a valid rospy Time instance: %s"%msg.__class__.__name__)
00105     buff = cStringIO.StringIO()
00106     buff.write('{')
00107     buff.write(','.join(['"%s": %s'%(f, value_to_json(getattr(msg, f))) for f in msg.__slots__]))
00108     buff.write('}')
00109     return buff.getvalue()


rosjson_time
Author(s): Ken Conley
autogenerated on Thu Aug 27 2015 12:35:29