[jsk_robot_startup] Support embed image in email_topic.py

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/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 +1,4 @@
+string type # text, html, img
+string message # For text and html type
+string file_path # For img type
+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
@@ -75,7 +76,39 @@ 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.file_path == '':
+                    rospy.logwarn('File name is empty. Skipped.')
+                    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
+                if content.img_size:
+                    image_size = content.img_size
+                else:
+                    image_size = 100
+                text = '<img src="cid:{}" width={}%>'.format(
+                    content.file_path, 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 == '':