Enable catkin_virtualenv and google_chat_ros (and others)

jsk_robot_common/jsk_robot_startup/CMakeLists.txt

@@ -59,6 +59,7 @@ add_message_files(
   FILES
   RoomLight.msg
   Email.msg
+  EmailBody.msg
 )
 
 generate_messages(

jsk_robot_common/jsk_robot_startup/README.md

@@ -209,6 +209,59 @@ rostopic pub /reboot std_msgs/Empty
 ```
 
 
+## scripts/smach_to_mail.py
+
+This node sends smach messages to `/email`, `/tweet`, etc... to notify robot state transition.
+
+```mermaid
+flowchart TB
+    subgraph S[Demo Code Running on SMACH]
+      START --> State_1
+      State_1 --> State_2
+      State_2 --> END
+    end
+   subgraph E[SMACH To Notification]
+      id1[(state list<br>DESCRIPTION / IMAGE<br>DESCRIPTION / IMAGE<br>...)]
+     id1 --> email[[pub /email jsk_robot_startup::Email]]
+     id1 --> tweet[[pub /tweet std_msgs::String]] 
+     id1 --> chat[[pub /google_chat_ros/send/goal<br>google_chat_ros::SendMessageAction]] 
+   end
+   S -->|"[{'DESCRIPTION': string, 'IMAGE': base64}]"| E
+   email --> email_body(["DESCRIPTION[0]<br>DESCRIPTION[1]<br>IMAGE[1]<br>DESCRIPTION[1]<br>IMAGE[1]<br>..."])
+   tweet --> tweet_body1(["DESCRIPTION[0]"])
+   tweet_body1 --> tweet_body2(["DESCRIPTION[1]<br>IMAGE[1]"])
+   tweet_body2 --> tweet_body3(["DESCRIPTION[2]<br>IMAGE[2]"])
+   chat --> chat_body1(["DESCRIPTION[0]"])
+   chat_body1 --> chat_body2(["DESCRIPTION[1]<br>IMAGE[1]"])
+   chat_body2 --> chat_body3(["DESCRIPTION[2]<br>IMAGE[2]"])
+```
+
+### Subscribing Topics
+
+* `~smach/container_status` (`smach_msgs/SmachContainerStatus`)
+
+  Input topic smach status
+
+### Publishing Topics
+
+* `/email` (`jsk_robot_startup/Email`)
+
+  Email message with description and image
+
+* `/tweet` (`std_msgs/String`)
+
+  Tweet message with description and image
+
+### Parameters
+
+* `~sender_address` (String)
+
+  Sender address
+
+* `~receiver_address` (String)
+
+  Receiver address
+
 ## launch/safe_teleop.launch
 
 This launch file provides a set of nodes for safe teleoperation common to mobile robots. Robot-specific nodes such as `/joy`, `/teleop` or `/cable_warning` must be included in the teleop launch file for each robot, such as [safe_teleop.xml for PR2](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml) or [safe_teleop.xml for fetch](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml).

jsk_robot_common/jsk_robot_startup/euslisp/email-topic-client.l

@@ -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)
@@ -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)

jsk_robot_common/jsk_robot_startup/euslisp/sample-email-topic-client.l

@@ -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)

jsk_robot_common/jsk_robot_startup/msg/Email.msg

@@ -1,6 +1,6 @@
 std_msgs/Header header
 string subject # Email subject
-string body # Email body
+jsk_robot_startup/EmailBody[] body # Email body
 string sender_address # Sender's email address
 string receiver_address # receiver's email address
 string smtp_server # smtp server address

jsk_robot_common/jsk_robot_startup/msg/EmailBody.msg

@@ -0,0 +1,5 @@
+string type # text, html, img
+string message # For text and html 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]

jsk_robot_common/jsk_robot_startup/scripts/email_topic.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 
 from email.mime.application import MIMEApplication
+from email.mime.image import MIMEImage
 from email.mime.text import MIMEText
 from email.mime.multipart import MIMEMultipart
 import errno
@@ -12,6 +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):
@@ -43,7 +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'] = ''
@@ -75,7 +83,39 @@ def _send_mail(
         msg["Subject"] = subject
         msg["From"] = sender_address
         msg["To"] = receiver_address
-        msg.attach(MIMEText(body, 'plain', 'utf-8'))
+        # Support embed image
+        for content in body:
+            if content.type == 'text':
+                msg.attach(MIMEText(content.message, 'plain', 'utf-8'))
+            elif content.type == 'html':
+                msg.attach(MIMEText(content.message, 'html'))
+            elif content.type == 'img':
+                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
+                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(cid, image_size)
+                bodytext = MIMEText(text, 'html')
+                msg.attach(bodytext)
+            else:
+                rospy.logwarn('Unknown content type {}'.format(content.type))
+                continue
         # Attach file
         for attached_file in attached_files:
             if attached_file == '':